FRC Camera code in YCrCb Mode?

[Joe Hershberger]

Originally Posted by Damian Manda

I think we were having this same problem, as we could not get the camera to track when connected to the robot with either the default values or those found in LabVIEW (it tracked fine when driving the servos itself, but I only tried RGB mode). I'll have to wait until tomorrow to test it, though.

Are the calibrations still in R,G,B maximum and minimum values, as this is the only option that I can find in the camera configuration? If so, do I just calibrate the RGB values through LabVIEW (in YCrCb mode) and then enter them into camera.h here:

#define R_MIN_DEFAULT	85	// Rmin for call to Track_Color()
#define R_MAX_DEFAULT	115	// Rmax for call to Track_Color()
#define G_MIN_DEFAULT	15	// Gmin for call to Track_Color()
#define G_MAX_DEFAULT	17	// Gmax for call to Track_Color()
#define B_MIN_DEFAULT	100 // Bmin for call to Track_Color()
#define B_MAX_DEFAULT	145 // Bmax for call to Track_Color()

i.e, Am I supposed to still calibrate as RGB values in YCrCb mode? The workbook seems to indicate this, but it does not give instructions for entering the calibration into anything other than easyC.

Remember that when you change color domains, the meaning of the registers change, but the names do not. For this reason, it can be a bit misleading when using the "other color space" (i.e. not the one for which the registers are named). When you are YCrCb mode, the registers have the following meaning:

R.min = Cr.min
R.max = Cr.max
G.min = Y.min
G.max = y.max
B.min = Cb.min
B.max = Cb.max

Make sure that whatever color space you use to find your values in the Labview CMUcam2 Application is the same color space you use on the camera in the RC code. Also don't forget that when you change modes in the LabView CMUcam2 Application, you need to upload the settings to the camera before they will take effect.

Hope this helps to clarify.

-Joe