Photon Vision with the XRP

[Mr.R_2]

Hello,
I wanted to share that, using Photon as an NT server, I was able to get it working with the XRP and the simulator.
Here is the repo of my experiment.

GitHub - MrRSquared/Photon-Vision-on-the-XRP-Educational-Robot

Essentially, it uses Photon running as an NT server host (either on the pc itself or on a coprocessor), and it can still connect to the XRP through websockets.

I even have Photon Vision running on a Pi Zero 2w (Not zero v1) successfully (Also, I have only tried 2d targets, and no April tags, so I have no idea how far we could push the pi).

Anyway, I thought I would share in case it could be helpful to anyone looking to experiment with vision.

[ngreen]

The 2w seemed pretty stretched by PV when I tried it. Like running at 80-90% of the CPU when detecting AprilTags. There may be improvements since then to help and maybe for XRP would be an okay option.

[Mr.R_2]

Yes, that is what I thought would happen with April tags or solve for PNP. I do not think it woild he viable for a full-sized bot.

[Quake]

I think the hardware in the loop simulation page needs to be updated, you can now actually do this without any specific code changes. Instead of hosting the NT server on PhotonVision, the IP address of the PC can be directly entered into PV instead of a team number.

[Mr.R_2]

Thank you. That worked, and uses ~5% less cpu.
@ngreen on my install, with a 64 bit headless Bullseye, using polygon 2d color targets (I want to get the XRP to find and put away my dog’s toys )@ 640X480@30fps with the latest Beta release, it is running ~50% cpu. It is using most of its ram (~384megs).