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Git RoboCIn - Very Small Size League Vision Software


Content of this repository:

Implementation of Very Small Size League Vision Software

Dependecies

Qt5
OpenCV
SFML
TBB
Protobuf

Running with docker

  1. Build the vss-vision image using the shell script
./docker_build
  1. Running from the docker image using the shell script
./docker_run [camera device id]

The camera device id should be the id found on /dev/video{id} of the camera which you want to use on vss-vision, if none is given, the image will run without a camera device attached. The configuration files are stored on a docker volume named vss-vision-config, so the config files should persist over docker runs

Building (Ubuntu 22.04 LTS)

  1. Install the needed dependencies.
./InstallDependencies
  1. Build via CMake
# From repository root
mkdir build
cd build
cmake ..
make
  1. Running:
# From repository root
cd src
./VSS-VISION

Repository Tree

.
β”œβ”€β”€ include
β”‚   └── spdlog
└── src
    β”œβ”€β”€ cameraconfigurationdialog.cpp
    β”œβ”€β”€ CameraManager
    β”‚   β”œβ”€β”€ CameraManager.cpp
    β”‚   └── CameraThread.cpp
    β”œβ”€β”€ Config
    β”‚   └── Segmentation
    β”œβ”€β”€ Entity
    β”‚   └── Entity.cpp
    β”œβ”€β”€ fieldpointscalibratedialog.cpp
    β”œβ”€β”€ iconTools
    β”œβ”€β”€ Images
    β”œβ”€β”€ Log
    β”‚   β”œβ”€β”€ general
    β”‚   β”œβ”€β”€ others
    β”‚   └── vision
    β”œβ”€β”€ Logging
    β”‚   └── logging.cpp
    β”œβ”€β”€ maggicsegmentationdialog.cpp
    β”œβ”€β”€ main.cpp
    β”œβ”€β”€ mainwindow.cpp
    β”œβ”€β”€ qrc_icontools.cpp
    β”œβ”€β”€ qrc_image.cpp
    β”œβ”€β”€ segmentationconfigdialog.cpp
    β”œβ”€β”€ TBBThreadManager.cpp
    β”œβ”€β”€ Timer
    β”‚   └── Timer.cpp
    β”œβ”€β”€ trackconfigdialog.cpp
    β”œβ”€β”€ Utils
    β”‚   β”œβ”€β”€ Constants.cpp
    β”‚   └── Utils.cpp
    β”œβ”€β”€ Vision
    β”‚   β”œβ”€β”€ ColorSpace.cpp
    β”‚   β”œβ”€β”€ ImageProcessing
    β”‚   β”‚   β”œβ”€β”€ Cuda
    β”‚   β”‚   β”‚   └── LUT
    β”‚   β”‚   β”œβ”€β”€ ImageProcessing.cpp
    β”‚   β”‚   β”œβ”€β”€ LUTSegmentation.cpp
    β”‚   β”‚   β”œβ”€β”€ MaggicSegmentation.cpp
    β”‚   β”‚   β”œβ”€β”€ OpenCV
    β”‚   β”‚   β”‚   └── connectedcomponents.cpp
    β”‚   β”‚   └── WarpCorrection.cpp
    β”‚   β”œβ”€β”€ PositionProcessing
    β”‚   β”‚   β”œβ”€β”€ BlobDetection.cpp
    β”‚   β”‚   β”œβ”€β”€ PositionProcessing.cpp
    β”‚   β”‚   β”œβ”€β”€ runlengthencoding.cpp
    β”‚   β”‚   └── WhereAreThose.cpp
    β”‚   └── Vision.cpp
    β”œβ”€β”€ visionconfigdialog.cpp
    └── visionthread.cpp

  • Vision
    • Does all image processing
      • Segmentation
      • Tracking
      • Blob detection

  • Vision (Opencv stuff, segmentation,tracking,blob detection algorithms)
    • Src->Vision

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  • C++ 95.1%
  • Cuda 2.3%
  • Python 0.8%
  • C 0.7%
  • CMake 0.4%
  • Shell 0.4%
  • Other 0.3%