2012:Shooter and Collector Camera

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