2TABLE OF CONTENTS
1.
INTRODUCTION......................................................................................................3
2.
SOLUTION AND ALGORITHMS.........................................................................4
2.1.
G
ENERAL
.............................................................................................................4
2.2.
I
MAGE SEGMENTATION
.......................................................................................4
2.3.
R
OBOT IDENTIFICATION
......................................................................................5
3.
SOFTWARE ARCHITECTURE............................................................................9
3.1.
G
ENERAL
.............................................................................................................9
3.2.
S
OFTWARE
L
IBRARIES
U
SED
..............................................................................9
3.2.1.
MFC............................................................................................................... 9
3.2.2.
Carnegie Mellon University Vision Library (CMVision)............................. 9
3.2.3.
Additional classes.......................................................................................... 9
3.3.
M
AIN
S
OFTWARE
M
ODULES
.............................................................................10
3.3.1.
CWatcher Class...........................................................................................10
3.3.2.
CRoboTrackerEngine Class........................................................................10
3.3.3.
CRoboTrackerSever Class..........................................................................10
3.3.4.
CRoboTrackerDoc/CRoboTrackerView Classes .......................................10
3.3.5.
CCamera Class............................................................................................10
3.4.
M
ODULE
D
YNAMIC
R
ELATIONS
.......................................................................11
4.
THE ROBOTRACKER APPLICATION............................................................12
4.1.
G
ENERAL
...........................................................................................................12
4.2.
L
OADING IMAGES AND MOVIE CLIPS
.................................................................12
4.3.
S
AVING IMAGES AND MOVIE CLIPS
...................................................................13
4.4.
A
NALYZING THE INPUT
.....................................................................................13
4.5.
S
ETTING THE MASK
...........................................................................................13
4.6.
S
ETTING THE THRESHOLDS
...............................................................................14
4.7.
M
OVIE CLIP PLAYBACK
.....................................................................................15
4.8.
C
AMERA GRABBING
..........................................................................................15
4.9.
C
HANGING THE CAMERA SETTINGS
..................................................................16
4.10.
S
AVING AND LOADING THE SETTINGS
...............................................................16
4.11.
S
AMPLING THE PIXEL VALUES
..........................................................................16
5.
THE TCP/IP SERVER............................................................................................17
6.
RESULTS AND CONCLUSIONS.........................................................................18
6.1.
R
ESULTS
............................................................................................................18
6.2.
F
UTURE
I
MPROVEMENTS
..................................................................................18
7.
REFERENCES.........................................................................................................19
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