Vision stuff

cd vision && python robot_tracking.py

The above will start a server, and get it broadcasting the relevant info (robot position, orientation) from port (default 5555) you can test that the client is working with the simple python client.py. This will connect to the port, and print the output.

Useful for callibration:

• colorsHSV.py: to change color internal representation
• camera.py: to change camera brightness, hue, etc
• scripts/get_camera_configuration.py is used to undistort the pitch image for the specific pitc
• test/gui_point_finder can be helpful for finding image correct transformations if the pitch image is incorrectly undistorted

ALSO NOTE: camera settings are very dependent pitch settings:

I think that 3.D03 represented as 1 3.D04 represented as 0

This ALWAYS needs to be configured in a few files when you know which pitch is to be used. Depending on the pitch settings the camera feed is undistorted in a very different way.

A simple wrapper around the Vision system has been included in the planningwrapper directory. It contains a WorldApi object, which handles all of the polling from the vision server.

please note that you need to call api.close() before you exit your program (even if your program crashes!). This is covered in more detail in the sample_planner.py file.

• allow command-line switch to set port