Vision process with OpenCV by Zodiac.

MIT

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Python3, numpy, cv2, matplotlib are required to run this script. To communicate with roboRIO, you also need pynetworktables.

Install OpenCV 3.1 for Python3, and then install other requirements:

git clone https://github.com/ZodiacEFZ/stronghold-vision-opencv && cd stronghold-vision-opencv

pip install -r requirements.txt

Put all test images in ./TestData/RealFullField folder, then run ./analyze.py. Then there will be a window showing analyze result.

Uncomment cv2.imwrite("TestData/Result/res%d.png" % (i), img) then result images will be put in ./TestData/Result with contours drawn on.

Run ./video.py, then OpenCV will read data from the default camera and analyze data. With NetworkTables you can enable/disable vision process, manual exposure. And this vision daemon will report target data to NetworkTables. Also an mjpeg server will be set up to transfer processed image stream.

detect folder stores detect algorithm.

grip folder stores origin grip solution.

Create config.py. Here's an example.

server = {
    "host": "",
    "port": 8080,
    "rioAddress": "roboRIO-9036-FRC.local"
}
camera = {
    "width": 640,
    "height": 480,
    "fps": 30,
    "r_width": 322,
    "r_height": 245,
    "cX": 320,
    "cY": 240,
    "id": 0
}

After running ./video.py, vision daemon will start an http server serving mjpeg stream at specified port. Because this server only support one connection, You should use a mjpeg proxy to transfer video data.

If you want to view vision settings, deploy a WebDashboard.