Tower Tracker 1.0

[KaiFukuyama]

My robotics team is also getting the same error that everyone else is. When we try and run it in the command prompt is gives us the error that it is having a hard time with having Open CV in the library. It can't find it but it is in there. Any ideas on how to fix it? We followed the directions as it said and nothing works. We also added the DLL file in Open CV folder to system 32. I included a screenshot of the error we were getting. Please help.

[Fauge7]

Originally Posted by MekhiThomas

My team is trying to use your code to test our vision but every time we run the executable JAR file we get two errors-
"Error opening file </build/opencv/modules/videoio/src/cap_ffmpeg_impl.hpp:578>" and when we try to use the network table, we get the error "NT: Error: could not resolve roborio-3929.local address <TCPConnecotr.cpp:93>". We've installed opencv 3.1 and we are able to stream camera output to the dashboard. We are using the microsoft livecam 3000. Any help would be appreciated. Thanks!

If its having problems with the ffmpeg you need to download opencv and follow my instructions at the top of this thread. I decribe what you have to do after installing it. As for the microsoft usb camera you have to use whats called mjpeg streamer. It takes a usb webcam and outputs the feed to a web page in which you can call later.

Originally Posted by KaiFukuyama

[font="Times New Roman"]When we try and run it in the command prompt is gives us the error that it is having a hard time with having Open CV in the library. It can't find it but it is in there. Any ideas on how to fix it? We also added the DLL file in Open CV folder to system 32.

Did you extract the program into a runnable jar and then put it in a folder with the files similar to the screenshot i included?

[KaiFukuyama]

Originally Posted by Fauge7

If its having problems with the ffmpeg you need to download opencv and follow my instructions at the top of this thread. I decribe what you have to do after installing it. As for the microsoft usb camera you have to use whats called mjpeg streamer. It takes a usb webcam and outputs the feed to a web page in which you can call later.



Did you extract the program into a runnable jar and then put it in a folder with the files similar to the screenshot i included?

We figured out what the problem was with why it won't run. We needed to put the Open CV jar file in with system 32.

[Fauge7]

Originally Posted by KaiFukuyama

We figured out what the problem was with why it won't run. We needed to put the Open CV jar file in with system 32.

that or you put it in the same folder like i have...Cheers on getting it to work!

[SlittyEyes]

I modified the code to output distance values to the network table. When I add code to put the distance value on the dashboard, no values show up. Also, when I use the OutlineViewer to check any networktable values (with the localhost as "roboRIO-3929-FRC.local"), nothing shows up except the Root folder. Did you get the network table to work?

[mklinker]

Where do I install the Network Table 3.0 jar

[TheGuyWhoCodes]

When trying to run the program on the Jetson TK1, I get the error

java.lang.UnsatisfiedLinkError: no libopencv_java2410 in java.library.path

I did the install tutorial off of OpenCV's documentation. We have also verified that it has been working on a Windows machine. I think the reason might be that we don't have the correct *.so file inside of the working directory for OpenCV. Is there anybody that can upload the .so file to verify if that's the problem? The so file we are trying to find in the program is called libopencv_java248.so, and it's inside the directory /usr/lib/
Thank you!
-Chris

[riftware]

Originally Posted by Fauge7

Team 3019 graciously presents their vision tracking program for everybody to use and borrow! Now instead of dreaming about the perils of computer vision YOU can bring your team the joy of having a robot that is capable of tracking the target with ease! No more Grip crashes or weird deploys, can calculate fun things such as: distance to target, and angle to target! to be used to auto align and auto aim!

if you are going to modify the code, all i ask is give me and my team credit in a comment at the top of the code and comment your suggestions and or your praise!

My students are using Grip to get the countours out of the streamer but were still working on distance to target last I checked. We identify valid targets by taking the ration of length to width which I think is working pretty well. I think they were looking at taking a couple of known distances and identifying size at those distances and then extrapolating for distances between. Your methodology looks very interesting but I did have a couple of questions on the "angle"

(Note: Its been 28 or so years since I had to do more complicated math so go easy on me). It looked like in the code you had a known angle of the camera (I'm assuming vertical angle.) and you are plugging that in. I get how this works more or less for figuring out distance/vertical angle. Where we are struggling a bit is in figuring out when we are "off center" - given what you can get out of a contour I'm not sure we would know that we need to move a bit to the right or left in order for a shot to work. Did you wind up solving that? If the contour had given us the boundaries of the rectangle's length or coordinates then I think we could evaluate relative sizes to know to move left or right but I'm not sure even about that. Any feedback is appreciated!

[legts]

Would this code work with a Microsoft Lifecam?

[lethc]

Originally Posted by legts

Would this code work with a Microsoft Lifecam?

You will have to modify a few lines of code but other than that... Yes.

[kinganu123]

Originally Posted by lethc

You will have to modify a few lines of code but other than that... Yes.

Wait, is there a way to offload the usbcamera data onto a program on the computer?! I thought that wasn't possible yet...

[lethc]

Originally Posted by kinganu123

Wait, is there a way to offload the usbcamera data onto a program on the computer?! I thought that wasn't possible yet...

We are only using it to view the USB camera feed in the SmartDashboard

[axton900]

Has anyone gotten a python version of this code to work?
In python many of the methods that this code requires do not exist and this is a problem for many teams that plan on using Python for their vision processing.
We have trying to port this code for use as sample code for days but as you can see many of the functions do not exist which causes problems.
Here is our code.. so far
http://pastebin.com/ecdDFDQp

the rectangle class is the main problem we are being faced with. There seems to be no equivalent for those using Python. If anyone has found a solution to this issue. Then please let us know!
Thanks!

[virtuald]

Originally Posted by axton900

the rectangle class is the main problem we are being faced with. There seems to be no equivalent for those using Python. If anyone has found a solution to this issue. Then please let us know!
Thanks!

I believe that in the OpenCV python bindings rectangles are represented as tuples.

[Fauge7]

Originally Posted by axton900

Has anyone gotten a python version of this code to work?
In python many of the methods that this code requires do not exist and this is a problem for many teams that plan on using Python for their vision processing.
We have trying to port this code for use as sample code for days but as you can see many of the functions do not exist which causes problems.
Here is our code.. so far
http://pastebin.com/ecdDFDQp

the rectangle class is the main problem we are being faced with. There seems to be no equivalent for those using Python. If anyone has found a solution to this issue. Then please let us know!
Thanks!

This code runs on the driver station laptop, there is 0 need to switch programming languages unless you want it to run on the rio. I would avoid running it on the rio as that can cause issues during the match. All you need to do is setup the program like i instructed then simply run it, maybe even export it to have a runnable .jar file and a simple batch file to make executing easier.