Tracking 2 targets

[steveg]

rst of all, which are you using, EasyC or mplab?

I'm going to assume that you're using mplab and relatively new to this, given your team number.

Have you downloaded Kevin Watson's camera code at http://www.kevin.org/frc? It's a great place to start if you're unfamiliar with the CMUCam.

Anyway, once you download that, compile it and load it onto your RC. Be sure that your pan and tilt servos are plugged into pwm01 and pwm02. Connect power and the TTL inputs to the camera to the appropriate place. Turn it on, and the camera should start panning around looking for the target.


Now, when your programming cable is plugged in, the console open, and the camera tracking, you can see a bunch of data, including the x and y locations of a bounding rectangle, the center of that rectangle, and the percentage of pixels in that rectangle that are being tracked. That percentage value is called the confidence. If you're tracking a single target, your confidence value should be fairly high. If you're tracking multiple targets, there will be a huge space of untracked pixels in between the two targets, which will lower your confidence substantially. So, if you see a big bounding box with low confidence, you can figure out that you're tracking two targets.