WPI LIB SCREENSTEPS CAMERA CODE

The LabVIEW code specifies the framerate and resolution as part of the stream request (this does not change the settings stored in the camera, it overrides that setting for the specific stream). Note: When requesting images using LabVIEW (either the Dashboard or Robot Code), the resolution and Frame Rate settings of the camera will be ignored. If both robot and target are stationary, processing time is typically less important. If the robot or target is moving, it is quite important to minimize image processing time since this will add to the delay between the target location and perceived location. Smaller images will be roughly four times faster than the next size up. Image size also impacts the time to decode and to process. The small image size should be usable for processing to a distance of about 30 feet or a little over mid-field. This occurs at around 60 feet away, longer than the length of the field. Using the distance equations above, we can see that a medium size image should be fine up to the point where the field of view is around 640 inches, a little over 53 feet, which is nearly double the width of the FRC field. The tape used on the target is 4 inches wide, and for good processing, you will want that 4 inch feature to be at least two pixels wide. The large image has sixteen times as many pixels as the small image. The largest image size has four times as many pixels that are one-fourth the size of the middle size image. The M10 have additional sizes, but they aren’t built into WPILib. Image sizes shared by the supported cameras are 160x120, 320x240, and 640x480.

Wpi lib screensteps camera