Andrew Dassonville

It'd be nice to abstract away as many game-specific elements as possible. This might be a pretty big task, but I think it can be broken down into several smaller...

It's too sparse right now and hard for new people to understand.

https://github.com/robotpy/robotpy-cscore/blob/master/examples/intermediate_cameraserver.py

Disabling the debug/tuning mode would effectively lock all tuning values to their current value and disable streaming over CameraServer (see: SouthEugeneRoboticsTeam/vision#36).

How to run `./install_support.sh`, exactly what it does, etc.

https://github.com/SouthEugeneRoboticsTeam/DeepSpace-2019-Vision/blob/72ba0f0a658c65df49c8fafdf3e3379933e030de/vision/app.py#L112 https://github.com/SouthEugeneRoboticsTeam/DeepSpace-2019-Vision/blob/72ba0f0a658c65df49c8fafdf3e3379933e030de/vision/cv_utils.py#L14 (in these examples, 16.0in is the width, 36.0in is the offset)

Example: https://github.com/PeterJohnson/FRCVision-pi-gen/blob/frcvision/deps/examples/python-multiCameraServer/multiCameraServer.py https://github.com/robotpy/robotpy-cscore

Only perform solvePnP once (on the goal we're actually going to use)

1

Currently, solvePnP is run on all goals, regardless of whether or not we're actually going to use those numbers. We're actually using the numbers from solvePnP to determine which goal...

Update for OpenCV 4.x

2

I'll try getting this working on the second Jetson and see how it goes. I think there shouldn't need to be too many changes (if any) needed to get this...