Robomaster2022-CV

Project Introduction

This project is a computer vision application designed for real-time object detection, tracking, and prediction in Robot Master Competition. The main features of this project are:

Utilizing opencv for image processing, it identifies and follows armor board of enemy robots using camera.
Establishing data transmission with lower level platform STM32 via UART, it commands the gimbal of robot to auto aim target.

Requirement

Camera Spec: under construction

System

Ubuntu: 20.04 Arm64
Robot Master DevelopmentBoard C

Packages

Install MVS SDK for Hikvision camera https://www.hikvision.com/us-en/support/download/sdk/
See requirements.txt for more detail

How to Run

Normal Mode

Run the project in the default mode (video stream off):

python3 ArmorDetect.py --target-color [RED/BLUE] --show-stream OFF

Testing with video stream

Run the project with video stream on/off

python3 ArmorDetect.py --target-color [RED/BLUE] --show-stream ON/OFF

Debug Mode

Run the project with additional debug output You can adjust the color threshold to detect the Armor board in different light settings.

python3 ArmorDetect.py --debug --target-color [RED/BLUE] --show-stream ON

Recording Mode

The project supports recording video for testing:

python3 ArmorDetect.py --target-color [RED/BLUE] --recording-dest [Path for output video] --show-stream ON

Test with Recording

You can load existing videos (.mp4) to test the project:

python3 ArmorDetect.py --target-color [RED/BLUE] --recording-source [Path for input video] --show-stream ON

Structure

MVS/                                                # Tools for hikvision camera 
├── Samples/
│   ├── README-CH.md                                # Machine Vision Camera Linux SDK User Manual (Chinese Version)
│   ├── README-EN.md                                # Machine Vision Camera Linux SDK User Manual (English Version)
│   └── aarch64/
│       └── Python/
│           └── MvImport/
│               ├── CameraParams_const.py
│               ├── CameraParams_header.py
│               ├── MvCameraControl_class.py
│               ├── MvCameraControl_header.py
│               ├── MvErrorDefine_const.py
│               ├── PixelType_const.py
│               ├── PixelType_header.py
├── README.md
├── LICENSE
├── requirements.txt
├── ArmorDetect.py                            # Armor detection, main file to run 
├── camera_params.py                                # Parameters and configurations of camera.
├── camera_source.py                                # Camera Class
├── hik_driver.py                                   # Driver script for Hikvision camera
├── kinematic_prediction.py                         # Module for predicting the kinematic behavior of detected objects.
├── Target.py                                       # Target class
└── UART_UTIL.py                                    # Serial communication

HaHa

Code-MonkeyZhang/Robomaster2022-CV