Quote:
Originally Posted by Greg McKaskle
You likely don't need 640x480. It is almost as if that were taken into account when the vision targets were designed.
You likely don't need 30 fps. Closing the loop with a slow-noisy sensor is far more challenging than a fast and less-noisy one. Some avoid challenges, but others double-down.
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I agree with the not-needed 640x480 resolution, however I used it as a test case to provide more of a worst-case scenario (i.e. "hey look at what I can do"). I'll be writing another post some time in the future testing more 'applicable' vision target sizes as well as other things discussed in this thread.
However, I disagree with the not-needing 30fps. Vision targetting in FRC is very hit-or-miss. While a high update-rate might not be needed for alignment operations, I find sending back to the driver station a 30fps ("""""natural framerate""""") outline of what targets have been found is quite useful. For example, this year I sent back the bounding boxes of contours our vision system found to the driver station. This had the advantage that the driver had some kind of feedback about just how accurate we were lined up (and could adjust if necessary), and took next to no bandwidth as we were only sending back a very small amount of data 30 times a second (per contour). This was insanely useful and you can see that if you look at our matches (we implemented it between Aus Regional and Champs).