X hits on this document

PDF document

A Prototype Optical Tracking System Investigation and Development - page 111 / 170

408 views

0 shares

0 downloads

0 comments

111 / 170

7.5 Logging system

97

is assumed to be the function’s minimum. This threshold is set based on experimentation.

7.4.4

Extension to multiple cameras

The description of the algorithm thus far relates to one camera. With more than one camera there will be multiple intersection points when the camera axes are aligned correctly. Each point corresponds to the position of a camera. With multiple cameras, F (q) can be extended to

F (q) = C c=1 X 1 N c N X n =1

|pn c

q)

pc

q)|2 .

(7.13)

This calculates a combined variance of the intersection points for each camera. In this

equation c represents

represents the index of a camera, C represents the number of cameras, pn c

q)

the nth

intersection point using the cth

camera,

and

pc

is the mean of all of

the intersection points process can be used to

from the cth camera. Using this extension find a value of q that minimises F (q) and

the same minimisation each camera’s position

can be found in world coordinates by calculating

pc

q).

7.5

Logging system

The logging system takes the output of the pose estimation algorithm and logs this to disk. This enables the data to be analysed in programs such as M TL B. The intermediate centroid data can also be logged to disk. Logging the centroid data to disk allows the pose to be estimated at a later date.

7.6

User interface

The user interface is a flexible environment that allows the user to visualise the centroids received from the camera modules and displays the pose information. The user inter- face uses a docking framework that allows windows to be displayed, moved, docked, and closed.

7.7

Implementation details

This section briefly describes the implementation of the Soft Hub in C#.

The software is

based around the Model View Controller pattern [94].

This is a widely accepted pattern

that allows a user interface to be decoupled from the underlying business logic.

s the

name implies the pattern has three parts. These are the model, the views, and their con- trollers. The model encompasses the core functionality of the application and is composed

of problem domain classes and support classes such as the logging system.

Document info
Document views408
Page views408
Page last viewedThu Dec 08 18:52:39 UTC 2016
Pages170
Paragraphs6307
Words54996

Comments