Changes between Version 4 and Version 5 of rb


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Timestamp:
Jun 14, 2011 3:41:46 PM (13 years ago)
Author:
jpawlick
Comment:

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  • rb

    v4 v5  
    1 This ProtocolZero query is much like [[rf]], except that it is designed for large-scale image acquisition. Normal [[rf]] returns only one sample per command, and thus a user attempting to get a large number of samples by sending many queries to it at a variety of angles suffers poor performance and risks overflowing the Quagent's command queue. [[rb]] improves upon rf by allowing the user to specify a region of samples with only a single command. High-resolution data can take some time to write: the game will appear to hang while it does. On machine "e33" in the lab, this command can acquire about 250,000 samples per second (so, for example, it takes 2 seconds to get a 720 by 720 area).
     1This ProtocolZero query is much like [[rf]], except that it is designed for large-scale image acquisition. Normal [[rf]] returns only one sample per command, and thus a user attempting to get a large number of samples by sending many queries to it at a variety of angles suffers poor performance and risks overflowing the Quagent's command queue. [[rb|rb]] improves upon rf by allowing the user to specify a region of samples with only a single command. High-resolution data can take some time to write: the game will appear to hang while it does. On machine "e33" in the lab, this command can acquire about 250,000 samples per second (so, for example, it takes 2 seconds to get a 720 by 720 area).
    22
    3 It is useful to think of [[rb]] as returning a raster of duples. (An image interpretation of such a raster is shown below.)
     3It is useful to think of [[rb|rb]] as returning a raster of duples. (An image interpretation of such a raster is shown below.)
    44
    55[[Image(examplebatchrf.png)]]
     
    88
    99However, this should not be thought of as returning a picture from the point of view of the bot for the following reasons.
    10  * [[rb]] returns a number of samples generated by accumulating sample_deltas. Increasing YAW makes the bot turn left, so for positive sample_delta_yaw, subsequent samples are more to the left. This is not the standard image coordinate system where increasing samples in the X direction are to the right. In other words, the "image" would be flipped horizontally from what the bot would actually "see".
    11  * [[rb]] generates the image by a process that is suggestive of a fisheye lens, not a linear projection. For example, it is possible to have a raster that contains the results of rays looking directly ahead and behind, an impossible perspective for linear projections. Wall seams will appear curved, etc.
     10 * [[rb|rb]] returns a number of samples generated by accumulating sample_deltas. Increasing YAW makes the bot turn left, so for positive sample_delta_yaw, subsequent samples are more to the left. This is not the standard image coordinate system where increasing samples in the X direction are to the right. In other words, the "image" would be flipped horizontally from what the bot would actually "see".
     11 * [[rb|rb]] generates the image by a process that is suggestive of a fisheye lens, not a linear projection. For example, it is possible to have a raster that contains the results of rays looking directly ahead and behind, an impossible perspective for linear projections. Wall seams will appear curved, etc.
    1212
    1313'''Parameters:'''
     
    3030'''Reports:'''
    3131 * ''done'' when the task completes.
     32 * ''replaced'' when the task completes.
    3233 * ''popped'' if popped by [[po]].
    33  * ''forgotten'' if deleted by [[fa]].
     34 * ''forgotten'' if deleted by [[fa]] or [[fm]].
    3435
    3536'''Example:'''
    36  * User sends: "n rf 512 1 6000 90 45"
    37  * Bot replies "rs rf 512 65.2 -2"
    38  * Bot replies "cp rf 512 done"
     37 * User sends: "n rb 512 1 6000 -90 0 5 1 45 0"
     38 * Bot replies "rs rb 512 5 65.2 -2 70.4 -2 200.2 2 100.33 -2 55.3 -2"
     39 * Bot replies "cp rb 512 done"