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Originally Posted by Biff
Other comments in the forums here lead me to believe that the numbers for calibrations were at best inconsistent.
Looking at the playing fields with the skills I have learned shading cameras lead me to conclude the only way to get a good set of calibration numbers was to put your robot out there and do it yourself. This was not accounted for.
In the rules, and question and answer system mentions about programming for interference from colored objects. It was also stated that deliberate color schemes and clothing that sole intent was to confuse the vision system were against the rules.
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what actualy makes it interesting is that it was more like 4 out of 1650 teams total and 360ish at nats.
calibration values were utterly dismaying. every field was wrong. the lighting was horrible--not only inconsistent, but also one sided and not omnidirectional. the former made ugly shadows on the field which messed with the color recognition, and even had the ability to cast a shadow over the lens from the robot
itself. in order to accomodate for the crap values, we simply demanded a calibration on archimedes field--nothing else to do.
and i brought up a few things about distractions at the drivers meeting on thrusday (i stayed till about 815, waay after the meeting, to talk to the judges). little was accomplished and the judges explained that little could be done about the yellow caution tape on the field and the bad lighting. something DID get their attention, though. i mentioned that in order to get the camera to recognize the yellow on the field, shadows in the hues and saturations had to be accounted for. interestingly enough, the TAN shirts of the field volunteers were a perfect target if the robot so chose. its sad that it took that much calibration to get it to work correctly, but archimdes head referee allowed for one less distraction on the field--the volunteers were required to stand behind the drivers boxes and away from the field during autonomous (this is why i talked to the head ref before every match if a few of you are wondering. i had to remind him) and then they could resume play.
the green was bad in some cases, and its too bad that not only did the hex values for the colors they gave us for the vision tetra differ from what was used in the competition, but there was little support for those whos sole purpose at competition was to cap in autonomous AT the competition. considering the new hurdles thrown at us at nats, one might go so far as to think that FIRST had completely forgotten, or even worse, stopped caring about us select teams. slightly discouraging.
slightly. tis the case.
vision is the next big thing on robots--not color maybe, but some sort. this is the 101 for those interested. a starting platform, so to speak. next year will use the cameras again; im sure of it. i just hope they realize the completely unthoughtful mistakes they made this year regarding the use of it.