Calibration

Now that you’ve cloned and installed the requirements for GreenVision, you now need to change the values in values.json to match your current setup.

First of all, the server IP. This is the ip of the Robo-Rio, so that the program can connect to network tables and push values. Change this to match your IP.

{
  "server-ip": "10.18.16.2",
}

Second, color range. You really shouldn’t need to change these, but if contour recognition is not working with your green light, you may need to.

{
  "lower-color-list": [
    50.0,
    55.03597122302158,
    174.28057553956833
  ],
  "upper-color-list": [
    90.60606060606061,
    255,
    255
  ],
}

Third, camera horizontal field of view. This should be what your camera says its FOV is in its tech specs.

{
  "fish-eye-cam-HFOV": 90,
}

Finally, image resolution. The lower this is set, the less extra contours your camera will pick up. However, if you go too low, it won’t pick up anything.

{
  "image-width": 640,
  "image-height": 480,
}

Once you’ve tuned all of these, move on to the next section, usage.