A program to track the angle of the scale using a webcam.

1. Opening run_dashboard.bat launches CheesyVision2.py and firstperson.html (see First Person View).
2. Press D to cycle through cameras until the webcam is the active one.
3. Click and drag to select the rectangular region-of-interest.
   • The tighter the rectangle, the more accurate it will be; however, make sure that the entire range of the scale is included.
   • If you'd like to change the RoI later, simply press R and drag a new rectangle.
4. Click on the scale arm to select the purple color.
   • You can click multiple times or drag the mouse to select multiple regions.
   • Press F to freeze the video feed and make selection easier.
   • If you misclick or make a mistake, press C to reset the color selection. You can also right-click to reset and then add the clicked color.
5. Zero the scale by pressing Z.
   • Make sure you wait for a moment when the scale is horizontal and the program sees the scale well. Press Z again at any time to re-zero.

Then the program's ready.

• left-click and drag: select the region-of-interest (RoI)
• D: switch cameras

• left-click (and optionally drag): add color(s)
• right-click: reset and add color
• C: reset color selection
• F: freeze the video
• R: go back to re-select the RoI
• Z: zero the scale measurement
• M: switch to manual color mode (default)
• A: switch to auto-color mode (the color range is automatically detected each frame)

You can see the list of command-line arguments by running:

$ python CheesyVision2.py --help

• firstperson.html displays a MJPEG feed from the First Person View Camera on the robot
• Feed is streamed over Network Tables using the WPILib MjpegServer class