Vision - Githubissues

ligerbots / Steamworks2017Robot

LigerBots robot code for FIRST Robotics Competition Steamworks

MIT License

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Vision #10

Closed xeniarose closed 7 years ago

xeniarose commented 7 years ago

Be able to reliably detect the gear lift target, the high boiler target, and the feeder station.
Return gear lift position and angle relative to robot, so a path can be generated for the robot to follow to the lift.
Return high boiler distance and angle so the robot can align and adjust shooter.
Return enough data to align to feeder station with the help of a target that the human player brings (if allowed)

xeniarose commented 7 years ago

Gear vision kind of works, but is still buggy sometimes

xeniarose commented 7 years ago

Things to fix:

[x] Targets at the edge of the frame should be ignored
[x] The targets should be checked for being reasonably vertical to make sure it's actually the gear lift
[ ] Solve edge cases in corner reconstruction
[ ] Make sure 4 target strips in the same frame are handled correctly

xeniarose commented 7 years ago

Boiler vision

[x] Determine how to extract useful info from boiler target. Maybe solvePnP isn't useful here?
[x] Automatic correction to account for cylinder edge fading by using pitch
[x] Save target widths and heights as persistent on robot

xeniarose commented 7 years ago

Closing for now