frc868/houndeye-2022

Vision code that detects cargo on the field for 2022 RAPID REACT.

houndeye-2022's Issues

HSV Color Boundaries

Create HSV color boundaries for red/blue ball color detection.

CascadeClassifier + ML

Next year's game piece may not (read: likely will not) be a sphere of uniform color, so we need to explore other solutions for detecting non-standard objects.

Auto calibration

Low priority issue, but I could theoretically implement some features that make it easier to calibrate the constants, by asking a user to click on a ball to center the HSV values on it.

Set up py-network-tables to send data to Java process

Use distance and ball detection for auton path validation

This may be better placed under 2022-robot, but I’m putting it here since we may need to do some extra data format changes to get validation on auton paths.

Reorganize repository

Reorganize and rewrite certain files to allow the repository to be extended in the future. In it's current state (as of 2816765), the repository is an example of patchwork of various functions that just happens to work :). This will be done by the end of this week, most likely sooner, though.

Connect camera to RoboRIO

Receive input over the radio's network in case we can't get Raspberry Pis.

Calibrate distance numbers

Using a regression (most likely degree 3 polynomial) to calculate distance from the camera.

Robot state change based on ball distance

Trigger state change (motor spinning) on a testbench when Astra camera detects a ball within a certain range. Also benchmark running Python process on Roborio or on driver's station computer.

Multithreaded networking

Lower priority, but may dramatically increase the resolution we can send to the driver’s station. The FPS of the stream is currently degraded because our current method of sending data is blocking; that is, execution stops until the photo data is successfully packaged and sent.

Error handling + Graceful shutdowns

Add error handling (especially for network traffic) and graceful shutdown in case something goes wrong. Also make it easier to connect to a client, and allow for an easy way to start the process on the Raspberry Pi.

Web Interface

Create a web interface for the project! VNC'ing into the Pi to perform diagnostics, debug, and calibration is kind of annoying, so it'd be great if we could run a web server off of the Pi to make things easier. This would also make auto calibration (#11) much easier.