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2011 Camera Code on Driver Station
So I have been working on camera code all day. Currently I am able to track targets based off of color and determine weather or not they are in a line.
Currently the most limiting factor is network speed which is keeping the FPS to about 15. So if I were to release this to you guys how would you want the data returned to the cRio? Example of ways data could be returned 1) Raw centroids and sizes 2) Pole positions (calculated based off the difference in x position) 3) Raw frame difference 4)?? I plan on (once it works well enough) releasing the application and the source code. General rules on the usage of the source: 1) You may modify and redistribute at will. 2) You should be nice and credit me for the use 3) If you make improvements that helps tracking send the modifications to me so other teams can use it as well (Remember Gracious Professionalism) |
Re: 2011 Camera Code on Driver Station
1 Attachment(s)
PS here is a low-res teaser of what I have at the moment
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Re: 2011 Camera Code on Driver Station
What language would this be in?
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Re: 2011 Camera Code on Driver Station
The core is java over processing which would be able to send data to the cRIO via udp
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Re: 2011 Camera Code on Driver Station
I plan on using reflection from infrared if possible, if not LED off of the reflection tape on the scoring peg. The Camera will detect this. I have set the camera to grey-scale since full color is unnecessary and take up more space. Maybe use the reflection detected to also detect a circle with some help from the occlusion feature. This can further be used possibly to calculate distance from that circle or help align the robot to the column.
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Re: 2011 Camera Code on Driver Station
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The software then returns the target information (not the image) to the cRio where you would then do your own processing. |
Re: 2011 Camera Code on Driver Station
The latest LabVIEW update also contains an example under the vision category that shows how to statistically locate the columns. It runs on the development computer and uses a folder of images as inputs, so even if you are going to code in Java or C++, you can use it to tune colors, adjust lighting, etc.
Post any questions you have about how it operates. Greg McKaskle |
Re: 2011 Camera Code on Driver Station
I will be releasing the alpha before mid-day tomorrow. Keep your eyes pealed.
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Re: 2011 Camera Code on Driver Station
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on the kickoff field it was square. So personally I would not plan on using the circle in your processing, because it very well may not be a circle at competition |
Re: 2011 Camera Code on Driver Station
Could you make the output the pole positions? Also, I admire your effort, the camera code is incredibly complex and hard. When and where will you post this code?
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Re: 2011 Camera Code on Driver Station
Ok everyone.
The alpha can be found on my site at http://www.satanicspider.com/frc.php You will need to do the following to get it running I have not tested the networking end very much (lack of time) if you run into problems let me know ************* **IMPORTANT** ************* Do this in this order or it wont be installed properly 1 Install openCV version 1.0 (not 1.1 pre) 2 Install openCV version 2.1 3 Make sure that .\lib\ is added to the PATH system environment variable **For people running vista or 7** 4 copy all of the DLL files from the bin directories of BOTH openCV directories into the lib subfolder in the Axis Tracking folder. Known issues:The pole tracking isn't finished yet but it works as it is. As you approach the poles the upper points will converge towards the middle of the image. I did not compensate for that but it is on my list of things to do. Let me know if you have issues. |
Re: 2011 Camera Code on Driver Station
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Re: 2011 Camera Code on Driver Station
Where is the source code?
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[EDIT] Its up |
Re: 2011 Camera Code on Driver Station
what do you guys think of this code? and how do you transfer the processing from the crio to the classmate using the classes from frc?
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