Difference between revisions of "RoboCup Vision"
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The vision system handles all camera communication and outputs static vision pose information. It runs as a service as a [http://en.wikipedia.org/wiki/User_Datagram_Protocol| UDP] server that provides vision data for interested parties. Once the vision service is started it begins to UDP broadcast the data for any interested parties to listen in on. | The vision system handles all camera communication and outputs static vision pose information. It runs as a service as a [http://en.wikipedia.org/wiki/User_Datagram_Protocol| UDP] server that provides vision data for interested parties. Once the vision service is started it begins to UDP broadcast the data for any interested parties to listen in on. | ||
| + | |||
| + | ==Output Data== | ||
| + | Basic requirements and layout of the output data that comes from the vision system. | ||
| + | * Sequence # on each packet | ||
| + | * Arbitrary # of objects | ||
| + | * TODO: format | ||
| + | |||
| + | ==Vision Processing== | ||
| + | * End result also contains all intermediate data to ease debuging | ||
| + | |||
| + | ==Vision Config== | ||
| + | * masking zones | ||
| + | * saving (separate files for different components ie. color tables) | ||
| + | * Camera Setup (brightness, exposure, etc...) | ||
| + | * Parameters | ||
| + | ** Intrinsic | ||
| + | ** Extrinsic | ||
| + | * ''self calib'' | ||
==Coordinate Systems== | ==Coordinate Systems== | ||
Revision as of 11:32, 29 September 2007
The vision system handles all camera communication and outputs static vision pose information. It runs as a service as a UDP server that provides vision data for interested parties. Once the vision service is started it begins to UDP broadcast the data for any interested parties to listen in on.
Contents
Output Data
Basic requirements and layout of the output data that comes from the vision system.
- Sequence # on each packet
- Arbitrary # of objects
- TODO: format
Vision Processing
- End result also contains all intermediate data to ease debuging
Vision Config
- masking zones
- saving (separate files for different components ie. color tables)
- Camera Setup (brightness, exposure, etc...)
- Parameters
- Intrinsic
- Extrinsic
- self calib
Coordinate Systems
World Space
These coordinates are absolute to the field and do not change vantage point regardless of your current team. They are based on a top view of the field with yellow on the left, and blue on the right. (0,0) is at field center and angle is counter-clockwise positive.
Team Space
These coordinates are relative to each team and are based from the team's baseline and centered on the goal. Angle is counter-clockwise positive.
