theguywhocodes / lifttracker

👀 Vision Tracking for the 2017 FRC Game

LiftTracker

Vision Tracking for the 2017 FRC Game

• 2017 Oklahoma Innovation in Control Winner

Here are the steps to get this working:

• Clone the repository, using git clone https://github.com/TheGuyWhoCodes/LiftTracker.git
• Make sure you have the opencv library downloaded, and Network Tables 3.0 (included)
• Import the project into Eclipse, and go to your build path and add the included NetworkTables jar, and opencv-XXX.jar that you downloaded
• Change the variables inside the code to your situation, and calculate the distance constant (tutorial in my post here)
• Open the .grip file included inside of GRIP. Tune your HSV values to your liking using your webcam and go to Tools->Generate code
• Using the Generate Code feature will export a *.java file. Open that file and copy all the code, and replace the LiftTracker.java code inside the project
• After that, export it as a runnable jar, (File->Export->Java->Runnable JAR file).
• Run the jar file using java -jar blahblahblah.jar
• Vision Track!

If you have any issues, open up an issue and I'll be happy to look at it.

Whitepaper posted here: https://medium.com/@christopherariagno/vision-tracking-in-frc-what-ive-learned-this-year-2bbb2e713794

lifttracker's Issues

Camera not found

We are running your code on a raspberry pi 3 and encountered an issue with the camera not being found. We changed the code in proccessing.java to our team number and compiled the project. It runs happily but we get a long line of "didn't find camera". We have the raspberry pi connecting through ethernet to our router and a Microsoft LifeCam 3000 plugged into the RoboRio. When we put the link "http://roborio-5663-frc.1181/?action=stream" into the web browser on the raspberry pi we get very laggy camera footage. Why is it that we can see the camera stream through the browser (very laggy for some reason?) but the code isn't finding it? Any advice would be highly appreciated, team 5663.

UnsatisfiedLinkError: opencv_java310.dll

Microsoft Windows [Version 6.1.7601]
Copyright (c) 2009 Microsoft Corporation.  All rights reserved.

C:\Users\557547>cd \Users\557547\Desktop\LiftTracker

C:\Users\557547\Desktop\LiftTracker>java -jar LiftTracker.jar
Exception in thread "main" java.lang.UnsatisfiedLinkError: no C:/Users/557547/Downloads/opencv/build/java/x86/opencv_java310.dll in java.library.path
        at java.lang.ClassLoader.loadLibrary(Unknown Source)
        at java.lang.Runtime.loadLibrary0(Unknown Source)
        at java.lang.System.loadLibrary(Unknown Source)
        at Processing.<clinit>(Processing.java:43)

C:\Users\557547\Desktop\LiftTracker>

So, we have made sure to link the proper files for OpenCV even adding the dll library in eclipse. However, I am continuing to get this error and am unsure as to where to go from here.

Add centerX calculations outside of GRIP pipeline

Can't add cloned project into Eclipse

will be fixed next commit

Vision Crashes when the centerX index is null