First, simply drain the work that has been done in time, neither clear, but the approximate time order is like this.
My tutor is very good. He told me a long time ago, let me do my eyes-visual research, but I have not made it, it is because there are too many homework. Really starting related to this aspect is starting from the summer vacation, starting from the summer vacation, I will participate in a project, in which another girl is doing a different visual research.
1.2004 Summer Summer Summer 201 in June, I am generally in the articles related to the vision of the eyes, and consider how to achieve the self-located phase in the racket. In this stage, I have some understanding of the double visual visual. At that time, the concept of binocular vision was first to calibrate the camera, then the matching problem of the image between the two cameras. And, it is believed that the camera calibration has a mature algorithm, while the matching problem of the image is difficult. These understandings are only seen from some articles, and they don't actually do it. Now, the camera is really a mature method, but there are still many people to study from all aspects (including reference objects for calibration, etc.), but these are just the framework of research, real algorithms, maybe The original original. If you want to do a project, just use the mature algorithm. If you are doing research, you can go to study these, but you should go deeply to study the algorithms of these cameras calibrated, and the bottom of mathematics is not good. I feel so difficult to match the image. Because the article said that there is no unified row, it is true. In this regard, I feel that I am not as good as the girl I work together. The method is not unified, but for specific issues, there is a method, and for the current project I am participating, it is the simplest to identify a small ball, and the ball of matching the ball can be. Studies can use a variety of methods, but they are truly projects, but they must learn to choose a very simple way of travel. It is good to use it. There is also an episode. At that time, I found a visual information on the Internet. I saw a girl's narrative, saying that I did a double visual work, but the girl said, she feels that the main thing is some of the values. Algorithm,,,,,,,,,,,,,,,,,,,. My current understanding is that the main or image processing work, I don't know if there will be something else in the future, but now I'm only the case. As for the positioning problem of the car in the racket, I would like to think too early, but under the supervision of the brothers, I also derive formula. After a few modifications, finally, I feel satisfied, but my things are all Take a chart, so the changed document, in addition to giving a brother, there is no time to stay, just in the mailbox, but this only one feels not the final version ( There are many versions in this, or more or less errors). The position of the car, perhaps it was too early, because the visual things have not yet.
In this, I can't mention my good friend. She knew that I had to do this, helping me contact a person who made an image processing (say is her boyfriend's good friend), want me to be and him. Communicate, but I don't have much contact with him, think about the curve of yourself, and the result of yourself. I have to thank my good friend, I know, I have a mutually owned, the soul is connected, but I think I am not her for her.
2. From 2004, 2004. Since the item is used in the project, there is no image capture card. To perform image processing, you need to capture the video stream, and then process the image. Girls working with me, in fact, have made a video captured by VFW, making quite good. So, I asked her to the source code, then, I also got some papers from the Chinese academic journal (because the books of this technology are too small), I want to study it. Later, I suddenly saw an article written in an article, the function library provided in VFW was packaged on a Windows operating system. At that time, I would like to provide this support below WinCE. Support. I saw a book in the bookstore, when I turned it, I mentioned the WinCE to support DirectShow, and DirectShow can be used to capture the video stream. I feel very lucky. When I want to learn DirectShow, there is just two books in DirectShow just published in the bookstore. For entry, Chinese books are still nice, let you have a system concept. In particular, I didn't know how to understand DirectShow. So from the Microsoft's website, DirectX 9 (at that time), started to learn the video stream with DirectShow. It is mainly referred to that DirectShow's Chinese book and a foreign electronic document, and also looks at DirectShow's help documentation, refer to the example of the video stream, and saves the captured image as BMP. Bitmap format. Now think about it, I have been doing these for a long time. In fact, it should be available soon. However, I also saw a post on the forum and said the driver. Under the general Windows platform, there are two models, one is VFW, one is WDM, where VFW is already outdated (I don't have much research on the driver, I don't know this, " The current drivers are generally in line with the WDM model. DirectShow has a mechanism that can dispense the driver of the WDM model into a source filter, however, no drive is not possible. There is a problem. Wince is a driving drive to the camera to use DirectShow. So everyone started to find drivers, but the final result is that there is no ready-made camera under Wince, and the only way is to develop. These are later. At that time, I was studying DirectShow, I think is the development of my eyes in Wince, or DirectShow, as long as I drive it, it is possible. Later, after some understanding of the driver under Wince, I asked a very enthusiastic person on the Internet (he did the driver under WinCe, and did the Drive of the WDM model), and later, the WDM model driver and The drive model under WinCE is different. Why is the specific, because I don't know about the WDM driver model, I only know if I develop Drive under Wince, generally used a stream drive model. Until this time, I also develop a good driver with DirectShow package, and then use DirectShow to capture the video stream in Wince, this set of plans is convinced.
To do something practical, when I can apply DirectShow technology, capture the video stream and save the captured image, I will plan to make a calibration of the camera. Although DirectShow technology, I just involved some fur, and the program written is also very rough. About the calibration of the camera is also the easiest way to use a chessboard, then find the intersection on the chessboard. Now think about it, the most important thing is the method of image processing. The edge detection of the color image is used; the grayscale image division is automatically obtained, and the image is binarized by obtaining the threshold; the image of the image is refined, for the second The value image is refined; by performing hugh conversion, the straight line in the image is requested, respectively, the horizontal line and the longitudinal line, and draw the line on the original image and the processed image; seeking cross-point coordinates of the horizontal line and the vertical line For this purpose, it is necessary to sort the horizontal lines and vertical lines. Here, it is mainly to solve the Code group, in order to seek the inverse of the matrix, in order to facilitate the use of VC and MATLAB, the last acquisition point coordinates are also expressed in the original image and the transformed image. Here, in order to seek the back of the matrix, I used MATLAB and VC to connect, at the time, when I started doing, I thought it was simple, but it was unmokent. Because, it is too small to use the MATLAB portion, not worth it, and at the beginning, in order to pass the parameters to Matlab, I spent a long time, the order of delivery of the parameters I found online is not right, just slowly trying it slowly. . Another point is that the inverse source code of the matrix calculated by the existing numerical value can be used, and it will be simple. Take this calibration program, which has spent a lot of time and is not familiar with the algorithm for image processing. Later, the girl who cooperated with me directly used MATLAB's toolbox, and did experiment, verify the calibration result, will definitely do the effect than I. That is, I do this, basically, it is failed. In addition to my own way to learn some image processing, there is no more help for the simple calibration, there is no help for this project. To mention, in terms of image processing, because I am not asking, in fact, I am walking, I have gone a lot of detours. I don't know the angular detection. This is also a few more time, the instructor let the people who have a binocular visual study come to meet, discuss all-in-law visual, then I know. At that time, a teacher demonstrated the procedure for angular detection with a function library in OpenCV, and the feeling effect is really good. And in my opinion, a simple camera is scheduled to be, it is in the detection of those angles. If I can know it early. Sometimes the theory and actual are totally different, and it is actually the process of your own hands. The general step of the image processing in calibration, I am doing in a master's paper, although some methods are different, but I feel that I use it better than him. At that time, his errors were small in the paper, and various data were listed. However, according to my opinion, maybe error, can't be too small.
3. From 10 or November 2004. After 11 holiday, I will not see if I want to have my own hope. At that time, the calibration program was out, but the specific accuracy did not have meticulous verification, but I feel that the accuracy will not be high, because It can be seen from the point in the image found, or some errors. And, a girl in cooperation is used for standard toolbox to make calibration, how is the effect, will be better than I do, I think it is nothing to do, it is meaningless. I have said to my previous classmates, what should I do if I don't drive? She immediately said it! Later, so, I want to see if I can drive myself. On various forums, I also found some books on the drivers, but most of them can find the WDM model. When I started, I was very confused, and I also got XP DDK (Driver Develop Kit), but I still don't know where to start. There are very little driving development under WinCE. But I didn't know what I thought, I decided to look at the driving model under Wince, and I thought I had to develop the USB camera driver, so I should look at the USB protocol. So I saw a USB 1.0 protocol translated, and I have some understanding of the USB protocol. I asked on the forum of Biplip.com. What is the requirements for writing a USB camera under Wince, the moderator gives me a good suggestion, in today's opinion, it is also quite good. He told me to see help the document, this is true. As he said, it is not good to see the help document, the more e-text, the more you want to see, I really thank him. I also driven the Wince Forum that drives the development network, there is a enthusiastic person, until later, I asked him questions, just give him a letter, he also responded very seriously, he said herself The Drive of the WDM model has also been drifted under Wince, that is, he said that the Drive of the WDM model and the drive under Wince are different. He is very enthusiastic. I know that the driver must have a deep understanding of the system, so I started watching WinCE help documentation, see how to customize the platform, in fact, this is very simple, if you look from a simple angle, but there is something, no The development board is not, this part, I am also very skinless, will not change the platform by changing the system file, because there is no trial, what is seen is talking on the troops, there is no active experience, so For 1 or 2 months, I will forget it now, think about it, in fact, learning to do business diary is still very important. Later, I know that if it is the program written under Wince, it is generally flow drive model. For the driver of the USB device, only the 10 stream interface functions are implemented in the upper layer, and the next layer implements 3 stream interface functions. Yes. Real and USB deal with several functions that the system will provide. By calling these functions, you can take the data out. I also saw an example of the USB device driver provided by the system. At that time, it was a printer. Then, a brother sent it to an URL that there is an example of Linux's USB camera driver. The brother is also a brother, it will be far away. Later, I also realized that the driver of USB camera under Wince was actually feasible.
In the implementation of the three functions of the lower layer, you can refer to the example provided under WinCE, and in the implementation of the 10 functions of the upper layer, an example of Linux driver can be seen. However, due to various reasons, when I realized this, I was forced to give up. This time, let me have a little blow, which is one of the reasons why I have fallen in the rest of this semester, in fact, my mentality has not been adjusted. Because it is not driver, then it is begun to use this driver after driving. Because the driver has not yet been made, I have written itself under Wince that is used as a test. It is just a 10-stream interface, and then by writing the registry, use the command to read and write to get the driver. The data provided. When this is finished, I think because it is two cameras, double visual, just to get data synchronization, so I have tried the line between the thread, and acquire data. But that program is simple, for the trial, let a thread generate data, and there is a thread that get the data. The experimental results are also successful. In this way, there is only something left with real image processing. In addition, I want to say, I think that DirectShow came to capture the video stream under Wince, and I have realized that it is not possible. I am using DirectShow to play MP3 in my custom platform, but I can't play the video stream, and then, I suddenly realize that the driver is written by yourself, then you can directly get the data in the drive, no need to be yourself Wrought around a large circle. I later talked about this boyfriend, he said, I have spacious avenue, but I have to take a small road, it is true. I worched such a big circle and then returned to the starting point. In addition, I have to mention that the last driver is driving, no matter how he done, but I admire his drill. However, he also concealed a fact that the main thing in the drive is still controlled, at least in the camera, now he is just getting the data of the camera, of course, very nice, but, in a forum One sentence makes me now memories still profound, that is, the data is only one-third of the work, and most of the remaining work is on the control of the camera. However, if he makes him do this, it is also difficult for him. Because, in fact, he doesn't want to do it now, it is obvious. So it was confused, which two months have passed. I saw some systematic articles, I learned how the operating system, PlatformBuilder, and USB protocols are just the case.
4. December 2004. This month is a defumnary of falling. In this month, I did an image processing, I saw a book in image processing, and I also asked a brother who made an image processing. The brother gave me a very enthusiastic answer. He suggests that I first look at the image processing of Matlab, and introduce a book in image processing to me, and later I got the electronic version of this book. Brother is right, image processing should still look at Matlab first, learn ideas, see the effect, and then use VC programming to achieve. Later, for the convenience of image processing, I made a template. After making image processing, I can use this template directly, just to change the small part of it. Last week, I made a Filter, used in DirectShow, very simple, but I found my own ideas very naive, this is after. Finally, thank you all those who have helped me, thank you! Although I didn't work in this semester.
