Master Thesis - Hochschule Bonn-Rhein-Sieg

4. Overall evading concept Master Thesis Björn Ostermann page 48 of 126
The user then has to manually enter the pixel coordinates of those dots in the GUI and transmit them
to the camera control thread by using the button 13. The result of the manually transmitted coordinates
is shown as three colour coded crosshairs at the manually entered positions (see Figure 29b), which
have to be manually adjusted, until they match the white dots of the reference blocks.
a) b)
Figure 29: Image showing a) the highly reflective balls and
b) the manual aiming process
The next part of the coordinate relation determination, and also the last part of the camera control
thread, shown in Figure 30, deals with recording, storing and retrieving the voxels of the targeted
reference blocks.
from
part 5
Record
Points
Acquire 500 distance
data
Compute median in
each point
Store as
voxel data
Compute
transformation matrix
14 16 15
Load Points
(from file)
Acquire voxel
data from Data
Exchange
Object
Compute
transformation matrix
Save Points
(to file)
Transmit voxel
data to Data
Exchange
Object
Next Loop
Figure 30: Camera control thread – part 6
Recording, storing and retrieving the positions of markers in the camera coordinate system