Sampling Order Detector

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.