This Python Program locates a ball in the camera's feed, draws a circle around it, leaves a trail of the balls path, and calculates the distance and angle to the ball at any given time. This is accomplished using OpenCV and Python, running on an oDroid.
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This program uses 2 cameras, spaced a certain distance apart, and identifies points that are in both images. Using that, it finds the distance to that object based on the change in location in frame. The darker the color in the picture, the greater the disparity, which is inverse to the distance to the object, meaning the lighter the object, the closer it is.
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This program is designed to locate the Goal on the Tower on the FRC Stronghold field. The goal is surrounded on the bottom by retro-reflective tape. The camera is mounted looking through a light ring, and locates the light reflected off of the tape, then determines where the center of the goal is based on that, and draws it on the screen. It returns X angle error and Y angle error.
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