On 10/8/2014 8:25 AM, Ralph Stirling wrote: > Running OpenCV code in a real time thread would be an entirely different > matter, I suspect. I do not know if the cv2 library would be compatible > with real time requirements, or what level of processing could be accomplished > in a reasonable fraction of a servo period. You would also need to think > carefully about what camera you use. I used a USB2 microscope camera, and > I suspect USB2 would be entirely incompatible with the realtime requirements. > Perhaps some PCI bus board with internal frame buffer could work, if OpenCV > could talk to it. I normally just get UVC compatible cameras, but those are > all > USB2.
Unless you get into custom high-speed cameras or sensors, it takes over 15 mS to capture an image (60 Hz video), plus whatever processing time you incur. That said, folks have done some pretty amazing things within the limitations of standard video and camera systems (sampling at a specific point in time and using the calculated "where we were" to update the "where we're going" sometime later after a significant processing delay while the system is still moving). > If you wanted to really get into it, you could work with the machinekit fork, > and use the Parallella board as your platform. That has a 16 core (or 64 > core) > processor that has had OpenCV ported already. There is also a Xilinx fpga > (which contains two Arm cores that run Linux) that could be used for CNC > tasks. I have one sitting on my desk, but don't know when I'm going to have > time to play with it. There would still be the matter of camera > communications. Altera has similar parts I'm playing with for work. Dual-core ARM Cortex A9, PCIe, and big chunks of FPGA. I'm very interested in getting the HM2 VHDL code running on this device, but no so concerned with OpenCV (even though I already have hardware to run HD-SDI video via the high-speed transceivers). Just not enough time for all the cool projects... :) -- Charles Steinkuehler char...@steinkuehler.net
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