Camera Targetting

[rachelholladay]

We started playing around with our camera. After a bit of configuring we got the hardware set up and ran the example vi 'Rectangular Target Processing'. We got the image to pop up (much to our joy) and after changing some settings we able to lock on to the reflective tape. There was no noticeable lag and we were feeling pretty good. Of all the information given by the camera we liked how it gave an accurate reading of the distance from the camera lens to the reflective tape and backboard.

We then decided to implement the example into some basic framework by really just copying and pasting. We wanted to see how the values changed and reacted if the camera was on a driving robot versus a stationary one. Once we got the example plugged in correctly, we ran the code. Unfortunately there was a large delay, something close to 10 seconds. By contrast there was no delay on the camera image feeding directly into the Driver Station.

We really only want the distance feature. Everything else is nice but we wouldn't use it in competition. We realize that if we remove all the unnecessary vision code then we can probably minimalize or remove the lag. At first we started taking away small chucks and then checking to see if distance feature was still working. This, understandably don't go to well after a little while.

We were wondering if anyone knew the best way to cut back everything to only get the distance reading. In addition to the lag issue we don't like having all this extra code that we aren't using. Any thoughts? (particularly asking Mr. McKaskle...)