2012:Shooter and Collector Camera: Difference between revisions
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=== <span style="font-size: larger;">'''1/15: tested white and red led reflections'''</span> === | == <span style="font-size: larger">'''Todo'''</span> == | ||
*run 1/21 images through image library to determine best algorithm to use (hull vs edge) | |||
*use color or grayscale camera image (will depend on algorithm used) | |||
*determine how fast NI image library is (if using edge detect, might want to right that part ourselves) | |||
*test green and white led ring when they come in | |||
*... | |||
== <span style="font-size: larger">'''Resources'''</span> == | |||
*2012 Vision Info: http://firstforge.wpi.edu/sf/docman/do/downloadDocument/projects.wpilib/docman.root/doc1302 | |||
*Hull thread: http://www.chiefdelphi.com/forums/showthread.php?threadid=100176 | |||
*Camera settings: [http://penfieldrobotics.com/wiki/index.php?title=File:axis_camera_settings1.jpg 1]; [http://penfieldrobotics.com/wiki/index.php?title=File:axis_camera_settings2.jpg 2] NOTE: Automatic exposure should work as well | |||
== <span style="font-size: larger">'''Notebook'''</span> == | |||
==== <span style="font-size: larger">'''1/15: tested white and red led reflections'''</span> ==== | |||
*Target: 26 feet from camera; OSB; tape is black duct tape (note: not enough tape to do inside completely) | *Target: 26 feet from camera; OSB; tape is black duct tape (note: not enough tape to do inside completely) | ||
*Light Sources: 1) Round light with several red leds (something from a prior year); 2) Mini-led flashlight (red from toolbox), has 5 wihtie leds | *Light Sources: 1) Round light with several red leds (something from a prior year); 2) Mini-led flashlight (red from toolbox), has 5 wihtie leds | ||
*Results: The red led gave off a little red cast (each time we connected power, a different number of leds lit up). The white leds reflected the best. Concerned the white leds might be too bright for drivers on other alliance | *Results: The red led gave off a little red cast (each time we connected power, a different number of leds lit up). The white leds reflected the best. Concerned the white leds might be too bright for drivers on other alliance | ||
*Images: | *Images: 1) [http://penfieldrobotics.com/wiki/index.php?title=File:Color005.png No light source]; 2) [http://penfieldrobotics.com/wiki/index.php?title=File:Color004.png Red led light]; 3) [http://penfieldrobotics.com/wiki/index.php?title=File:Color003.png Mini flashlight] | ||
=== <span style="font-size: larger | ==== <span style="font-size: larger">'''1/19: tested Infrared lights reflecting off reflective tape for the camera'''</span> ==== | ||
*Target: about 4 feet from camera (we did not measure it); poly; outer tape is black duct tape and inner tape is blue gaffers tape; in the middle of the target, the plastic protection is on the back; area outside the black tape has the plastic protection on both sides | *Target: about 4 feet from camera (we did not measure it); poly; outer tape is black duct tape and inner tape is blue gaffers tape; in the middle of the target, the plastic protection is on the back; area outside the black tape has the plastic protection on both sides | ||
*Light Sources: 1) infared LED Night light, Model # IR045; 2) Mini-led flashlight (red from toolbox), has 5 wihtie leds | *Light Sources: 1) infared LED Night light, Model # IR045; 2) Mini-led flashlight (red from toolbox), has 5 wihtie leds | ||
*Results: Camera can infrared light, but no reflection on tape (you can also see reflect on the plastic). | *Results: Camera can infrared light, but no reflection on tape (you can also see reflect on the plastic). | ||
*Images: 1) ; 2) ; 3) | *Images: 1) [http://penfieldrobotics.com/wiki/index.php?title=File:Image_no_ir.jpg No light source]; 2) [http://penfieldrobotics.com/wiki/index.php?title=File:Image_with_ir.jpg Infared light]; 3) [http://penfieldrobotics.com/wiki/index.php?title=File:Image_with_white_led.jpg Mini flashlight] | ||
==== <span style="font-size: larger">'''1/21: ran edge detection on images from 1/15 and 1/19'''</span> ==== | |||
*1/15 Images: 1) [http://penfieldrobotics.com/wiki/index.php?title=File:Color0005.bmp.png No light source]; 2) [http://penfieldrobotics.com/wiki/index.php?title=File:Color004.bmp.png Red led light]; 3) [http://penfieldrobotics.com/wiki/index.php?title=File:Color003.bmp.png Mini flashlight] | |||
*1/21 Images: 1) [http://penfieldrobotics.com/wiki/index.php?title=File:Image_no_ir.jpg.png No light source]; 2) [http://penfieldrobotics.com/wiki/index.php?title=File:Image_with_ir.jpg.png Infared light.png]; 3) [http://penfieldrobotics.com/wiki/index.php?title=File:Image_with_white_led.jpg.png Mini flashlight] | |||
==== <span style="font-size: larger">'''1/21: Took lots of pictures of the target:'''</span> ==== | |||
*<font size="2">From various distances/locations:</font> | |||
**up against Fender<font size="2"></font> | |||
**sideways at Fender | |||
**<font size="2">top of Key</font> | |||
**<font size="2">corner of Key''' '''</font> | |||
**<font size="2">at center Bridge</font> | |||
**<font size="2">at alliance Bridge</font> | |||
*At all three hoop heights | |||
**Taking into account sideways displacement of middle hoops | |||
*Some with light shining on the retro-reflective tape, some without | |||
*Some with mock "hoop", some without | |||
*Some with balls blocking parts of target, some without | |||
*Target always approximately in the center of the picture | |||
**This assumes variable-angle camera | |||
==== <span style="font-size: larger">'''1/22: Image processing'''</span> ==== | |||
*Converted 1/21 images. The lit reflective tape does improve the edge detection. The balls and hoop do block the target, so this will need to be taken into account. | |||
*2012 Vision Info: http://firstforge.wpi.edu/sf/docman/do/downloadDocument/projects.wpilib/docman.root/doc1302 | |||
*LED Samples (33mm inner dia): http://www.superbrightleds.com/cgi-bin/store/index.cgi?action=DispPage&category=ACCENTS&Page2Disp=%2Fspecs%2FAE.htm | |||
Latest revision as of 13:09, 3 March 2012
Todo
- run 1/21 images through image library to determine best algorithm to use (hull vs edge)
- use color or grayscale camera image (will depend on algorithm used)
- determine how fast NI image library is (if using edge detect, might want to right that part ourselves)
- test green and white led ring when they come in
- ...
Resources
- 2012 Vision Info: http://firstforge.wpi.edu/sf/docman/do/downloadDocument/projects.wpilib/docman.root/doc1302
- Hull thread: http://www.chiefdelphi.com/forums/showthread.php?threadid=100176
- Camera settings: 1; 2 NOTE: Automatic exposure should work as well
Notebook
1/15: tested white and red led reflections
- Target: 26 feet from camera; OSB; tape is black duct tape (note: not enough tape to do inside completely)
- Light Sources: 1) Round light with several red leds (something from a prior year); 2) Mini-led flashlight (red from toolbox), has 5 wihtie leds
- Results: The red led gave off a little red cast (each time we connected power, a different number of leds lit up). The white leds reflected the best. Concerned the white leds might be too bright for drivers on other alliance
- Images: 1) No light source; 2) Red led light; 3) Mini flashlight
1/19: tested Infrared lights reflecting off reflective tape for the camera
- Target: about 4 feet from camera (we did not measure it); poly; outer tape is black duct tape and inner tape is blue gaffers tape; in the middle of the target, the plastic protection is on the back; area outside the black tape has the plastic protection on both sides
- Light Sources: 1) infared LED Night light, Model # IR045; 2) Mini-led flashlight (red from toolbox), has 5 wihtie leds
- Results: Camera can infrared light, but no reflection on tape (you can also see reflect on the plastic).
- Images: 1) No light source; 2) Infared light; 3) Mini flashlight
1/21: ran edge detection on images from 1/15 and 1/19
- 1/15 Images: 1) No light source; 2) Red led light; 3) Mini flashlight
- 1/21 Images: 1) No light source; 2) Infared light.png; 3) Mini flashlight
1/21: Took lots of pictures of the target:
- From various distances/locations:
- up against Fender
- sideways at Fender
- top of Key
- corner of Key
- at center Bridge
- at alliance Bridge
- At all three hoop heights
- Taking into account sideways displacement of middle hoops
- Some with light shining on the retro-reflective tape, some without
- Some with mock "hoop", some without
- Some with balls blocking parts of target, some without
- Target always approximately in the center of the picture
- This assumes variable-angle camera
1/22: Image processing
- Converted 1/21 images. The lit reflective tape does improve the edge detection. The balls and hoop do block the target, so this will need to be taken into account.
- 2012 Vision Info: http://firstforge.wpi.edu/sf/docman/do/downloadDocument/projects.wpilib/docman.root/doc1302
- LED Samples (33mm inner dia): http://www.superbrightleds.com/cgi-bin/store/index.cgi?action=DispPage&category=ACCENTS&Page2Disp=%2Fspecs%2FAE.htm
