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Unread 10-01-2017, 08:27
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AKA: Kyle
FRC #2481 (Roboteers)
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Re: Where do I begin with the Jetson TK1?

I would encourage you to watch this wonderful presentation that Jared Russel and Tom Bottiglieri gave at Champs last year.
https://www.youtube.com/watch?v=rLwOkAJqImo&t=2182s

Slides

The Jetson really shines when you use Cuda and offload operations to the GPU. This can only be done using C++ and for simple target tracking is likely going to be overkill.

Speaking from past experience don't get in the mindset that you need the highest frame rate possible. After using vision for automatically aligning to the goal last year 2481 learned that in most cases you only need 1 or 2 frames. The key to making this work is to use the camera to determine the angle you need to rotate and the distance from the goal on one frame. Then use a gyro or encoders to perform the rotation. Optionally once your control loop indicates you are on target you can snap another frame and verify to make sure that you are aiming at the target. For a simple algorithm like this you can easily get away with using OpenCV running on the RoboRio and save yourself some complexity. All that said we ran 8 fps and that was plenty adequate.

I would also recommend you checkout GRIP. They just added code generation for C++, Java, and Python.
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