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Unread 05-10-2016, 19:57
Ben Wolsieffer Ben Wolsieffer is offline
Dartmouth 2020
AKA: lopsided98
FRC #2084 (Robots by the C)
Team Role: Alumni
 
Join Date: Jan 2011
Rookie Year: 2011
Location: Manchester, MA (Hanover, NH)
Posts: 520
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Re: Moved to JAVA - help with vision tracking

I wrote the code for my team's (2084) vision system last year, and we used Java running on an Jetson TK1. We used Java and the official OpenCV Java wrappers for most of our vision code. You can use any language supported by OpenCV without much performance difference because the computationally expensive algorithms are running as native code.

I did implement some parts of the algorithm in C, called from Java using the JNI. This allowed us to use the OpenCV CUDA (GPU) libraries, which are not available in the Java wrapper.

We used NetworkTables to communicate the distance and heading (we directly interfaced our NavX with the Jetson) of the goal to the robot.

If you want to use the Jetson, it isn't that hard. It comes with Ubuntu preinstalled, and you can connect it to a monitor, mouse and keyboard and use it like a normal computer if you want. You will want to get familiar with how to use the command line and SSH, because this will make things much easier once you mount the board on the robot. We mounted ours in a 3D printed case and powered it using a DC-DC converter from Polulu (I don't have a link at the moment).
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2016 North Shore District - Semifinalists and Excellence in Engineering Award
2015 Northeastern University District - Semifinalists and Creativity Award
2014 Granite State District - Semifinalists and Innovation in Control Award
2012 Boston Regional - Finalists

Last edited by Ben Wolsieffer : 05-10-2016 at 20:03.
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