Any thoughts on how to detect Cryptobox for putting Glyph in correct column in Autonomous?
I know very little about the FTC control system but if it were me, I’d probably recommend storing the patterns of all 3 pictographs and do a compare against the one on the field and then run my auto routine based on the pattern found. You can likely improve this by figuring out the differences between them and only concentrating on identifying those differences rather than the complete image.
Before I ever did that though, I’d examine all the possible points and scoring options and I’d figure out if scoring those pictograph based auto points is actual worth the time. It might make more mathematical sense to go after another challenge.
Detecting Pictograph is not an issue. FTC SDK already pre-loaded with Pictographs for detection by PTC Vuforia. SDK also has the sample code for that.
My question was about detecting location of Cryptobox itself for placing the Glyph in correct place.
It doesn’t appear like it too difficult, but I am not sure how to do it.
I am 2000% spitballing here. Haven’t tried it, probably won’t work, but the advice was free and worth every penny.
Thought 1) A whisker kind of switch would let you bump into each extrusion as you drive or strafe past.
Thought 2) Design in some kind of alignment widget (maybe thick scrap lexan, maybe euroboard, maybe 3D printed, maybe on a servo to pivot away) that lets you nestle up against a known part of the Cryptobox. Get close from encoders, drive in slowly to locate yourself using the widget, then run your left/center/right routine off of that location.
Teams will already be using Vuforia for pictograph reading. Seams it should be able to detect the glyph box with location info. Add in gyro and ranging off of side walls. Something for programmers to chew on.
Thank you for the ideas.
After typing last reply, I thought of same thing, using Vuforia to calculate robots location and go from there.
Last year distance from starting point to the picture was problematic for Vuforia. this year starting point is right in front of the picture
A vision solution could be something along the following: (I’m not super familiar with Vuforia so this is just computer vision methods that might work)
1a)Use HSV color filtering to find the side post of the box.
1b) Could also probly use edege finding and find the 4 long box shaped edges
1c) Or a combination of both (if you got these working well together it would provied a more robust system. Always a good thing)
Check that the contores are roughly square shaped and that there are four long ones.
Find the center of each column (find the midpoint of beteen each coloum), and order the coloums 1-3.
From the infromation found in the picture figuer out which coloum (1-3) you want to place the glyph in.
Clacuate the angle to targeted colum
Use a combination of gyro, distances sensor, and encoder to drive to said coloum.
This system plobly would be more complecated than most but with proper devopment and impliementaion it should be abel to find the gliphbox location and drive to the right column form a wider range of posisions.
Hope this helps.