Introduction to Robot Vision Programming Part 1 - MDHSRobotics/TeamWiki GitHub Wiki

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#Introduction to Robot Vision Programming - Part 1

This guide will detail how to do simple computer vision programming. The tool set used is the Java OpenCV 3.1 library. The Java library is a thin wrapper over the c++ openCV native implementation with very little performance difference over it's native counterpart. Since the team has more experience with Java, the Java version of OpenCV is selected.

This document assumes that the reader is familiar with [Robot Vision Concepts](Robot Vision Concepts).

###Prerequisite

  • Eclipse - IDE
  • OpenCV 3.1 - computer vision library

###Setup up your environment After you have eclipse installed and you have downloaded the OpenCV library to your development environment, follow the instructions in Using OpenCV Java with Eclipse guide to configure your eclipse environment to develop and run OpenCV programs. This guide also includes a sample program to test that the set up is completed correctly. Complete the steps in the guide and confirm that you can run the program with no errors and that your program produces the expected output.

###Installing OpenCV 3 on the RoboRio

  1. Connect the RoboRio to a network with access to the internet

  2. Follow the directions in the [How to SSH and SFTP into the RoboRio tutorial](How to SSH and SFTP into the RoboRio) and the RobotPy OpenCV Package page to to set up the RobotPy opkg feed on your RoboRIO

  3. SSH into the RoboRio and issue the following commands

     opkg update
 opkg upgrade

  4. install opencv package

    opkg install opencv-31

###Configure FFServer and FFMPeg as input into OpenCV

###Configure OpenCV to stream output to UDP socket

  • see jlibrtp for java rtp implementation

###Capturing images at a specicied periodic rate