Vision system help

Technical Java
1

I am currently making some code so the robot can recognize if there is a tote in the camera’s field of view.

  1. When I create a new axis camera object and set the ip address of the camera to 10.30.19.20, which works In my web browser, but gives a timeout error when connecting it to the Robot RIO. Am I using the wrong camera (axis m1013)? Am I supposed to use a Usb camera?
  2. How am I supposed to use the particle filter criteria?
2

The camera will probably not have a static IP address. If it has at all been configured to work with how control system works this year, it’s IP address is dynamically allocated using DHCP. You may wish to assign it a static address.

3

So it looks like last years part of the library has been outdated or designed for the Crio not the robotRio. I think first wants us to use NIVision.imaq but theres a problem with the native libraries and the lack of documentation.

NIVision.IMAQdxGrab(Robot.session, Robot.RGBImage, 1);
NIVision.imaqSavePattern(Robot.RGBImage, "imagergb.png");
NIVision.imaqColorThreshold(Robot.GREYImage, Robot.RGBImage, 255, NIVision.ColorMode.HSL, RobotMap.HueRange,RobotMap.SaterationRange,RobotMap.ValueRange);
NIVision.imaqFillHoles(Robot.GREYImage,Robot.GREYImage, 4);
GetParticleInfoResult resault = NIVision.imaqGetParticleInfo(Robot.GREYImage, 4, NIVision.ParticleInfoMode.ALL_INFO);
ParticleReport] array = resault.array;
SmartDashboard.putNumber("NumberOfParticles", array.length);
for (int i = 0; i < array.length; i++) {
        targetFound(array*, i++);
}

error given

/usr/local/frc/JRE/bin/java: symbol lookup error: /var/volatile/tmp/libwpilibJavaJNI3257654380311841301.so: undefined symbol: imaqGetParticleInfo

but with the native libraries it seems like its missing the getparticleinfo class with the java wrapper.*

4

The java wrapper incorrectly provided that function as the wrappers were generated from the header file instead of looking at what symbols are actually in the library. Unfortunately, the nivision library does not implement imaqGetParticleInfo, so you’ll need to use a different function (e.g. imaqMeasureParticle).

I’ve been fixing a lot of bugs recently in the nivision Java wrappers so you’ll almost certainly run into bugs using it right now. The next release should be a lot more functional.

5

Is there an estimated release date

6

You can download an early release from the Jenkins build website for the allwpilib repository http://frcjenkins.wpi.edu/job/allwpilib/

7

That’s not going to solve the issue yet, the relevant fixes are currently in code review. I don’t want to give you a hard date, but we are hoping for this weekend at the latest.

8

This may sound like a stupid question, but I just spent days trying to get ni-imaq dlls on my windows box so that the example code doesn’t crash trying to do a new Image(). They don’t seem to come with the FRC update. The jni can’t find _imaqCreateImage. NI refused to answer questions on anything but labview. My suspicion is that the example code can only run on the roborio.

can anyone confirm?