RoboCup Vision

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.

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.