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Sampling Order Detector

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Alex Carter edited this page Sep 23, 2018 · 2 revisions

STATUS: NOT COMPETETION READY (Needs Accuracy Improvements)
LAST UPDATED: 9/22/2018 DogeCV 2018.0

About

The sampling order detector, when having sight of all 3 auton minerals, will return the position of the gold mineral, allowing you to knock it off succesfully.

Todo

  • Distance between minerals affect scoring
  • Guessing with only two minerals
  • Better Silver detection
  • Implement DogeCV performance settings
  • Pick Top Two Scoring Elements instead of any two

Known Issues

  • Brightly lit floor can cause issues
  • Needs all 3 minerals in sight

Credits

Details

The sampling order detector uses a Yellow LeviColorFilter to locate 1 gold mineral and an HSVColorFilter to locate all white minerals, then compares their X coords to find the location of the gold, either CENTER, LEFT or RIGHT (UNKNWON if we do not know the current location)`

Usage

This is made for those writing autons in which the location of the gold mineral needs to be known, and whos camera placement allows to see all 3 minerals.

Scorers (See ScoringAPI for tuning each.)

  • ratioScorer - a RatioScorer to find perfect squares.
  • maxAreaScorer - a MaxAreaScorer to find perfect large objects
  • perfectAreaScorer - a PerfectAreaScorer to find tuned size objects. NOTE: In this detector, setting areaScoringMethod will determine which area scorer to use.

Parameters

  • areaScoringMethod - (DogeCV.AreaScoringMethod ) - an enum to determine which area scorer to use. (MAX_AREA or PERFECT_AREA)
  • ratioScorer - SEE ABOVE
  • maxAreaScorer - SEE ABOVE
  • perfectAreaScorer - SEE ABOVE
  • yellowFilter - (DogeCVColorFilter ) - Filter used to find gold (Defaults to LeviColorFilter(LeviColorFilter.ColorPreset.YELLOW,70))
  • whiteFilter - (DogeCVColorFilter ) - Filter used to find gold (Defaults to new HSVColorFilter(new Scalar(40,25,200), new Scalar(40,40,50)))

Returned Data

Currently this detector returns the following:

  • isFound() - Is the mineral row detected?
  • getLastOrder() - Get the last known mineral order (UNKOWN, LEFT, RIGHT or CENTER)
  • getCurrentOrder() - Get the current mineral order (UNKOWN, LEFT, RIGHT or CENTER)

Changelogs

  • 2018.0
    • First Public Release.

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