Re: [simspark-devel] vision perceptor

[Joschka B. <jos...@am...>]

Hi Yuan,

thanks for the quick reply :-)

On May 16, 2008, at 11:48 AM, Yuan Xu wrote:

>
>> a while ago, we started discussions about a new vision perceptor for
>> the agents which would be restricted in its field of view, and tied  
>> to
>> the orientation of it's parent body. Furthermore, we talked a bit
>> about extending the vision messages for the agents (include
>> information about position of hands and feet of other agents).
>>
>
> Nice ;-)
> Because of limited bandwidth of network, and there are more robots,
> I think the vision perceptor should be restrict by:
> - frequency: maybe one vision sense per 3-5 cycles is enough (it is
> already implemented, just set a parameter in .rsg file),

A vision message every 4 cycles would mean 12.5 frames per second,  
right? It's not very much, but somewhat realistic I'd say (anybody  
know the frame rate of Nao?). Let's start with that and increase the  
frame rate in case there are problems (if the network and the server  
can handle it).

> - distance: the robot can not be seen or can not be seen clearly
> (i.e. can not see its arms and legs) if it is far away.
> What do you think about it?

In principal it's a nice idea, but given our relatively small field  
size (sth. between 6mx4m and 12mx8m, to be decided), I'm not sure  
whether this is realistic. Other opinions? Should we wait with this  
until we're playing on bigger fields?

>
>> I've proposed these changes to the TC and those members who have
>> joined the discussion were (mostly) in favor of their implementation
>> for RC08 _if_ it can be done within the next two weeks. Therefore I'd
>> like to ask for volunteers for this task. If you think you could help
>> with this, please contact me as soon as possible.
>
> That is very hurry schedule, does anyone like to try?

Yes, unfortunately :-( But it seems necessary since this is quite a  
big change, so teams need time to adapt.

One more thing: it was mentioned that information about the lines  
should be included in the vision messages if the field of vision is  
restricted since we only have a few flags for orientation. What do you  
think about that?

> If you are all too busy, I would like to have a try.
>

That's great! Thanks a lot, Yuan. If there's anybody else who would  
like to help, I'm sure Yuan would wouldn't mind ;-)

Cheers,
Joschka