vanisachdev / 2017vision

2017 Steamworks Vision with OpenCV-Python

2017 Vision

FRC Vision Processing using OpenCV Python

What you need

Python 2.7, NumPy and OpenCV

PyNetworkTables

Camera (Microsoft Lifecam HD-3000 for our purposes)

Calibration Mode

1. Set a small centered rectangle as the calibration box (can change the size in constants)

2. Get frame from camera

3. Find average BGR value inside calibration box

4. Convert BGR value to HSV value

5. Print HSV values for every frame

Tracking Mode

1. Get frame from camera

2. Remove everything but specified color in frame

3. Find contour for the largest object with the specified color (closest goal)

4. Find centroid of that object (ideal position to shoot / drop off gear)

5. Calculate error and convert from pixels to degrees

6. If the center of the camera is aligned with the center x-axis of the object (goal), then it is ready to shoot / drop off gear.

7. Send data over NetworkTables and print in terminal.

Testing

Testing has been done with

• example images provided by WPILIB (2017 images included in this project under SampleImages)

  • Tests for all example images in the SampleImages folder successful except for images 7 and 32

• custom made high goal / boiler / gear peg with green highlighter / marker