product/AutoChasingTurtle

Start:
[[FrontPage]] *What's this? [#b74f6829] -This product is "Auto Chasing Turtle". -By autonomous control, this robot recognizes people's fa... -[[YouTube Video:http://www.youtube.com/watch?v=8EgfAk5RB... #ref(DSC_0012.jpg) #ref(DSC_0001.jpg) #ref(DSC_0006.jpg) *The thing to prepare [#ga9b11ec] -Hardware --[[beagleboard-xM:http://beagleboard.org/hardware-xM]] --[[KONDO Animal:http://kondo-robot.com/product/kondo-ani... --[[Kinect:http://www.xbox.com/en-US/kinect]] --WiFiRouter --battery ---12V/1A ---10V/1A ---5V/3A -Software --[[ofxDroidKinect:http://www.noritsuna.com/archives/2011... ---[[Linaro Kernel:http://git.linaro.org/gitweb?p=people/... ---[[Android(Embedded Master):https://github.com/OESF/Emb... --Robo controller ---[[OESF Future Systems WG:http://fswg.oesf.biz/]] **Reference data [#q97e6b0a] -Please setup this environment. --[[ofxDroidKinect:http://www.noritsuna.com/archives/2011... **download [#cc9f2701] -This source code &ref(AutoChasingTurtle.zip); -Original Customized Linaro &ref(Linaro-kernel_android_1104.tar.gz); --How to build install Ubuntu10.10 later sudo apt-get install gcc-arm-linux-gnueabi make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- uImage ***license [#g9ef573a] -GPL2.0 **slide [#yac155c2] -[[on SlideShare:http://www.slideshare.net/noritsuna/auto... -download pptx: --&ref(AutoChasingTurtle.pptx); **Speech&Award [#j500c682] ***[[Linaro Developer Summit 11/05:https://wiki.linaro.or... -We speech. ***[[Laval Virtual 2011:http://www.laval-virtual.org/#Awa... -We are nominated. ***[[Campus Party 2011 Columbia:http://www.campus-party.c... -We speech. *Detail explanation for source code [#b1108d9c] **Hardware [#v97e01a3] -Connect all hardwares. +battery +[[beagleboard-xM:http://beagleboard.org/hardware-xM]] +[[Kinect:http://www.xbox.com/en-US/kinect]] +WiFiRouter **Software [#sac53c76] ***What doing? [#l8480899] +Take the RGB camera's image ++Save this image as jpeg +Try to recognize face ++If fail, search random. +Calculate the course which it should follow. ++Move kinect's Angle +Calculate the distance to target ***Detect Face [#s6cace2e] -Take the RGB camera's image --Take from Kinect's RGB camera by ofxDroidKinect. ---testApp.cpp : 36 line void testApp::draw() { kinect.draw(0, 0, 480, 320); flame++; if (flame > 5) { flame = 0; colorImg->setFromPixels(kinect.getPixels(), kine... } } -Save this image as jpeg --Android's FaceDetector class can't detect by the Kinect... ---OFActivity.java : 53-72 line Bitmap bitmap = Bitmap.createBitmap(w, h, Bitmap.Config.... byte[] pixels = OFAndroid.getImgPixels(); if (pixels != null) { for (int i=0;i<w;i++) { for (int j=0;j<h;j++){ int index = (j * w + i) * 3; bitmap.setPixel(i, j, Color.rgb(pixels[index... } } try { // save adcard FileOutputStream fos = new FileOutputStream("/sd... bitmap.compress(Bitmap.CompressFormat.JPEG, 100,... fos.flush(); fos.close(); } catch (Exception e) { // check exception } -Try to recognize face --Use Android's FaceDetector class ---OFActivity.java : 77-80 line FaceDetector.Face[] faces = new FaceDetector.Face[1]; if (bitmap != null) { FaceDetector detector = new FaceDetector(w, h, f... int numFaces = detector.findFaces(bitmap, faces); -If fail, search random. -- ---OFActivity.java : 138-144 line } else { /* * search turn */ Random random = new Random(); int res = random.nextInt(3); if (res == 0) DroidBot.getInstance().turnRight2(); else if (res == 1) DroidBot.getInstance().turnRight... else if (res == 2) DroidBot.getInstance().turnLeft2... else if (res == 3) DroidBot.getInstance().turnLeft4... } ***Calculate Course & Destance [#i3c72bf7] -Calculate the course which it should follow. --RGB image is divided into 4 pieces at a width direction... ---OFActivity.java : 103-109 line if (pointX > 0 && pointX < w/4) { DroidBot.getInstance().turnRight2(); // right pos... } else if (pointX >= w/4 && pointX <= 3*w/4) { ; // center po... } else if (pointX > 3*w/4 && pointX <= w) { DroidBot.getInstance().turnLeft2(); // left posi... } -Move kinect's Angle --The maximum kinect's Angle is "30". And the kinect's An... ---OFActivity.java : 117-119 line int angle = 30 - pointY*30/h; if (angle > 0 && angle <= 30) OFAndroid.setAngle(angle); -Calculate the distance to target --Get from Kinect's Z(depth) camera by ofxDroidKinect. --The kinect's Angle is diceded on the basis of it by Fac... ---OFActivity.java : 127-132 line int dist = OFAndroid.getDistance(pointX, pointY); if (dist < 100) DroidBot.getInstance... else if (dist >= 100 && dist < 150) DroidBot.getInstance... else if (dist >= 150 && dist < 200) DroidBot.getInstance... else if (dist >= 200 && dist < 300) DroidBot.getInstance... else if (dist >= 300) DroidBot.getInstance... ***Control Robot [#db7fb7bf] -KONDO Animal is controled by serial. -KONDO Animal uses RCB-3 control unit. and send to contro... --Please look "kameserial.c & kameserial.h". ---[[RCB-3/RCB-3J Commands References:http://www.robotsho... ***Connect iPad [#p5101872] -iPad viewer is VNC client. --Using [[Android VNC Server:http://code.google.com/p/and... ---init.rc service vncserver /data/androidvncserver -k /dev/input/e... *Contact us [#t7b0fe8c] --info @ siprop.org *At the last [#e92afaf4] -If this is helpful to you, Please donate for "2011 Japan... -We are Japanese community team. We pray Japan revives. ***Information [#kea27941] -[[CrisisWiki:http://crisiswiki.org/2011_Sendai_Japan_Ear... ***Donation [#dc2cae71] -[[2011 Japanese Earthquake and Tsunami by Google:http://... -[[American Red Cross: Japan Earthquake and Pacific Tsuna... -[[2011 Japan Earthquake& Tsunami Relief by eBay:http:/... ***Contact us [#h9a8e358] -info --info atmark siprop.org -Noritsuna --noritsuna atmark siprop.org

End:
[[FrontPage]] *What's this? [#b74f6829] -This product is "Auto Chasing Turtle". -By autonomous control, this robot recognizes people's fa... -[[YouTube Video:http://www.youtube.com/watch?v=8EgfAk5RB... #ref(DSC_0012.jpg) #ref(DSC_0001.jpg) #ref(DSC_0006.jpg) *The thing to prepare [#ga9b11ec] -Hardware --[[beagleboard-xM:http://beagleboard.org/hardware-xM]] --[[KONDO Animal:http://kondo-robot.com/product/kondo-ani... --[[Kinect:http://www.xbox.com/en-US/kinect]] --WiFiRouter --battery ---12V/1A ---10V/1A ---5V/3A -Software --[[ofxDroidKinect:http://www.noritsuna.com/archives/2011... ---[[Linaro Kernel:http://git.linaro.org/gitweb?p=people/... ---[[Android(Embedded Master):https://github.com/OESF/Emb... --Robo controller ---[[OESF Future Systems WG:http://fswg.oesf.biz/]] **Reference data [#q97e6b0a] -Please setup this environment. --[[ofxDroidKinect:http://www.noritsuna.com/archives/2011... **download [#cc9f2701] -This source code &ref(AutoChasingTurtle.zip); -Original Customized Linaro &ref(Linaro-kernel_android_1104.tar.gz); --How to build install Ubuntu10.10 later sudo apt-get install gcc-arm-linux-gnueabi make ARCH=arm CROSS_COMPILE=arm-linux-gnueabi- uImage ***license [#g9ef573a] -GPL2.0 **slide [#yac155c2] -[[on SlideShare:http://www.slideshare.net/noritsuna/auto... -download pptx: --&ref(AutoChasingTurtle.pptx); **Speech&Award [#j500c682] ***[[Linaro Developer Summit 11/05:https://wiki.linaro.or... -We speech. ***[[Laval Virtual 2011:http://www.laval-virtual.org/#Awa... -We are nominated. ***[[Campus Party 2011 Columbia:http://www.campus-party.c... -We speech. *Detail explanation for source code [#b1108d9c] **Hardware [#v97e01a3] -Connect all hardwares. +battery +[[beagleboard-xM:http://beagleboard.org/hardware-xM]] +[[Kinect:http://www.xbox.com/en-US/kinect]] +WiFiRouter **Software [#sac53c76] ***What doing? [#l8480899] +Take the RGB camera's image ++Save this image as jpeg +Try to recognize face ++If fail, search random. +Calculate the course which it should follow. ++Move kinect's Angle +Calculate the distance to target ***Detect Face [#s6cace2e] -Take the RGB camera's image --Take from Kinect's RGB camera by ofxDroidKinect. ---testApp.cpp : 36 line void testApp::draw() { kinect.draw(0, 0, 480, 320); flame++; if (flame > 5) { flame = 0; colorImg->setFromPixels(kinect.getPixels(), kine... } } -Save this image as jpeg --Android's FaceDetector class can't detect by the Kinect... ---OFActivity.java : 53-72 line Bitmap bitmap = Bitmap.createBitmap(w, h, Bitmap.Config.... byte[] pixels = OFAndroid.getImgPixels(); if (pixels != null) { for (int i=0;i<w;i++) { for (int j=0;j<h;j++){ int index = (j * w + i) * 3; bitmap.setPixel(i, j, Color.rgb(pixels[index... } } try { // save adcard FileOutputStream fos = new FileOutputStream("/sd... bitmap.compress(Bitmap.CompressFormat.JPEG, 100,... fos.flush(); fos.close(); } catch (Exception e) { // check exception } -Try to recognize face --Use Android's FaceDetector class ---OFActivity.java : 77-80 line FaceDetector.Face[] faces = new FaceDetector.Face[1]; if (bitmap != null) { FaceDetector detector = new FaceDetector(w, h, f... int numFaces = detector.findFaces(bitmap, faces); -If fail, search random. -- ---OFActivity.java : 138-144 line } else { /* * search turn */ Random random = new Random(); int res = random.nextInt(3); if (res == 0) DroidBot.getInstance().turnRight2(); else if (res == 1) DroidBot.getInstance().turnRight... else if (res == 2) DroidBot.getInstance().turnLeft2... else if (res == 3) DroidBot.getInstance().turnLeft4... } ***Calculate Course & Destance [#i3c72bf7] -Calculate the course which it should follow. --RGB image is divided into 4 pieces at a width direction... ---OFActivity.java : 103-109 line if (pointX > 0 && pointX < w/4) { DroidBot.getInstance().turnRight2(); // right pos... } else if (pointX >= w/4 && pointX <= 3*w/4) { ; // center po... } else if (pointX > 3*w/4 && pointX <= w) { DroidBot.getInstance().turnLeft2(); // left posi... } -Move kinect's Angle --The maximum kinect's Angle is "30". And the kinect's An... ---OFActivity.java : 117-119 line int angle = 30 - pointY*30/h; if (angle > 0 && angle <= 30) OFAndroid.setAngle(angle); -Calculate the distance to target --Get from Kinect's Z(depth) camera by ofxDroidKinect. --The kinect's Angle is diceded on the basis of it by Fac... ---OFActivity.java : 127-132 line int dist = OFAndroid.getDistance(pointX, pointY); if (dist < 100) DroidBot.getInstance... else if (dist >= 100 && dist < 150) DroidBot.getInstance... else if (dist >= 150 && dist < 200) DroidBot.getInstance... else if (dist >= 200 && dist < 300) DroidBot.getInstance... else if (dist >= 300) DroidBot.getInstance... ***Control Robot [#db7fb7bf] -KONDO Animal is controled by serial. -KONDO Animal uses RCB-3 control unit. and send to contro... --Please look "kameserial.c & kameserial.h". ---[[RCB-3/RCB-3J Commands References:http://www.robotsho... ***Connect iPad [#p5101872] -iPad viewer is VNC client. --Using [[Android VNC Server:http://code.google.com/p/and... ---init.rc service vncserver /data/androidvncserver -k /dev/input/e... *Contact us [#t7b0fe8c] --info @ siprop.org *At the last [#e92afaf4] -If this is helpful to you, Please donate for "2011 Japan... -We are Japanese community team. We pray Japan revives. ***Information [#kea27941] -[[CrisisWiki:http://crisiswiki.org/2011_Sendai_Japan_Ear... ***Donation [#dc2cae71] -[[2011 Japanese Earthquake and Tsunami by Google:http://... -[[American Red Cross: Japan Earthquake and Pacific Tsuna... -[[2011 Japan Earthquake& Tsunami Relief by eBay:http:/... ***Contact us [#h9a8e358] -info --info atmark siprop.org -Noritsuna --noritsuna atmark siprop.org

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