[kylelanman]

Originally Posted by ThomasClark

Cool. One of GRIP's often overlooked use cases is actually a prototyping tool. For people who'd rather write their own OpenCV code for efficiency/portability/educational purposes, GRIP is still useful to lay out an algorithm and experiment with parameters.

^This. We pulled down the GRIP source and did a python port of the algorithm we had in GRIP. Because GRIP makes it so easy to try things we ended up with a simple 3 block algorithm. With out the rapid prototyping it likely would have had a few extra unneeded steps. We made the python program that runs on a Beagle Bone Black publish values to NT identically to how GRIP does. This allows us to switch between either GRIP on the DS and our python program on the BBB without any code changes required. The robot is none the wiser as to which one is currently being used.