Tower Tracker 1.0

[riftware]

Originally Posted by Fauge7

Team 3019 graciously presents their vision tracking program for everybody to use and borrow! Now instead of dreaming about the perils of computer vision YOU can bring your team the joy of having a robot that is capable of tracking the target with ease! No more Grip crashes or weird deploys, can calculate fun things such as: distance to target, and angle to target! to be used to auto align and auto aim!

if you are going to modify the code, all i ask is give me and my team credit in a comment at the top of the code and comment your suggestions and or your praise!

My students are using Grip to get the countours out of the streamer but were still working on distance to target last I checked. We identify valid targets by taking the ration of length to width which I think is working pretty well. I think they were looking at taking a couple of known distances and identifying size at those distances and then extrapolating for distances between. Your methodology looks very interesting but I did have a couple of questions on the "angle"

(Note: Its been 28 or so years since I had to do more complicated math so go easy on me). It looked like in the code you had a known angle of the camera (I'm assuming vertical angle.) and you are plugging that in. I get how this works more or less for figuring out distance/vertical angle. Where we are struggling a bit is in figuring out when we are "off center" - given what you can get out of a contour I'm not sure we would know that we need to move a bit to the right or left in order for a shot to work. Did you wind up solving that? If the contour had given us the boundaries of the rectangle's length or coordinates then I think we could evaluate relative sizes to know to move left or right but I'm not sure even about that. Any feedback is appreciated!