Pi OpenCV Vision

This project utilizes OpenCV and the Raspberry Pi to process image feeds to publish values to a network table.

Build Instructions

NOTE: If you are building this on the pi, you may need to chmod -x gradlew.

1. Run gradlew build on the command line.
2. Enable SSH on the pi (if it is not already)
3. Configure the SSH remote in the build.gradle file to match the pi's IP.
4. Run gradlew deploy.

Run Instructions

If the project is on the pi, simply running gradlew run should do just fine. Otherwise...

1. cd into the output directory, e.g.: cd output/.
2. If this is the first time you have deployed this to the pi, you may need to chmod +x ./runCameraVision.
3. Run ./runCameraVision

Usage

• All network table values are stored in a sub table called Vision.
• You need some way to exit the program. Right now, a way to do it is to create a key in the Vision network table called shutdown. Set this to true to shut down the program.
  • The shutdown call has a 5-second grace period, perfectly enough time to finish up the work with the pi or even cancel the shutdown call.
• The HSL thresholds are editable. You can use the SFX Dashboard or edit the values directly from an Outline Viewer/Network Tables viewer. These values can be found under /Vision/hslThreshold. They are:
  • hueMin/hueMax : Hue threshold
  • satMin/satMax : Saturation threshold
  • lumMin/lumMax : Luminance threshold
• This program uses two different USB cameras to find targets. One looks for the gear vision targets, the other finds the high goal targets. Each target is published into /Vision/gearVision or /Vision/highGoal, respectively. Every target's center coordinate, width, and height as perceived in the feed are published onto the sub tables.