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Unread 12-05-2017, 10:48 AM
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paper: Using JeVois camera in FRC

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Using JeVois camera in FRC by billbo911, Team 2073.

This is a preliminary release. It is written for OpenCV and Python. Translating it for use with C, C++ ect. should be fairly simple.
Please provide feedback so future versions can be even more complete.

Last edited by billbo911 : 12-05-2017 at 10:50 AM.
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Unread 12-05-2017, 11:45 AM
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Re: paper: Using JeVois camera in FRC

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Originally Posted by billbo911 View Post
Thread created automatically to discuss a document in CD-Media.

Using JeVois camera in FRC by billbo911, Team 2073.

This is a preliminary release. It is written for OpenCV and Python. Translating it for use with C, C++ ect. should be fairly simple.
Please provide feedback so future versions can be even more complete.
Ballin'. I'll definatally look at this soon. Thanks for the hard work.
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Unread 12-05-2017, 11:49 AM
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Re: paper: Using JeVois camera in FRC

Awesome! I've been looking forward to this paper!
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Unread 12-05-2017, 12:11 PM
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Re: paper: Using JeVois camera in FRC

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Originally Posted by Skyehawk View Post
Ballin'. I'll definatally look at this soon. Thanks for the hard work.
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Awesome! I've been looking forward to this paper!
I am certainly glad to provide this. It is our hopes that it will make Vision Tracking something that even more teams can achieve.

Please provide your feedback on the document once you have taken the time to read and work through it. I fully understand that it may not be complete yet. Any and all input will be considered.
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Unread 12-05-2017, 12:28 PM
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Re: paper: Using JeVois camera in FRC

Thanks for posting this, seems like I have a new holiday project.
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Unread 12-05-2017, 01:17 PM
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Re: paper: Using JeVois camera in FRC

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Originally Posted by AllenGregoryIV View Post
Thanks for posting this, seems like I have a new holiday project.
Wow, that means more to me than you could possibly know.
Why? It was a paper that was produced by Spectrum that inspired me several years ago to dive head first into vision tracking! In fact if you look at our code from as recently as two years ago, you can still see remnants of your code in there.
This paper, while it is not intended to show how to actually track an object, it is intended to show how to run a teams code on the JeVois.
Later this year, 2073 will release our actual code running on the JeVois. Even it will look a bit like what was originally presented by Spectrum. That is due to the fact that the approach is a commonly used approach for identifying targets based on color, shape and size.
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Unread 12-05-2017, 01:48 PM
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Re: paper: Using JeVois camera in FRC

It looks like you based your trials on this page: http://jevois.org/moddoc/ObjectTracker/modinfo.html
Is that correct?

Does it track at 30FPS? How was the reliability of the platform (shock/power cycling/etc)? How long does it take to boot?

Last edited by Tom Bottiglieri : 12-05-2017 at 01:52 PM.
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Unread 12-05-2017, 01:57 PM
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Re: paper: Using JeVois camera in FRC

Quote:
Originally Posted by Tom Bottiglieri View Post
It looks like you based your trials on this page: http://jevois.org/moddoc/ObjectTracker/modinfo.html
Is that correct?

Does it track at 30FPS? How was the reliability of the platform (shock/power cycling/etc)? How long does it take to boot?
It boots in roughly 5-15s max. It has handled me doing some pretty stupid stuff to the serial lines without issue so far... I connected up ground/power and signal wrong more than once.

The power is USB Mini and not USB Micro... and from my experience, it seems to be a more reliable connector and I like it better for moving projects.

The only weirdness I've seen is that it seems temperamental about certain USB cables but then not all USB cables are made the same and I know I've got some of questionable quality in my USB cable bin.

I've beat it up while it has been on my desk - 10 or so drops from a height of 1-2ft and it keeps the image going.

I've been recommending this thing to a lot of folks and for the price it's worth the investment just to tinker with it.
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Unread 12-05-2017, 02:11 PM
Tom Bottiglieri Tom Bottiglieri is offline
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Re: paper: Using JeVois camera in FRC

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Originally Posted by marshall View Post
...
Thanks for the info. Have you been able to interface with the roborio over USB?
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Unread 12-05-2017, 02:15 PM
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Re: paper: Using JeVois camera in FRC

Quote:
Originally Posted by Tom Bottiglieri View Post
Thanks for the info. Have you been able to interface with the roborio over USB?
I haven't tried BUT over USB it either shows up as storage or a webcam... I suspect there is a way to get it to talk serial or network over USB too but I haven't looked into it.

I've been playing with it hooked up to my laptop and a VM.
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Unread 12-05-2017, 02:30 PM
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Re: paper: Using JeVois camera in FRC

Quote:
Originally Posted by marshall View Post
I haven't tried BUT over USB it either shows up as storage or a webcam... I suspect there is a way to get it to talk serial or network over USB too but I haven't looked into it.

I've been playing with it hooked up to my laptop and a VM.
Ours shows up on tty/ACM0 - at least sending "help" to that port returns back the expected help message. I haven't tried much more than that yet...

I do recall there's a config file in the jevois filesystem which tells the Jevois to use hardware serial or USB serial?
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Unread 12-05-2017, 02:32 PM
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Re: paper: Using JeVois camera in FRC

This might help some of you in your exploration:

https://www.thingiverse.com/thing:2692328
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Unread 12-05-2017, 02:32 PM
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Re: paper: Using JeVois camera in FRC

Quote:
Originally Posted by Tom Bottiglieri View Post
It looks like you based your trials on this page: http://jevois.org/moddoc/ObjectTracker/modinfo.html
Is that correct?

Does it track at 30FPS? How was the reliability of the platform (shock/power cycling/etc)? How long does it take to boot?
Quote:
Originally Posted by marshall View Post
It boots in roughly 5-15s max. It has handled me doing some pretty stupid stuff to the serial lines without issue so far... I connected up ground/power and signal wrong more than once.

The power is USB Mini and not USB Micro... and from my experience, it seems to be a more reliable connector and I like it better for moving projects.

The only weirdness I've seen is that it seems temperamental about certain USB cables but then not all USB cables are made the same and I know I've got some of questionable quality in my USB cable bin.

I've beat it up while it has been on my desk - 10 or so drops from a height of 1-2ft and it keeps the image going.

I've been recommending this thing to a lot of folks and for the price it's worth the investment just to tinker with it.
Hi Tom,
I actually used many of the JeVois.org tutorials to build this guide. I combined information spread out across multiple tutorials and examples. The tracking code we running is a custom modified version of the code we have been using for the last three to four years on our robots.
The code we use to track runs at 60 FPS. It is acquiring frames from the camera in YUYV and sends the target location data to the RoboRio via USB, so at 480Mbs.

There is a bogus concept in the JeVois engine of reporting the FPS based on the time it takes to process the image and create the targeting data. This method claims ~150 FPS. In reality, you can only track as quickly as the camera can acquire images. So, 320 X 240 YUYV maxes out at 60 FPS.

The one thing I have noticed about the Mini USB connector is that it is really snug at first. When it is repeatedly inserted and removed hundreds of times during testing etc., it tends to loosen up. So, a method restrain it is advisable. The TTL connector has shown no signs of loosening up.

Boot time is on the order of < 10 seconds with reboots around 15.

As an additional note, there are four mounting holes in the bottom of the housing that provide a very convenient method of securing the camera.

As for durability, Marshal's description says it all.
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Unread 12-05-2017, 02:42 PM
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Re: paper: Using JeVois camera in FRC

Quote:
Originally Posted by Tom Bottiglieri View Post
Thanks for the info. Have you been able to interface with the roborio over USB?
Quote:
Originally Posted by gerthworm View Post
Ours shows up on tty/ACM0 - at least sending "help" to that port returns back the expected help message. I haven't tried much more than that yet...

I do recall there's a config file in the jevois filesystem which tells the Jevois to use hardware serial or USB serial?
Bingo.
When seting up your scripts to run, you can use either a "script.cfg" file or use the JEVOIS/config/initscript.cfg file to set which serial interface to send data out. So, for your question:
Code:
setpar serlog None
setpar serout USB
This will prevent the error and status messages from being sent over USB and only allow sending tracking data via a command to be sent. ie

Code:
jevois.sendSerial(json_pixels)
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Unread 12-05-2017, 02:44 PM
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Re: paper: Using JeVois camera in FRC

Awesome awesome stuff, looks super useful already! Gonna toss this at the team tonight and we'll see what we can accomplish!
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