About this project

This is FRC team 4529's vision system, built by Andrew Silver.
It is built in C++, and uses OpenCV 2.4 (http://opencv.org/).
It is very high performance, reliable, is platform-independant, and is simple to use in C, C++ and Java. It can run on both the driver station, and even on the RoboRIO itself!
The system will pick up the tote markers from a frame source, and will report the center X position of the marker, along with the rotation direction and the total width of the detected area (including space in between).

Vision Representation

See also: rotation_t Rotation direction; LineResult Output data from the vision system

Download

Source: https://github.com/frc4529/2015-Vision
OpenCV: http://opencv.org/downloads.html

Setting up the library

Getting the library

You can either:

(Fast/Newbie) Download a pre-compiled binary - Using a pre-compiled binary
(Slow/Veteran) Manually compile the library - Manual compilation

Manual compilation

Download/setup OpenCV 2.4.10 from http://opencv.org/downloads.html
Attention
Do NOT use 3.x, as the library is not currently compatable!
If you wish to port it yourself, feel free!

Note
If you want to use this for the RoboRIO, you will need to compile OpenCV from source.

Modify the ARM toolchain that comes with OpenCV, and use cmake - DO NOT USE frcmake!
Instead, check the contents of the toolchain file it uses, and incorperate the changes into the OpenCV ARM toolchain.
Clone the library source source.
1 $ git clone https://github.com/frc4529/2015-Vision.git

2 $ cd 2015-Vision/
Compile the code
1 $ make lib/strip

Note
frcmake will NOT work with this. frcmake is a cmake wrapper, we do not use cmake.
Move on to Using the library

Using a pre-compiled binary

Go to https://github.com/frc4529/2015-Vision/releases and download the latest release.
Move on to Using the library

Using the library

C++ usage

C++ on the RoboRIO

See https://github.com/frc4529/2015-Vision/blob/master/test.cpp for usage.

C++ on the driver station

See https://github.com/frc4529/2015-Vision/blob/master/test.cpp for usage.

Java usage

Java on the RoboRIO

To have the code compile in eclipse, add this to the end of your project's build.properties file (open with a text editor):

 wpilib=${user.home}/wpilib/java/${version}
 wpilib.lib=${wpilib}/lib
 wpilib.jar=${wpilib.lib}/WPILib.jar
 networktables.jar=${wpilib.lib}/NetworkTables.jar
 jna.jar=/full/path/to/jna.jar
 classpath=${wpilib.jar}:${networktables.jar}:${jna.jar}

Change the jna.jar property (line 5) to the full path of the jna.jar file.
For Windows, include the drive letter in the path for jna.jar - and ONLY jna.jar (E.g. "C:/path/to/jnalib.jar")

Note: If the project doesn't compile, reporting multiple errors similar to "Cannot find symbol" relating to Pointer, PointerType, jna, etc, you have set the path to the jar incorrectly.; The file will most likely not be called jnalib.jar or jna.jar. Most of the time it is named jna-x.x.x.jar