Re: Did Vision Tracking Work?
We are using a robot builder based project. So we created a subsystem called HotCamera. We changed the filter from HSV to RGB, look for a width to height particle ratio greater that 3:1, and look for a particle wider than a defined size.
Code:
// RobotBuilder Version: 1.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in the future.
package org.usfirst.frc319.AerialAssistComp.subsystems;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.camera.AxisCameraException;
import org.usfirst.frc319.AerialAssistComp.RobotMap;
import org.usfirst.frc319.AerialAssistComp.commands.*;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.image.BinaryImage;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.CriteriaCollection;
import edu.wpi.first.wpilibj.image.NIVision;
import edu.wpi.first.wpilibj.image.NIVisionException;
import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;
/**
*
*/
public class HotCamera extends Subsystem {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DECLARATIONS
// Put methods for controlling this subsystem
// here. Call these from Commands.
//Camera constants used for distance calculation
final int Y_IMAGE_RES = 480; //X Image resolution in pixels, should be 120, 240 or 480
final double VIEW_ANGLE = 49; //Axis M1013
//final double VIEW_ANGLE = 41.7; //Axis 206 camera
//final double VIEW_ANGLE = 37.4; //Axis M1011 camera
final double PI = 3.141592653;
//Score limits used for target identification
final int RECTANGULARITY_LIMIT = 40;
final int ASPECT_RATIO_LIMIT = 55;
//Score limits used for hot target determination
final int TAPE_WIDTH_LIMIT = 50;
final int VERTICAL_SCORE_LIMIT = 50;
final int LR_SCORE_LIMIT = 50;
//Minimum area of particles to be considered
final int AREA_MINIMUM = 200;
//Maximum number of particles to process
final int MAX_PARTICLES = 5;
AxisCamera camera; // the axis camera object (connected to the switch)
CriteriaCollection cc; // the criteria for doing the particle filter operation
public void initDefaultCommand() {
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
setDefaultCommand(new CameraSleep());
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=DEFAULT_COMMAND
// Set the default command for a subsystem here.
//setDefaultCommand(new MySpecialCommand());
}
public void initialize() {
camera = AxisCamera.getInstance(); // get an instance of the camera
cc = new CriteriaCollection(); // create the criteria for the particle filter
//cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, AREA_MINIMUM, 65535, false);
cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 8, 65535, false);
}
public boolean isHot(){
//initialize();
camera.freshImage();
boolean hot = false;
try {
/**
* Do the image capture with the camera and apply the algorithm described above. This
* sample will either get images from the camera or from an image file stored in the top
* level directory in the flash memory on the cRIO. The file name in this case is "testImage.jpg"
*
*/
ColorImage image; // next 2 lines read image from flash on cRIO
image = camera.getImage();
int redLow = 0;//0
int redHigh = 10;//100;
int greenLow = 0;//110
int greenHigh = 10;//255;
int blueLow = 50;//235
int blueHigh = 110;//255
BinaryImage thresholdImage = image.thresholdRGB(redLow,redHigh,greenLow,greenHigh,blueLow,blueHigh);
BinaryImage filteredImage = thresholdImage.particleFilter(cc);
System.out.println("particle count: " + filteredImage.getNumberParticles());
if(filteredImage.getNumberParticles() > 0)
{
int targetWidth = 0;
for (int i = 0; i < MAX_PARTICLES && i < filteredImage.getNumberParticles(); i++) {
ParticleAnalysisReport report = filteredImage.getParticleAnalysisReport(i);
double widthRatio = report.boundingRectWidth / report.boundingRectHeight;
if(widthRatio > 3 && widthRatio < 12){
targetWidth = report.boundingRectWidth;
}
System.out.println("particle height: " + report.boundingRectHeight);
System.out.println("particle width: " + report.boundingRectWidth);
System.out.println("particle size: " + report.particleArea);
}
int minWidth = 30;
hot = targetWidth > minWidth;
}
/**
* all images in Java must be freed after they are used since they are allocated out
* of C data structures. Not calling free() will cause the memory to accumulate over
* each pass of this loop.
*/
filteredImage.free();
thresholdImage.free();
image.free();
return hot;
} catch (NIVisionException ex) {
System.out.println(ex.getMessage());
ex.printStackTrace();
}
catch (AxisCameraException ex) {
System.out.println(ex.getMessage());
ex.printStackTrace();
}
return false;
}
}
We then created a WaitForHot command. Also we only call the isHot function once every 10 loops and this helps to avoid any Robot Drive Not Updated Enough issues.
Code:
// RobotBuilder Version: 1.0
//
// This file was generated by RobotBuilder. It contains sections of
// code that are automatically generated and assigned by robotbuilder.
// These sections will be updated in the future when you export to
// Java from RobotBuilder. Do not put any code or make any change in
// the blocks indicating autogenerated code or it will be lost on an
// update. Deleting the comments indicating the section will prevent
// it from being updated in the future.
package org.usfirst.frc319.AerialAssistComp.commands;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc319.AerialAssistComp.Robot;
/**
* @success cameraDrive
* @fail stopDrive
*/
public class WaitForHot extends ConditionalCommand {
public static final String name = "WAIT_FOR_HOT";
private static final int MIN_POSITIVE_SAMPLES = 2;
private long startTime = 0;
public WaitForHot() {
super(name,CameraDrive.name,StopDrive.name);
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
// BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
requires(Robot.hotCamera);
// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=REQUIRES
}
// Called just before this Command runs the first time
protected void initialize() {
startTime = System.currentTimeMillis();
}
// Called repeatedly when this Command is scheduled to run
private int hotCounter = 0;
private int loopCounter = 0;
protected void execute() {
//for the first half second, wait for the targets to flip
if(System.currentTimeMillis()- startTime < 500){
return;
}
// //only run vision code once every 10 iterations
loopCounter++;
if(loopCounter > 10){
//if camera sees hot, increment the hot camera
if(Robot.hotCamera.isHot()){
hotCounter++;
}
loopCounter = 0;
}
}
// Make this return true when this Command no longer needs to run execute()
protected boolean isFinished() {
//if the camera has seen hot for 3 iterations finish
if(System.currentTimeMillis()- startTime > 5000){
return true;
}
return hotCounter > MIN_POSITIVE_SAMPLES;
}
// Called once after isFinished returns true
protected void end() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {
}
}
We are also using a blue LED ring light and the exposure is turned way down on the camera.
You can see it working here: http://www.youtube.com/watch?v=AUCYI...ature=youtu.be |
