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-   -   pic: camera locked on light 143ft away!!! (http://www.chiefdelphi.com/forums/showthread.php?t=42132)

kborer22 18-01-2006 16:01
pic: camera locked on light 143ft away!!!
 

rufu5 18-01-2006 16:06
Re: pic: camera locked on light 143ft away!!!
 
thats pretty sweet

what were your config parameters (AGC gain control, blue gain control, red gain control, saturation control, brightness control, auto-exposure control)?

just wondering, because so far i've got the cam to track out to about 15ft

thanks!

MikeDubreuil 18-01-2006 16:21
Re: pic: camera locked on light 143ft away!!!
 
Quote:
Originally Posted by rufu5
what were your config parameters (AGC gain control, blue gain control, red gain control, saturation control, brightness control, auto-exposure control)?
We use a modified version of Kevin Watson's default camera code. The modification only improves the scanning algorithm. Actual camera configuration parameters are left unchanged.

Please add your input to the Camera Tracking Maximum Distance poll and thread.

KenWittlief 18-01-2006 16:25
Re: pic: camera locked on light 143ft away!!!
 
excellent!

now to get a ball fired at 12M/S to travel that far is would have to be spinning at.......[reaches for calculator]

:^)

this really is awesome - you could use the camera to triangulate your position from anywhere on the field, by looking at both beacons!

Bill Enslen 18-01-2006 16:57
Re: pic: camera locked on light 143ft away!!!
 
Quote:
Originally Posted by KenWittlief
excellent!

now to get a ball fired at 12M/S to travel that far is would have to be spinning at.......[reaches for calculator]

:^)

this really is awesome - you could use the camera to triangulate your position from anywhere on the field, by looking at both beacons!

I'm not an engineer, but don't you need three known points to triangulate?

Andrew Blair 18-01-2006 17:18
Re: pic: camera locked on light 143ft away!!!
 
Well, you know the heights of the goals, and you can get the angles to both goals from the camera. However, short of using two cameras, (which is possible), you'd need a really complex/thought out light/switch algorithm.

spamified88 18-01-2006 21:27
Re: pic: camera locked on light 143ft away!!!
 
What would happen once the other target gets shut off? You'd probably be out of luck then.

Andrew Blair 18-01-2006 21:28
Re: pic: camera locked on light 143ft away!!!
 
Yeah, but you really only need to know your absolute position during autonomous.

Greg Marra 18-01-2006 21:39
Re: pic: camera locked on light 143ft away!!!
 
Quote:
Originally Posted by Andrew Blair
Yeah, but you really only need to know your absolute position during autonomous.
Actually, you really only need to know your relative position during autonomous. Simply how far away and at what angle you are to the goal is enough information to score.

Andrew Blair 18-01-2006 21:42
Re: pic: camera locked on light 143ft away!!!
 
Yeah, really. For this game, there is no "real" reason to know your absolute position. If you wanted to, it could be done though. **cough** waste of time**cough**:)

KenWittlief 18-01-2006 21:45
Re: pic: camera locked on light 143ft away!!!
 
the two lights are a fixed distance apart. Thats one side of the triangle. If you can measure the distance to both of them you have defined the lengths of all three sides, so you know where you are on the field

or knowing the angle to both lights will determine your position on one side of the field.

Animator 18-01-2006 22:47
Re: pic: camera locked on light 143ft away!!!
 
Quote:
Originally Posted by Andrew Blair
Yeah, really. For this game, there is no "real" reason to know your absolute position. If you wanted to, it could be done though. **cough** waste of time**cough**:)
If your robot wanted to navigate itself to any of the corner goals for either an offensive or defensive play during autonomous mode, it may be beneficial to know your absolute position on the field.

sciencenerd 19-01-2006 00:30
Re: pic: camera locked on light 143ft away!!!
 
1 Attachment(s)
Quote:
Originally Posted by KenWittlief
the two lights are a fixed distance apart. Thats one side of the triangle. If you can measure the distance to both of them you have defined the lengths of all three sides, so you know where you are on the field

or knowing the angle to both lights will determine your position on one side of the field.

I'm no expert, but it seems to me that with only two points, there would be two possible positions you could be in on the field, and it would be impossible for you to determine which one you were in without another reference.

I have attached an image attempting to demonstrate this, someone tell me where I am wrong.

SoftwareBug2.0 19-01-2006 01:03
Re: pic: camera locked on light 143ft away!!!
 
Quote:
Originally Posted by sciencenerd
I have attached an image attempting to demonstrate this, someone tell me where I am wrong.
The lines going to the robot position should be rotated 180 instead of mirrored.

Tom Bottiglieri 19-01-2006 01:18
Re: pic: camera locked on light 143ft away!!!
 
Quote:
Originally Posted by sciencenerd
I'm no expert, but it seems to me that with only two points, there would be two possible positions you could be in on the field, and it would be impossible for you to determine which one you were in without another reference.

I have attached an image attempting to demonstrate this, someone tell me where I am wrong.
That's where a gyro comes in handy!!! (as so graciously provided in your kit!!!!! )

[/IFI_rant]


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