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