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A Prototype Optical Tracking System Investigation and Development - page 62 / 170

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48

Figure 4.11 diagram.

Black Spot Firmware

Common code that can be compiled for PC and Blackfin.

Hardware dependent. Two versions must be written. One for PC development and one for Blackfin development.

Searches for new Regions of Interest (ROIs) in a frame slice and updates existing ROIs.

Communications

Tracker

«interface» IROIProvider

Provides partial strips of an image frame using the OnStripReady event.

OpenCVFrameStripProvider

Packet Protocol

void Init(IFrameSliceProvider) eventPositionUpdatedEvent(IROI) e ve n t N e w R OIFo u n d E ve n t( IR OI) e ve n t Ma r k e rL o s tE ve n t( IR OI) NumMarkers : uint8_t ROIs : Collection<IROI>

1

eventNewROIFoundEvent(IROI) eventROIDataUpdatedEvent(IROI) e ve n t R OIR e m o ve d E ve n t( i n t)

ROIProvider

«interface» IFrameStripProvider

void ProcessSingleFrame() void ProcessStream() event StripReadyEvent(IFrameStrip) event FrameCom pletedEvent()

Init(char* inputFile, uint16 t stripHeight)

_

ROIProvider(IFrameStripProvider) 1

«interface» IFrameStrip

BlackfinFrameStripProvider

Init()

Predicts the position of the marker image in the next frame.

«interface» IROI

void Init(x1, y1, x2, y2) void Update() bool PointInROI(int x, int y) bool WithinFrame(int width, int height)

t*

_

Width : int Height : int YOffset : int Data : uint

«interface» IPositionPredictor

void Reset() void LogPosition(fixed_point2_t position) fixed_point2_t PredictPosition()

1..*

1..*

Buffers a frame strip. This is a number of frame lines. Eg 752 by 10 lines

A Region of Interest (ROI).

Predicts position of marker image by assuming constant velocity.

LinearPositionPredictor

ROI

Sofware is written to mimic OO design. Software can be compiled using Eclipse with GNU GCC and Microsoft Visual Studio.

: The main functionality of the Black Spot firmware is shown using a UML class

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