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#12
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Re: Vision: what's state of the art in FRC?
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The greatest problem with the Kinect was getting it to work. I have never succeeded in opening a kinect stream from OpenCV! The depth map of the Kinect is surprisingly accurate and powerful! As of last year, thresholding was the easy part ! Just create a simple OpenCV program to run on your PC, to connect to the camera and get video! Create sliders for each of the HSV values, and keep messing with one bar until the target starts barely fading! Do this for all three sliders. You want to end with the target as white as possible! It is OK if there are tiny holes or 1-4 pixels in the target not highlighted. Next, perform a GaussianBlur transformation. Play around with the kernel size until the target is crisp and clear!Last year, I use std::fstream to write configuration files. It is a good idea, unless you get a program that has a much better configuration parser! Just write the HSV values to the file and push it onto your processor! Voilla! You have your perfect HSV inrange values! Hunter mentioned to me, last year, that when at the competitions, as soon as possible, ask field staff if there will be time where you will be able to calibrate your vision systems! At the Phoenix regional, this was during the first lunch break! USE THAT PERIOD! Take the bot on the field and take a gazillion pictures USING THE VISION PROCESSOR CAMERA, so when you aren't under as much stress, you can go through a couple of them at random locations and find the best values! As I mentioned before, and will again in caps lock, underline and bold: SET UP A CONFIGURATION FILE! This way, you can change your program without actually changing code! Last edited by yash101 : 12-10-2014 at 20:30. |
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