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  • samsung HMX-H100P camcorder and video encoding with mencoder

    - by jskg
    Hi everyone, my background is totally not related to video stuff so pardon my newbie style. I own a samsung HMX-H100P camcorder and I'm trying to encode videos to be uploaded to Youtube and Vimeo. First problem: videos generated by the camera with no processing appear like this: http://www.youtube.com/watch?v=AANbl_DTuzE when I play them with Totem(Linux) or VideoLan. Second problem: When I try to encode the videos produced by the camera using mencoder I get the video at the resolution I chose but those ugly lines and lagging are still present. Here's the command I use: mencoder $inputFile -aspect 16:9 -of lavf -lavfopts format=psp -oac lavc -ovc lavc -lavcopts aglobal=1:vglobal=1:coder=0:vcodec=libx264:acodec=libfaac:vbitrate=4500:abitrate=128 -vf scale=1280:720 -ofps 25000/1001 -o $outputFile Any ideas? Thanks in advance

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  • Starting to make progress Was [MediaRecorder prepare() causes segfault]

    - by dwilde1
    Folks, I have a situation where my MediaRecorder instance causes a segfault. I'm working with a HTC Hero, Android 1.5+APIs. I've tried all variations, including 3gpp and H.263 and reducing the video resolution to 320x240. What am I missing? The state machine causes 4 MediaPlayer beeps and then turns on the video camera. Here's the pertinent source: UPDATE: ADDING SURFACE CREATE INFO I have rebooted the device based on previous answer to similar question. UPDATE 2: I seem to be following the MediaRecorder state machine perfectly, and if I trap out the MR code, the blank surface displays perfectly and everything else functions perfectly. I can record videos manually and play back via MediaPlayer in my code, so there should be nothing wrong with the underlying code. I've copied sample code on the surface and surfaceHolder code. I've looked at the MR instance in the Debug perspective in Eclipse and see that all (known) variables seem to be instantiated correctly. The setter calls are all now implemented in the exaxct order specced in the state diagram. UPDATE 3: I've tried all permission combinations: CAMERA + RECORD_AUDIO+RECORD_VIDEO, CAMERA only, RECORD_AUDIO+RECORD_VIDEO This is driving me bats! :))) UPDATE 4: starting to work... but with puzzling results. Based on info in bug #5050, I spaced everything out. I have now gotten the recorder to actually save a snippet of video (a whole 2160 bytes!), and I did it by spacing the view visibility, prepare() and start() w.a.a.a.a.a.y out (like several hundred milliseconds for each step). I think what happens is that either bringing the surface VISIBLE has delayed processing or else the start() steps on the prepare() operation before it is complete. What is now happening, however, is that my simple timer tickdown counter is getting clobbered. Is it now that the preview and save operations are causing my main process thread to become unavailable? I'm recording only 10fps at 176x144. Referencing the above code, I've added a timer tickdown after setPreviewDisplay(), prepare() and start(). As I say, it now functions to some degree, but the results still have anomalies. // in activity class definition protected MediaPlayer mPlayer; protected MediaRecorder mRecorder; protected boolean inCapture = false; protected int phaseCapture = 0; protected int durCapturePhase = INF; protected SurfaceView surface; protected SurfaceHolder surfaceHolder; // in onCreate() // panelPreview is an empty LinearLayout surface = new SurfaceView(getApplicationContext()); surfaceHolder = surface.getHolder(); surfaceHolder.setType(SurfaceHolder.SURFACE_TYPE_PUSH_BUFFERS); panelPreview.addView(surface); // in timer handler runnable if (mRecorder == null) mRecorder = new MediaRecorder(); mRecorder.setAudioSource(MediaRecorder.AudioSource.MIC); mRecorder.setVideoSource(MediaRecorder.VideoSource.CAMERA); mRecorder.setOutputFormat(MediaRecorder.OutputFormat.THREE_GPP); mRecorder.setAudioEncoder(MediaRecorder.AudioEncoder.AMR_NB); mRecorder.setOutputFile(path + "/" + vlip); mRecorder.setVideoSize(320, 240); mRecorder.setVideoFrameRate(15); mRecorder.setPreviewDisplay(surfaceHolder.getSurface()); panelPreview.setVisibility(LinearLayout.VISIBLE); mRecorder.prepare(); mRecorder.start(); Here is a complete log trace for the process run and crash: I/ActivityManager( 80): Start proc com.ejf.convince.jenplus for activity com.ejf.convince.jenplus/.JenPLUS: pid=17738 uid=10075 gids={1006, 3003} I/jdwp (17738): received file descriptor 10 from ADB W/System.err(17738): Can't dispatch DDM chunk 46454154: no handler defined W/System.err(17738): Can't dispatch DDM chunk 4d505251: no handler defined I/WindowManager( 80): Screen status=true, current orientation=-1, SensorEnabled=false I/WindowManager( 80): needSensorRunningLp, mCurrentAppOrientation =-1 I/WindowManager( 80): Enabling listeners W/ActivityThread(17738): Application com.ejf.convince.jenplus is waiting for the debugger on port 8100... I/System.out(17738): Sending WAIT chunk I/dalvikvm(17738): Debugger is active I/AlertDialog( 80): [onCreate] auto launch SIP. I/WindowManager( 80): onOrientationChanged, rotation changed to 0 I/System.out(17738): Debugger has connected I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): waiting for debugger to settle... I/System.out(17738): debugger has settled (1370) I/ActivityManager( 80): Displayed activity com.ejf.convince.jenplus/.JenPLUS: 5186 ms I/OpenCore( 2696): [Hank debug] LN 289 FN CreateNode I/AudioHardwareMSM72XX( 2696): AUDIO_START: start kernel pcm_out driver. W/AudioFlinger( 2696): write blocked for 96 msecs I/PlayerDriver( 2696): CIQ 1625 sendEvent state=5 I/OpenCore( 2696): [Hank debug] LN 289 FN CreateNode I/PlayerDriver( 2696): CIQ 1625 sendEvent state=5 I/OpenCore( 2696): [Hank debug] LN 289 FN CreateNode I/PlayerDriver( 2696): CIQ 1625 sendEvent state=5 I/OpenCore( 2696): [Hank debug] LN 289 FN CreateNode I/PlayerDriver( 2696): CIQ 1625 sendEvent state=5 W/AuthorDriver( 2696): Intended width(640) exceeds the max allowed width(352). Max width is used instead. W/AuthorDriver( 2696): Intended height(480) exceeds the max allowed height(288). Max height is used instead. I/AudioHardwareMSM72XX( 2696): AudioHardware pcm playback is going to standby. I/DEBUG (16094): *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** I/DEBUG (16094): Build fingerprint: 'sprint/htc_heroc/heroc/heroc: 1.5/CUPCAKE/85027:user/release-keys' I/DEBUG (16094): pid: 17738, tid: 17738 com.ejf.convince.jenplus Thanks in advance! -- Don Wilde http://www.ConvinceProject.com

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  • Installing Win32 shared SxS policy via WiX 3.0 MSM fails for 2nd app

    - by dr-stevep
    I am attempting to author a merge module for use by multiple application installers to install a Win32 Shared SxS Assembly and its associated Policy. I'm using WiX 3.0 to generate the MSM and test MSIs. So far it works fine for the first app installer that runs … but the second app installer fails because the Policy file already exists (HRESULT: 0x800700B7). What requirement(s) for correct Win32 Shared SxS Policy installation am I missing? I have submitted WiX bug 3005301 for this (https://sourceforge.net/tracker/?func=detail&atid=642714&aid=3005301&group_id=105970) and posted VS2008 projects that reproduce the problem. URL: ftp.digital-rapids.com/upload/SteveP/ User: drc-support Password: drc-support Link: ftp://drc-support:[email protected]/upload/SteveP/ wix-Bugs-3005201.rar contains a VS2008 solution that builds the MSM and MSIs that reproduce the issue. (~3MB) wix-Bugs-3005301_Output.rar contains the generated MSM, MSI, and wixpdb files (~40MB)

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  • Displaying Video using a Window Handle

    - by fergs
    I'm working on a C# wrapper for Dallmeier camera's and currently have a working wrapper. I can connect to a camera via passing the window handle (in my application its a picture box handle), this is used to send video and messages. Once connected I can then send the StartLiveView command and then a live stream video will be shown in the picture box. Can someone explain how this works by just giving the window handle? And how can I grab an Image from this stream when Picturebox1.Image is null?

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  • How to spot empty parking spaces?

    - by mithila
    I want to do a final year B.Sc project on parking space detection. Can anybody give me some link related to it? Any text-book, tutorial or anything? What would be prerequisite for this project? What type of skills(programming/math) are needed? What are the initial steps to do? What type of readings(algorithms of image processing) are needed? Detail added in comments: i'm going to use camera, not infrared. i would like to use still images, or one camera which captures images from a parking lot. i think reak-time processing will be tough, at this moment i just need to start the project. so still images will work fine. but later it may b a real-time project

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  • Computing orientation of a square and displaying an object with the same orientation

    - by Robin
    Hi, I wrote an application which detects a square within an image. To give you a good understanding of how such an image containing such a square, in this case a marker, could look like: What I get, after the detection, are the coordinates of the four corners of my marker. Now I don't know how to display an object on my marker. The object should have the same rotation/angle/direction as the marker. Are there any papers on how to achieve that, any algorithms that I can use that proofed to be pretty solid/working? It doesn't need to be a working solution, it could be a simple description on how to achieve that or something similar. If you point me at a library or something, it should work under linux, windows is not needed but would be great in case I need to port the application at some point. I already looked at the ARToolkit but they you camera parameter files and more complex matrices while I only got the four corner points and a single image instead of a whole video / camera stream.

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  • Video packet capture over multiple IP cameras

    - by nimals1986
    Hello We are working on a C language application which is simple RTSP/RTP client to record video from Axis a number of Cameras . We launch a pthread for each of the camera which establishes the RTP session and begins to record the packets captured suing the recvfrom() call... A single camera single pthread records fine for well over a day without issues.. but testing with more cameras available,about 25(so 25 pthreads), the recording to file goes fine for like 15 to 20 mins and then the recording just stops ..the application still keeps running .. Its been over a month and a half we have been trying with varied implementations but nothing seems to help .. Please provide suggestions.. We are using CentOS 5 platform

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  • How to efficiently track my geolocation during traveling using iPhone

    - by Peter Kruithof
    I'm going to travel through Thailand and I want to keep track of my location to geotag photos afterwards taken with a digital camera (iPhone's camera is not good enough). There are two things that are important here: I don't want to update manually I want the battery to last as long as possible, since the times I will be able to charge will be scarce I've thought about creating a web page that periodically sends my geolocation to a script that stores it in a database, but I don't know if GPS data is available in Mobile Safari. Second, I want the data I send to be as small as possible, and the frequency this is done s few as possible, because of the pricing of mobile data usage abroad. Any suggestions what would be a good solution here?

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  • H.264 over RTP - Identify SPS and PPS Frames

    - by Toby
    I have a raw H.264 Stream from an IP Camera packed in RTP frames. I want to get raw H.264 data into a file so I can convert it with ffmpeg. So when I want to write the data into my raw H.264 file I found out it has to look like this: 00 00 01 [SPS] 00 00 01 [PPS] 00 00 01 [NALByte] [PAYLOAD RTP Frame 1] // Payload always without the first 2 Bytes -> NAL [PAYLOAD RTP Frame 2] [... until PAYLOAD Frame with Mark Bit received] // From here its a new Video Frame 00 00 01 [NAL BYTE] [PAYLOAD RTP Frame 1] .... So I get the SPS and the PPS from the Session Description Protocol out of my preceding RTSP communication. Additionally the camera sends the SPS and the PPSin two single messages before starting with the video stream itself. So I capture the messages in this order: 1. Preceding RTSP Communication here ( including SDP with SPS and PPS ) 2. RTP Frame with Payload: 67 42 80 28 DA 01 40 16 C4 // This is the SPS 3. RTP Frame with Payload: 68 CE 3C 80 // This is the PPS 4. RTP Frame with Payload: ... // Video Data Then there come some Frames with Payload and at some point a RTP Frame with the Marker Bit = 1. This means ( if I got it right) that I have a complete video frame. Afer this I write the Prefix Sequence ( 00 00 01 ) and the NALfrom the payload again and go on with the same procedure. Now my camera sends me after every 8 complete Video Frames the SPS and the PPS again. ( Again in two RTP Frames, as seen in the example above ). I know that especially the PPS can change in between streaming but that's not the problem. My questions are now: 1. Do I need to write the SPS/PPS every 8th Video Frame? If my SPS and my PPS don't change it should be enough to have them written at the very beginning of my file and nothing more? 2. How to distinguish between SPS/PPS and normal RTP Frames? In my C++ Code which parses the transmitted data I need make a difference between the RTP Frames with normal Payload an the ones carrying the SPS/PPS. How can I distinguish them? Okay the SPS/PPS frames are usually way smaller, but that's not a save call to rely on. Because if I ignore them I need to know which data I can throw away, or if I need to write them I need to put the 00 00 01 Prefix in front of them. ? Or is it a fixed rule that they occur every 8th Video Frame?

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  • Streaming webcam video in Flash using MP4 encoding

    - by Herms
    One of the features of the Flash app I'm working on is to be able to stream a webcam to others. We're just using the built-in webcam support in Flash and sending it through FMS. We've had some people ask for higher quality video, but we're already using the highest quality setting we can in Flash (setting quality to 100%). My understanding is that in the newer flash players they added support for MPEG-4 encoding for the videos. I created a simple test Flex app to try and compare the video quality of the MP4 vs FLV encodings. However, I can't seem to get MP4 to work at all. According to the Flex documentation the only thing I need to do to use MP4 instead of FLV is prepend "mp4:" to the name of the stream when calling publish: Specify the stream name as a string with the prefix mp4: with or without the filename extension. The prefix indicates to the server that the file contains H.264-encoded video and AAC-encoded audio within the MPEG-4 Part 14 container format. When I try this nothing happens. I don't get any events raised on the client side, no exceptions thrown, and my logging on the server side doesn't show any streams starting. Here's the relevant code: // These are all defined and created within the class. private var nc:NetConnection; private var sharing:Boolean; private var pubStream:NetStream; private var format:String; private var streamName:String; private var camera:Camera; // called when the user clicks the start button private function startSharing():void { if (!nc.connected) { return; } if (sharing) { return; } if(pubStream == null) { pubStream = new NetStream(nc); pubStream.attachCamera(camera); } startPublish(); sharing = true; } private function startPublish():void { var name:String; if (this.format == "mp4") { name = "mp4:" + streamName; } else { name = streamName; } //pubStream.publish(name, "live"); pubStream.publish(name, "record"); }

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  • Virtualizing WindowsXP on Linux Fedora 12 for Photoshop....

    - by Rae
    I am running a Linux server from 2000, I have Fedora12 installed as the OS. I know you can virtualize Windows XP on the system to be able to run Windows programs, but the problem is I My server has only one 1333Mhz Pentium 3 processor and 1G of Ram. granted this is a pretty kick ass computer for the day, but lacking the processor I'm afraid that I will not be able to run Windows virtualization to support Photoshop CS3. Is there any program out there that runs similar to Photoshop, like windows Digital Image suite 10, that will run smoothly in my Linux Fedora 12 environment? or can I virtualize windows and run the Windows digital image suite 10, without slowing or corrupting my system?

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  • Android: Memory leak due to AsyncTask

    - by Manu
    Hello, I'm stuck with a memory leak that I cannot fix. I identified where it occurs, using the MemoryAnalizer but I vainly struggle to get rid of it. Here is the code: public class MyActivity extends Activity implements SurfaceHolder.Callback { ... Camera.PictureCallback mPictureCallbackJpeg = new Camera.PictureCallback() { public void onPictureTaken(byte[] data, Camera c) { try { // log the action Log.e(getClass().getSimpleName(), "PICTURE CALLBACK JPEG: data.length = " + data); // Show the ProgressDialog on this thread pd = ProgressDialog.show(MyActivity.this, "", "Préparation", true, false); // Start a new thread that will manage the capture new ManageCaptureTask().execute(data, c); } catch(Exception e){ AlertDialog.Builder dialog = new AlertDialog.Builder(MyActivity.this); ... dialog.create().show(); } } class ManageCaptureTask extends AsyncTask<Object, Void, Boolean> { protected Boolean doInBackground(Object... args) { Boolean isSuccess = false; // initialize the bitmap before the capture ((myApp) getApplication()).setBitmapX(null); try{ // Check if it is a real device or an emulator TelephonyManager telmgr = (TelephonyManager) getSystemService(Context.TELEPHONY_SERVICE); String deviceID = telmgr.getDeviceId(); boolean isEmulator = "000000000000000".equalsIgnoreCase(deviceID); // get the bitmap if (isEmulator) { ((myApp) getApplication()).setBitmapX(BitmapFactory.decodeFile(imageFileName)); } else { ((myApp) getApplication()).setBitmapX(BitmapFactory.decodeByteArray((byte[]) args[0], 0, ((byte[])args[0]).length)); } ((myApp) getApplication()).setImageForDB(ImageTools.resizeBmp(((myApp) getApplication()).getBmp())); // convert the bitmap into a grayscale image and display it in the preview ((myApp) getApplication()).setImage(makeGrayScale()); isSuccess = true; } catch (Exception connEx){ errorMessageFromBkgndThread = getString(R.string.errcapture); } return isSuccess; } protected void onPostExecute(Boolean result) { // Pass the result data back to the main activity if (MyActivity.this.pd != null) { MyActivity.this.pd.dismiss(); } if (result){ ((ImageView) findViewById(R.id.apercu)).setImageBitmap(((myApp) getApplication()).getBmp()); ((myApp) getApplication()).setBitmapX(null); } else{ // there was an error ErrAlert(); } } } }; private void ErrAlert(){ // notify the user about the error AlertDialog.Builder dialog = new AlertDialog.Builder(this); ... dialog.create().show(); } } MemoryAnalyzer indicated the memory leak at: ((myApp) getApplication()).setBitmapX(BitmapFactory.decodeByteArray((byte[]) args[0], 0, ((byte[])args[0]).length)); I am grateful for any suggestion, thank you in advance.

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  • Comparing images using SIFT

    - by Luís Fernando
    I'm trying to compare 2 images that are taken from a digital camera. Since there may be movement on the camera, I want to first make the pictures "match" and then compare (using some distant function). To match them, I'm thinking about cropping the second picture and using SIFT to find it inside the first picture... it will probably have a small difference on scale/translation/rotation so then I'd need to find the transformation matrix that converts image 1 to image 2 (based on points found by SIFT) any ideas on how to do that (or I guess that's a common problem that may have some opensource implementation?)? thanks

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  • Xcode: Application name in OS X cannot be localized?

    - by Andrew Chang
    I have an project named "Multi-Camera Supervisor". I make the "MainMenu.xib" file localized. Here are the menu bar in localized nib file of Xcode: For English: For Japanese: But when I ran my application in Xcode, The first item doesn't work. Here are the menu bars when my application ran: For English: For Japanese You can see that the application name was still "Multi-Camera Supervisor". Meanwhile, the application name appeared in Dock icon was not localized either. How should I solve this? How can I localize the application name not only in main menu but also in Dock?

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  • Compressing three individual jpeg pics containing temporal redundancy?

    - by michael
    I am interfacing and embedded device with a camera module that returns a single jpeg compressed frame each time I trigger it. I would like to take three successive shots (approx 1 frame per 1/4 second) and further compress the images into a single file. The assumption here is that there is a lot of temporal redundancy, therefore lots of room for more compression across the three frames (compared to sending three separate jpeg images). I will be implementing the solution on an embedded device in C without any libraries and no OS. The camera will be taking pics in an area with very little movement (no visitors or screens in the background, maybe a tree with swaying branches), so I think my assumption about redundancy is pretty solid. When the file is finally viewed on a pc/mac, I don't mind having to write something to extract the three frames (so it can be a nonstandard cluge) So I guess the actual question is: What is the best way to compress these three images together given the fact that they are already in JPEG format (it is a possibly to convert back to a raw image, but if i dont have too...)

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  • MySql UDF using shared library won't load

    - by Jarrod
    I am attempting to create a mysql UDF which will match a fingerprint using Digital Persona's free linux SDK library. I have written a trivial UDF as a learning experience which worked fine. However, when I added a dependency to Digital Persona's shared object I can no longer get MySql to load my UDF. I added includes to DP's headers and compiled my UDF using: gcc -fPIC -Wall -I/usr/src/mysql-5.0.45-linux-i686-icc-glibc23/include -shared -o dp_udf.so dp_udf.cc I also tried adding the -static argument, but whenever I restart MySql, I get the error: Can't open shared library 'dp_udf.so' (errno: 0 /usr/local/mysql/lib/plugin/dp_udf.so: undefined symbol: MC_verifyFeaturesEx) MC_verifyFeaturesEx is a function defined "dpMatch.h" which I included, and is implemented in libdpfpapi.so which I have tried placing in the same location as my dp_udf.so and in /usr/lib. Am I doing something wrong with my call to gcc (my C++ skills are rusty) or does MySql not allow UDFs to use additional shared objects?

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  • Unreachable code detected by using const variables

    - by Anton Roth
    I have following code: private const FlyCapture2Managed.PixelFormat f7PF = FlyCapture2Managed.PixelFormat.PixelFormatMono16; public PGRCamera(ExamForm input, bool red, int flags, int drawWidth, int drawHeight) { if (f7PF == FlyCapture2Managed.PixelFormat.PixelFormatMono8) { bpp = 8; // unreachable warning } else if (f7PF == FlyCapture2Managed.PixelFormat.PixelFormatMono16){ bpp = 16; } else { MessageBox.Show("Camera misconfigured"); // unreachable warning } } I understand that this code is unreachable, but I don't want that message to appear, since it's a configuration on compilation which just needs a change in the constant to test different settings, and the bits per pixel (bpp) change depending on the pixel format. Is there a good way to have just one variable being constant, deriving the other from it, but not resulting in an unreachable code warning? Note that I need both values, on start of the camera it needs to be configured to the proper Pixel Format, and my image understanding code needs to know how many bits the image is in. So, is there a good workaround, or do I just live with this warning?

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  • EXC_BAD_ACCESS on iPhone (with debugger screenshot)

    - by VansFannel
    Hello. I'm developing an iPhone application that show the camera's view with this code: -(void) displayAR { [rootViewController presentModalViewController:[self cameraController] animated:NO]; [displayView setFrame:[[[self cameraController] view] bounds]]; } And hide the camera's view with this code: - (void) hideAR { [[self locationManager] stopUpdatingHeading]; [[self locationManager] stopUpdatingLocation]; [[self accelerometerManager] release]; [rootViewController dismissModalViewControllerAnimated:YES]; } When I call hideAR, I get an EXC_BAD_ACCESS with the following debugger screenshot: Any advice?

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  • Calculating rotation and translation matrices between two odometry positions for monocular linear triangulation

    - by user1298891
    Recently I've been trying to implement a system to identify and triangulate the 3D position of an object in a robotic system. The general outline of the process goes as follows: Identify the object using SURF matching, from a set of "training" images to the actual live feed from the camera Move/rotate the robot a certain amount Identify the object using SURF again in this new view Now I have: a set of corresponding 2D points (same object from the two different views), two odometry locations (position + orientation), and camera intrinsics (focal length, principal point, etc.) since it's been calibrated beforehand, so I should be able to create the 2 projection matrices and triangulate using a basic linear triangulation method as in Hartley & Zissermann's book Multiple View Geometry, pg. 312. Solve the AX = 0 equation for each of the corresponding 2D points, then take the average In practice, the triangulation only works when there's almost no change in rotation; if the robot even rotates a slight bit while moving (due to e.g. wheel slippage) then the estimate is way off. This also applies for simulation. Since I can only post two hyperlinks, here's a link to a page with images from the simulation (on the map, the red square is simulated robot position and orientation, and the yellow square is estimated position of the object using linear triangulation.) So you can see that the estimate is thrown way off even by a little rotation, as in Position 2 on that page (that was 15 degrees; if I rotate it any more then the estimate is completely off the map), even in a simulated environment where a perfect calibration matrix is known. In a real environment when I actually move around with the robot, it's worse. There aren't any problems with obtaining point correspondences, nor with actually solving the AX = 0 equation once I compute the A matrix, so I figure it probably has to do with how I'm setting up the two camera projection matrices, specifically how I'm calculating the translation and rotation matrices from the position/orientation info I have relative to the world frame. How I'm doing that right now is: Rotation matrix is composed by creating a 1x3 matrix [0, (change in orientation angle), 0] and then converting that to a 3x3 one using OpenCV's Rodrigues function Translation matrix is composed by rotating the two points (start angle) degrees and then subtracting the final position from the initial position, in order to get the robot's straight and lateral movement relative to its starting orientation Which results in the first projection matrix being K [I | 0] and the second being K [R | T], with R and T calculated as described above. Is there anything I'm doing really wrong here? Or could it possibly be some other problem? Any help would be greatly appreciated.

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  • Why use hashing to create pathnames for large collections of files?

    - by Stephen
    Hi, I noticed a number of cases where an application or database stored collections of files/blobs using a has to determine the path and filename. I believe the intended outcome is a situation where the path never gets too deep, or the folders ever get too full - too many files (or folders) in a folder making for slower access. EDIT: Examples are often Digital libraries or repositories, though the simplest example I can think of (that can be installed in about 30s) is the Zotero document/citation database. Why do this? EDIT: thanks Mat for the answer - does this technique of using a hash to create a file path have a name? Is it a pattern? I'd like to read more, but have failed to find anything in the ACM Digital Library

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  • data between pages: $_SESSION vs. $_GET ?

    - by Haroldo
    Ok, firstly this is not about forms this is about consistent layout as a user explores a site. let me explain: If we imagine a (non-ajax) digital camera online store, say someone was on the DSLR section and specified to view the cameras in Gallery mode and order by price. They then click onto the Compact camera's page. It would be in the users interests if the 'views' they selected we're carried over to this new page. Now, i'd say use a session - am i wrong? are there performance issues i should be aware of for a few small session vars ( ie view=1 , orderby=price) ?

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  • Using cProfile results with KCacheGrind

    - by Adam Luchjenbroers
    I'm using cProfile to profile my Python program. Based upon this talk I was under the impression that KCacheGrind could parse and display the output from cProfile. However, when I go to import the file, KCacheGrind just displays an 'Unknown File Format' error in the status bar and sits there displaying nothing. Is there something special I need to do before my profiling stats are compatible with KCacheGrind? ... if profile: import cProfile profileFileName = 'Profiles/pythonray_' + time.strftime('%Y%m%d_%H%M%S') + '.profile' profile = cProfile.Profile() profile.run('pilImage = camera.render(scene, samplePattern)') profile.dump_stats(profileFileName) profile.print_stats() else: pilImage = camera.render(scene, samplePattern) ... Package Versions KCacheGrind 4.3.1 Python 2.6.2

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