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Valkyrie Robotics's Computer Vision Code for 2017.

This release will only have auto yaw alignment. Replace /etc/rc.local with utilities/rc.local to prepare the camera. This requires OpenCV 2.4.x, Protobuf 2.5.0 and Gnuplot with wxt.

Active Contributors

  • Min Hoo Lee
  • Pravin Suranthiran
  • Sahas Munamala

Sample run commands

Main vision

make main

MJPG Streamer that streams video from main vision if STREAM is enabled

make mjpg_streamer_instance

Use gnuplot to show FPS in real time (change ARGS to "-h" for help)

make gnuplot_fps PLOT_FPS_ARGS="-c 1 -n 60 -m 30"

Use gnuplot to show main vision data in real time (change ARGS to "-h" for help)

make gnuplot_vision
make gnuplot_vision PLOT_VISION_ARGS="-c 4 -n 30 -m 60"

Calibrate camera using OpenCV calibration code

make camera_calib

Contributors

  • Min Hoo Lee
  • Michael Wan
  • Rahul Amara
  • Pravin Suranthiran
  • Jeremy Tien
  • Sahas Munamala
  • Marcus Plutowski
  • Lee Mracek