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VISION-LIST Digest 1989 03 14
Vision-List Digest Tue Mar 14 10:40:36 PDT 89
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Today's Topics:
Intrinsic image routines?
Research posts - parallel processing and vision
Imaging software.
Camcorder computer interface modification description
----------------------------------------------------------------------
Date: Mon, 13 Mar 89 19:47:07 EST
From: Sean Philip Engelson <engelson-sean@YALE.ARPA>
Subject: Intrinsic image routines?
I'm doing some work in cognitive mapping and robotics, and, naturally,
I need some vision. I'm just getting to the thinking about hacking
stage, so I figured I'd ask if you had programs to compute any sort of
intrinsic images from input data, that I could get ahold of. Things
like local shape-from-shading, or stereo depth maps, or motion fields,
etc, is what I'm looking for; not model or feature based stuff. I
need source, of course, since I want to interface all this stuff
together, and thus commercial quality is not necessary, but
well-written code would be nice.
Thanks very much in advance,
------------------------------
Date: 13 Mar 89 17:30:55 GMT
From: Andrew Wallace <mcvax!cs.hw.ac.uk!andy@uunet.UU.NET>
Subject: Research posts - parallel processing and vision
Organization: Computer Science, Heriot-Watt U., Scotland
Heriot-Watt University
Department of Computer Science
Research Associates in Parallel Processing and Vision
Applications are invited for two SERC-funded Research
Associateships to work on aspects of rapid prototyping and
implementation of algorithms for high level image interpretation
on multiple instruction multiple data (MIMD) architectures.
Although working closely together, each RA will assume
responsibility for a specific programme. The first will
concentrate primarily on the software methodology, including
functional specification of algorithms and their transformation
into a parallel imperative language, OCCAM 2. The other will
undertake the development, optimisation and implementation of
algorithms for visual recognition and location on a suitable
machine. The persons appointed will join a lively research group
working on several aspects of computer vision and software
development.
Applicants should have an honours degree in Computer Science or a
related discipline, together with relevant postgraduate
experience. The posts are tenable for three years, commencing as
soon as possible after the 1st June. The starting salary will be
in the range L=8,675 to L=13,365 depending on age and
experience.
Enquiries should be directed initially to the Staff Officer,
Heriot-Watt University, Riccarton, Edinburgh EH14 4AS, from whom
further information and application forms may be obtained. The
closing date for applications is 7th April 1989.
Informal enquiries may be directed to Dr. Andrew Wallace at the
Department of Computer Science, tel. 031-225-6465 x542
(andy@uk.ac.hw.cs)
Andrew Wallace JANET : andy@cs.hw.ac.uk
ARPA : andy@uk.ac.hw.cs
UUCP : ..ukc!cs.hw.ac.uk!andy
------------------------------
Date: Wed, 8 Mar 89 14:59 N
From: THIERRY PUN <PUN%CGEUGE51.BITNET@CUNYVM.CUNY.EDU>
Subject: Imaging software.
(Following vision-list digest of Monday March 6, 89).
LABO IMAGE:
Computer Science Center, University of Geneva, Switzerland
GENERAL DESCRIPTION:
Labo Image is a window based software for image processing and analysis. It
contains a comprehensive set of operators as well as general utilities. It
is designed to be open-ended; new modules can easily be added. The software
is mostly written in C, and currently runs on Sun 3/xxx, Sun 4/xxx (OS3.5 and
4.0) under SunView. It has been extensively used by students as well as
researchers from various domains: computer science (image analysis), medicine,
biology, physics. It is freely distributed.
CAPABILITIES:
Labo Image is an interactive software, whose interface is menu, mouse and
windows based. It can work on monochrome (binary) or color workstations. Its
main features are:
- input-output: file, screen, postscript;
- display: mono, RGB, dithering;
- color table manipulations;
- elementary interactive operations: region outlining, statistics and
histogram computation, etc;
- elementary operations: histogramming, conversions, arithmetic, images
and noise generation;
- interpolation, rotation/scaling/translation;
- preprocessing: background substraction, filters, etc;
- convolution/correlation with masks, image; padding;
- edge extractions: various operators, peak-following;
- region segmentation: various methods (being implemented);
- transforms: Fourier, Haar, etc;
- binary mathematical morphology, plus some grey-level morphology;
- expert-system for novice users;
- macros definitions, save and replay;
- etc.
IMAGE FORMATS:
Own format: descriptor file + data file (binary, byte, int, float, complex;
mono or RGB). Conversions to various other formats.
Constructs:
- iconic (pixel-based), which each image having its own parameter list;
- vectors (histograms, look-up tables);
- graphs (for regions; being implemented);
- strings (for macros).
STATUS:
Version 0 has been released in January 1988, version 1 in November 1988,
version 2 will be released before end of March 1989:
- hosts: Sun 3/xxx, Sun 4/xxx;
- OS: Sun OS 3.5, 4.0;
- window system: SunView, View2 as soon as possible; X11 in preparation;
- language: mostly C, plus some Fortran (SPIDER modules) and some
Common-Lisp (expert-system);
- approx. code size: source 1MB (25'000 lines), executable 1.5MB under
SunView/OS3.5;
- documentation: manuals (french), leaflets (english); english manual is
being prepared.
DISTRIBUTION POLICY:
Most of the software has been developped by us, and source code is available.
A few modules are licensed (SPIDER), and of course cannot be distributed;
these are however routines that all imaging groups have, such as median or
Fourier transform.
Interested persons can be sent the software by providing us with a 1/4"
cartridge. Under special request, it can be e-mailed. A typical disclaimer
notice will also be sent. In essence:
- the software is our property, and the copyright notice must appear;
- results obtained with Labo Image should reference it;
- no responsability is assumed;
- no money can be made out of it;
- no redistribution without our consent;
- bugs will usually be corrected since we use intensively the software;
- modifications should be communicated to us, with (normally) allowance
for redistribution.
CONTACTS:
Thierry Pun (general design) or Alain Jacot-Descombes (general design and
principal writer of the software): Computer Science Center, Univ. of Geneva,
12 rue du Lac, CH-1207 Geneva SWITZERLAND.
Tel. +(4122) 87 65 82 (T. Pun), 87 65 84 (A. Jacot-Descombes).
E-mail: pun@cgeuge51.bitnet, pun@cui.unige.ch, or jacot@cuisun.unige.ch.
------------------------------
Date: Mon, 13 Mar 89 10:33:47 PST
From: Mark Noworolski <noworol@eecg.toronto.edu>
Subject: Camcorder computer interface modification description
[ I have omitted the compressed binary files. If anyone has a need for
them, please let me know, and I will mail the uuencoded, compressed,
tar'ed (and feathered) file to you.
phil... ]
Here, as promised are the details of how to interface the
Fischer-Price Kiddie Camcorder to a computer- in my case an
IBM PC. The camera has 120 horiz, 90 vertical, and 16 grey scales.
Several notes are in order:
1. It may sound like part of a thesis. Well it is.
2. Figures are not enclosed, I figure that it's reasonably easy
to figure things out without them anyway (provided you have a unit
near you). Figure that, figure, figure. figure.
3. The interface is built with the premise that if it's possible to do
it in software, it'll be done that way. Improvements are most
DEFINITELY possible (and probably welcome). Some of the parts of it
are probably redundant, but make me much happier about the likelihood
of frying something in my PC.
The actual interface is enclosed in 3 formats:
ORCAD schematic file v3.11
HPGL file spit out by orcad
Postscript file (untested) after running through an hpgl to ps converter.
epson format file.
4. The program is written for Turbo C 2.0. It uses the BGI routines and
is REALLY ugly. I mean that. It's one of those programs that you write in
2 minutes 'just to see if it works' and then never clean it up.
5. The following should only be attempted by people who have a vague idea
of what they're doing. Since you're interfacing to the IBM bus directly you
should be VERY careful.
6. The executable of the display program will be provided on request.
7. A question... Why does the damned program generate a parity error when
starting up? It goes away after that.
Well, here's the goods.
Reverse Engineering
The Fisher Price Kiddie Camcorder was found to be a very useful
image sensor priced reasonably (at the time of writing $180
Canadian). What follows is a description of how to use the unit
as an image sensor giving 16 levels of grey scale and requiring
only a minimum of interface circuitry. Please note that all
direction references (unless specified otherwise) are related to
those observed when actually using the unit as a camera.
Disassembly of the unit is fairly simple, screws are located
underneath the rubber pegs located on the right hand of the unit
(see figure 1). These must be pried off with a pointed object
such as a screwdriver, revealing the screws underneath. These
four screws must then be removed along with the two in the
handle. The unit can then be easily separated into two halves,
revealing the electronics and the cassette mechanism.
Next the cassette mechanism must be separated from the
electronics. This can be accomplished by separating the two while
using the pushbutton side as a pivot point (most wires are to be
found on that side). In order to simplify interfacing the two
wires leading to the motor should be disconnected.
The switch labelled SW1 should next be pushed in permanently (it
is found directly behind the vision sensing element near the
shield), this can be accomplished by pulling the spring out from
within it and then manually pushing it into position. The unit
can at this point be used as a vision sensor which plugs into
your TV. In other words what it now does is work like normal in
the record mode; except that no recording actually takes place
since the motor doesn't turn.
Towards the back of the board there are two SMD's. They are 24
pin devices mounted side by side. Both of them have similar part
numbers- FP519550. To the left of these there are 7 resistors,
the top one is labelled R155. The bottom four are the 4 bit data
stream (see figure 2), thus giving 16 levels of grey scale (a TTL
high level indicates a corresponding high light intensity). The
bottom resistor is the most significant bit and the fourth one up
is the least significant; the right side of each being the data
line itself. These lines are shown in figure 3 together with the
associated control signals. The data lines and associated control
signals are at standard TTL levels of 5 volts.
The synchronising signals can be found on the left FP519550 SMD.
Each is named as follows:
Current Frame- pin 5
This signal is a square wave of period 130 msec. It can be
used as a synchronising signal to indicate start of frame.
Data valid- pin 17
This signal is active low for approximately 250nsec and
occurs 600 nsec before the end of a data valid period. In
addition it goes low for a short period at the beginning and
end of each frame.
Horizontal Sync- pin 23
This signal is active low for approximately 50usec every
0.7msec. This can be used as the horizontal sync signal.
Numerous additional control-related signals can be found on these
two SMD's. However the three described above are sufficient to
enable interfacing to a computer with minimal circuitry.
Interfacing to the IBM PC bus
Emphasis in the interface planning and design was placed on
simplicity as opposed to elegance. The reasoning behind this
being that this was still the initial prototype development phase
of the project. In the final design a microcontroller such as the
8051 might be a good choice for image aquisition processing.
The final circuit designed with this premise in mind is shown in
figure 1. Although simple in function and design, a lack of
reasonable care can damage the PC bus and some I/O cards (the
author himself has manged to destroy his hard disk controller in
a puff of smoke).
The simple precaution of removing all PC cards possible will lead
to a safer environment in which to debug this circuit. Note that
the DMA3 channel is used to do the interfacing. Once again
caution should be stressed as some PC cards use the same channel
for their functions and it is important that this circuit does
not conflict with them.
Circuit Description
The '74 latch is used to generate DMA requests by using the Data
Valid line as a clock. The DMA acknowledge line clears the flip-
flop thereby setting it up for the next data word. The DMA
acknowledge time is significantly less than the 6usec period
during which data is valid.
The Data Valid line is also used as the clock for the '374 latch,
with the data lines, Current Frame bit, and Hsync bit used as its
inputs. The output enable line is controlled by both the IOR and
the DMAK3 lines, thereby assuring that no bus conflicts occur
when another I/O device is accessed (unless it uses the DMA3
channel).
Finally the '06 open collector buffer is used to minimize the
risk of blocking other devices from using the DMA3 channel. This,
however, is probably unnecessary since DMA3 service attempts
would cause bus conflicts anyway. Nevertheless it made the author
feel much more comfortable about the likelihood of other
components in his computer vanishing in puffs of smoke.
------------------------------
End of VISION-LIST
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