Technical data

ManualsBrandsMTD ManualsLawn Mower128-255A

SightLine Applications Command and Control

Current Tracking Positions (0x51)

Periodic report of all track's positions. Tracking and scene confidence scores indicates the system's

confidence between 0 (low) and 100 (high). Tracking positions are in camera (un-stabilized)

coordinates. Enabled using the Set Coordinate Reporting Mode (0x0B) command. For reporting

telemetry to multiple destinations see Set Packet Destination (0x64).

Render Track Points

In order to render the tracking point of interest in display coordinates , with (0;0) being the top left

pixel, use the following equation:

x = (x

- x

) * cos(A/128) + (y

- y

) * sin(A/128) + x

y = (x

- x

) * -sin(A/128) + (y

- y

) * cos(A/128) + y

where (x

, y

) are reported tracking coordinates, (x

, y

) are the coordinates of the center pixel of the

frame, (x

, y

) are reported display offsets, and A is the reported screen rotation. This information is

contained in the Tracking Position (0x43) packet.

Byte offset Description

2 Packet length. Given by the following formula:

(15*numTracks)+4 if (15*numTracks)+4 < 127

Lower 7 bits of (15*numTracks)+4 if

(15*numTracks)+4 >= 127

NumTracks is given in byte offset 5 of this packet.

(see pseudo-code below for explanation of length field).

3 Optional high bits of packet length (if > 127, see below)

n Packet type = 0x51

n+1 Camera Index {0,1,2,3}

n+2 Number of tracks. If high bit is set, packet contains MTI tracks

rather than normal tracks.

n+3 Track Index N

n+4 – n+5 Tracking column in camera coordinates

n+6 – n+7 Tracking row in camera coordinates

n+8 – n+9 Track width

n+10 – n+11 Track height

n+12 – n+13 Track horizontal velocity multiplied by 256. Positive is to the

right. Reported in pixels/frame. For stationary tracks, returns

position rather than velocity.

n+14 – n+15 Track vertical velocity multiplied by 256. Positive is down.

Reported in pixels/frame. For stationary tracks, returns position

rather than velocity.