6 The System - Components “Technobeam” intelligent light fixtureDMX-512 Lighting Protocol180 degrees pan, 90 degrees tiltAdjustable colors, patterns via “litho wheel” and “gobos”Iris and adjustable focus
7 The System - Components The DMX-512 transceiverShifts from RS-232 to RS-485Increases baud rate, from 1152 to 2500
8 The System – Components The ServerDell, p4 2GHz Machine.Windows XP ProfessionalGeneric Video Capture Card
9 Software Components Computer Vision Input Video Stream via DirectX 9 andDirect ShowCalibrationBasedMappingTB/PTSerialControlClassesXvid, YvidXTB, YTBFrame
10 Video Capture Via DirectX Direct Show and Filter GraphsExample of Simple Video Capture:Graph Used for the Project:
11 Video Capture Via DirectX Install DirectX 9.0 SDK (note – DirectShow is not included with latest version!!)Use the DirectShow API to Create a Filter GraphInsert ProxyTrans Filter that comes with OpenCVDefine a callback function and start playback
12 Computer Vision Initial Conditions Tracking “cvgoodfeaturestotrack” Region and Trigger SelectionTrackingOptical FlowPoint Removal RulesCentroid Calculation
13 Throw out invalid points in P AlgorithimNoObject LostGet TrackableFeatures in ROI(points P – 1)> 0 points in P?YesCalculate Centroid ofPSave Frame (Frame N – 1)Send centroidto remappingfunctionsGet Next Frame(Frame N)Save Current Frame(now N – 1)Pass in all toOpticalFlowFunctionTo get updatedpoints (P)Save Current Points(now P – 1)Throw out invalid points in P
14 Calibration and Mapping UI setup to gather calibration data points a set of 2 inputs, 2 outputsPoints are collected once per given setupAccounts for “fish-eye” lens distortion
15 Calibration and Mapping - 2 Our problem context:First Solution: get to calibration points (lower left, upper right) to obtain thresholds, linearly scale and shift:???Pan (from 0 to 216)Xvid(from 0 to 320)Yvid(from 0 to 240)Tilt (from 0 to 216)
16 Calibration and Mapping - 3 Worked fine with initial camera we were using.When switching though to a camera with a wide angle lens, system wasn’t adequate due to “fisheye” distortion.New Scheme: 9 point calibration and piece-wise linear interpolation.
17 Calibration and Mapping - 4 x3,y3, pan3x1,y1, pan1x2,y2, pan2
18 Ideas and Surprises Feedback enabled “throwing” of the light Hypersonics and MusicUse fuzzy logic with camera on pan/tilt unit
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