Quote:
Originally Posted by Luke Pike
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I found out, through much experimentation, that you really only need two vision vi's, IMAQ Color Threshold and IMAQ Particle Analysis Report. You wire the image from the camera and wire the color range you want into the Color Threshold vi. This vi looks for the color you specify and removes any pixels that are not in the color range. You can then wire the resulting image into the particle analysis. The Particle Analysis vi will give you an array of particle reports for every particle mass it finds. You probably want to make a global for the particle reports so you can access them in autonomous. The report with the highest area is the object your looking for. You can get the center of mass from the report and use it to compute how much to turn.
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I THINK this is what we are doing. I just keep the bot running and let the programers play. I am present for most of the testing however.
We have been amazed at how insensitive the camera is to variations in lighting. When you think about it a red ball in a dark space has not changed color, but our perception of its color has. We think it is a darker color. This camera is not fooled. If there is even a very little bit of light the camera will find the color it is looking for. The biggest problem is on the other end. If the light is too bright the color washes out.
With this system 2005 would have been a very different game.