Controlling Dynamixel Motors through USB

This page contains info and tools for controlling the Robotis Dynamixel digital servo motors (RX-28, RX-64, etc) or Bioloid robots (AX-12 and AX-12+ motors) through a USB2Dynamixel adapter (or any RS485 interface). As you will see, Dynamixel motors provide a lot of power for their

ARM’s 64-bit mode (AArch64) ARMv8)

Good web presentation about AArch64: All AArch64 instructions are 32-bits long (instead of some 16-bit and some 32-bit). ARMv8 64-bit mode has doubled the register widths (64-bit instead of 32-bit) but also doubled the number of general CPU registers (32 instead of 16). When only

Do all versions of OpenCV run at the same speed?

OpenCV was originally created by Intel to demonstrate how fast Intel CPUs can perform, and therefore the speed performance of OpenCV was of crucial importance. However, OpenCV has recently changed from a low-level image processing C library built for maximum speed, to a higher-level computer

Draw graphs using OpenCV

Here is a basic graphing library to allow plotting graphs on the screen or into an image using OpenCV. This can be very useful to view the contents of a numerical array, such as during testing of an algorithm. This “library” is just a collection

Rotating or Resizing an Image in OpenCV

The page will show you how to do some common image transformations in OpenCV, such as rotating an image, cropping an image or resizing an image without changing its aspect ratio. Rotating an Image in OpenCV The function below will rotate an image using cvGetQuadrangleSubPix(),

Color Conversions

The RGB color format can represent any standard color or brightness using a combination of Red, Green and Blue components. For efficiency, this is typically stored as a 24-bit number using 8-bits for each color component (0 to 255) so that for example, White is

Color-based Blob Detection

Blob detection is a fast and simple method that can be used for many machine vision tasks, such as tracking a red ball, finding a blue marker or detecting a person’s skin (Skin Detection can be very useful with Face Detection and Face Recognition using


OpenCV is a great library for creating Computer Vision software using state-of-the-art techniques, and is freely available for Windows, Linux, Mac and even Android & iPhone. OpenCV was originally designed by Intel in 1999 to show how fast Intel CPUs can run. So most of

Introduction to Face Detection and Face Recognition

“Face Recognition” is a very active area in the Computer Vision and Biometrics fields, as it has been studied vigorously for 25 years and is finally producing applications in security, robotics, human-computer-interfaces, digital cameras, games and entertainment. “Face Recognition” generally involves two stages: Face Detection,

Motivation for hand-optimized Assembly code

There’s a popular saying that “in 90% of cases, a modern compiler writes faster code than a typical Assembly programmer would”. But anyone that has actually tested this theory knows how wrong this statement is! Hand-written Assembly code is ALWAYS faster and/or smaller than the equivalent