View Single Post
  #13   Spotlight this post!  
Unread 28-10-2013, 16:54
thephpdev's Avatar
thephpdev thephpdev is offline
Registered User
AKA: Josh Larson
FRC #2502 (Talon Robotics)
Team Role: Programmer
 
Join Date: Mar 2012
Rookie Year: 2012
Location: Eden Prairie, MN
Posts: 16
thephpdev is an unknown quantity at this point
Re: Raspberry Pi + Camera Module = New Vision System?

I think this is a good time to give another update on my status of the project. Using a C++ V4L interface, I was able to get raw data incredibly fast using a low-level I/O read from a UV4L driver (/dev/video0). From there I made a Mat in OpenCV and thresholded the image, and then located the contours in the image. From there I did some filtering based on two factors: Contour Area, and "Rectangularity." From there I was mostly left with just my vision targets, and I was streaming 320x240 at 30FPS with some idle time, and 640x480 at 12FPS with no idle time (lots of processing done on these raw images).

That isn't where I stopped though, I also went on to make an android app to help calibrate the vision system based on different lighting environments. In order to do this, I chose to make an http server on the raspberry pi with a c++ library (libmicrohttpd) and set brightness, threshold, and contour area values as well as requesting images (PNG).