Up to 4 different camera profiles can be set and these profiles can be selected via commands from the RoboRio. These numbers will be sent to the RoboRio as part of the region data. You can also control camera settings such as shutter speed, brightness.įinally there are horizontal and vertical target parameters that can be set. This version of the Image Processor is capable of handling multiple regions and up to four simultaneous colors. Note that you can click anywhere on the image and the HSV values for the pixel at that location will be displayed below the image. The images are recognized by color and you specify a range for the Hue, Saturation, and Value components.
You can change the parameters that control the processing of the images. This should result is a display similar to the following. Now that you have the server running, you should be able to start the Image Viewer on your computer and connect to the pi. The image processing software will automatically start when the Raspberry Pi is booted. You will need to set the IP to the one you assign to the Raspberry Pi.
Note that the last parameter specifies the IP address of the Raspberry Pi. In addition, commands can be send to the server which allows the driver station computer to control the capture parameters.Ĭomplete source for this program is provided as an Eclipse project. This can be used for display of the camera image. In addition to the server that provides the region data to the RoboRio, a second server is started which provides information and images to the driver station computer and allows the configuration of the camera. This example implements a simplified version of the program we used last year to automatically place hatches using the vision targets.Ĭomplete documentation for the Java camera classes can be found here. To help people understand how to use this camera, we have created a example Java project which can be found here. The vision processing software implements a image processing server which runs on the Raspberry Pi and communicates with the RoboRio and the Driver Station via a network connection. It also has the wired IP fixed to Unfortunately, it is not currently possible to install Eclipse on a Raspberry Pi 4 so if you wish to build the project, you will probably need to set up cross compile tools on your PC. You can, however, easily configure it to connect to any network. To get around this problem, we are providing complete Raspberry Pi images which are already pre-configured. The Raspberry Pi system uses the Raspberry Pi camera.
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