Kauaibots (team 2465) used the JetsonTK1 w/a Logitech C930 webcam (90 degree FOV). Software (C++) was in OpenCV, and it detected the angle/distance to the tower light stack, and also the angle to the lights on the edges of the defenses, as well as distance/angle to the retro-reflective targets in the high goal.
Video processing algorithm ran at 30fps on 640x480 images, and wrote a compressed copy (.MJPG file) to SD card for later review, and also wrote a JPEG image to a directory that was monitored by MJPG-Streamer. The VideoProc algorithm was designed to switch between 2 cameras, though we ended up only using one camera. The operator could choose to optionally overlay the detected object information on top of the raw video, so the drivers could see what the algorithm was doing.
Communication w/the RoboRIO was via Network tables, including a "ping" process to ensure the video processor was running, commands to the video processor to select the current algorithm and camera source, and to communicate detection events back to the RoboRIO.
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The latency correction discussed in the presentation at worlds is a great idea. We have a plan for that....
Moving ahead, the plan is to use the navX-MXP's 100Hz update rate and it's dual simultaneous outputs (SPI to RoboRIO, USB to Jetson) and high-accuracy timestamp to timestamp the video in the video processor, send that to the RoboRIO, and in the RoboRIO use the timestamp to locate the matching entry in a time-history buffer of unit quaternions (quaternions are the value that is used to derive yaw, pitch and roll). This approach, very similar to what was described in the presentation at worlds, corrects for latency by accounting for any change in orientation (pitch, roll and yaw) after the video has been acquired but before the roboRIO gets the result from the video processor.
We're collaborating with another team who's been working on neural networked detection algorithms, and the plan is to post a whitepaper on the results of this promising concept - if you have any questions please feel free to private message me for details on this effort.