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https://github.com/southeugeneroboticsteam/vision
👀 Powerful vision code for FRC
https://github.com/southeugeneroboticsteam/vision
camera frc hacktoberfest hacktoberfest2021 opencv python vision
Last synced: about 1 month ago
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👀 Powerful vision code for FRC
- Host: GitHub
- URL: https://github.com/southeugeneroboticsteam/vision
- Owner: SouthEugeneRoboticsTeam
- License: gpl-3.0
- Created: 2016-11-04T22:54:15.000Z (about 8 years ago)
- Default Branch: master
- Last Pushed: 2023-07-06T21:32:25.000Z (over 1 year ago)
- Last Synced: 2024-02-13T04:38:53.236Z (9 months ago)
- Topics: camera, frc, hacktoberfest, hacktoberfest2021, opencv, python, vision
- Language: Python
- Homepage:
- Size: 2.64 MB
- Stars: 24
- Watchers: 7
- Forks: 1
- Open Issues: 16
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Support: support/99-webcam.rules
Awesome Lists containing this project
README
## Usage
Before starting the program, you must install OpenCV >= v3.1.x along with
the pip dependencies:
```bash
$ pip install -r requirements.txt
```
Then, you can run the program using:
```bash
$ python run.py
```
Full usage:
```text
usage: run.py [-h] [-i IMAGE] [-s SOURCE] [-t TEAM] [-d] [-na MIN_AREA]
[-xa MAX_AREA] [-nf MIN_FULL] [-xf MAX_FULL]
[-l LOWER_COLOR [LOWER_COLOR ...]]
[-u UPPER_COLOR [UPPER_COLOR ...]] [-tn] [-v]
```
## Usage with Docker
If you are using Docker, the installation process is much easier.
Note: due to the sizes of the images that are installed as part of the build process, it is recommended to have a few GB of hard disk space available when building.
First, `cd` to this repository and then run `docker build . -t vision`. All existing config files will be used in the build process to make the image.
This will produce a docker image which can be run using:
```bash
$ docker run --device /dev/video0 vision
```
Make sure that you have a camera connected before running this!
## Connection Status GUI
SERT's vision software comes with a connection status GUI to help debug
connection issues. This GUI can be displayed on a monitor connected to
the co-processor. We use an [Adafruit 5" screen](https://www.adafruit.com/product/2260).
- `RADIO` checks connection to the robot's radio (at `10.XX.XX.1`)
- `ROBOT` checks connection to the roboRIO (at `10.XX.XX.2`)
- `NTABL` checks connection to the NetworkTables server on the roboRIO
| Good | Warning | Bad |
|---------|---------|---------|
| Connection is good and system is ready. | Some connections are down. | No connection. Ensure ethernet is plugged in. |
||||
## Configuration
### Command-Line Options
All command-line arguments may be configured in the `config.ini` file
(located at `config/config.ini`). For example, the `--lower-rgb`
argument may be edited using the `lower-rgb` line in the `config.ini`.
```text
optional arguments:
-h, --help show this help message and exit
-i IMAGE, --image IMAGE
path to image
-s SOURCE, --source SOURCE
video source (default=0)
-t TEAM, --team TEAM the team of the target roboRIO
-d, --display display results of processing in a new window
-na MIN_AREA, --min-area MIN_AREA
minimum area for blobs
-xa MAX_AREA, --max-area MAX_AREA
maximum area for blobs
-nf MIN_FULL, --min-full MIN_FULL
minimum fullness of blobs
-xf MAX_FULL, --max-full MAX_FULL
maximum fullness of blobs
-l LOWER_COLOR [LOWER_COLOR ...], --lower-color LOWER_COLOR [LOWER_COLOR ...]
lower color threshold in HSV
-u UPPER_COLOR [UPPER_COLOR ...], --upper-color UPPER_COLOR [UPPER_COLOR ...]
upper color threshold in HSV
-tn, --tuning open in tuning mode
-v, --verbose for debugging, prints useful values
```
### Camera
For use with the Microsoft Lifecam 3000, the camera's exposure should be
set manually because the Lifecam will auto-adjust otherwise, making
thresholding difficult. This can be done with V4L:
```bash
$ sudo apt-get install v4l-utils
$ v4l-ctl -d /dev/video0 -c exposure_auto=1 # 1=DISABLED, 3=ENABLED
$ v4l-ctl -d /dev/video0 -c exposure_absolute=50
```