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TensorFlow Lite Tutorial

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  • TullyNYGuy
    replied
    We found something interesting when testing the example code with our Moto E4 phones. Note that the phones were initialized in landscape mode (auto rotate) per post #4 and the online tutorial. When looking at the phone screen, and using the camera on the back, if the camera is located on the left side of the phone, recognition results were very reliable. If the camera is oriented on the right side of the phone, recognition results are not very reliable. Initially we thought this was odd and dismissed it. But it has been repeatable now for several weeks in across different lighting and other conditions. Just an FYI.

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  • jrasor2017
    replied
    FTC12676 Our season is over, so we are looking to make and train models other than the Mineral detection. Thanks for posting the link https://github.com/google/ftc-object...aster/training to the model training tutorial.
    Are you making any progress with it? We've made a model, but have not yet trained it. I've gotten down to the last un-named step, "call the following, from the tensorflow directory:
    bazel run ... (buncha stuff)" Installing bazel looks like an major campaign. Have you gotten this far? Have you completed training your new model? Lead Coach, FTC 5197 "the GearHeads"

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  • 10298Programmer
    replied
    Originally posted by FLARE View Post

    We had to adjust placement of the camera to make sure it didn't pick up minerals in the crater. It is angled so the crater edge is at the very top of the view.
    That's what we do too. We tried at one point to block out the crater with a piece of tape on the camera, but it just made the whole image blurry, and it seems to be fine so long as we make sure that we don't see the minerals in the crater when we start. We check the camera before every match just to be safe.

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  • FLARE
    replied
    Originally posted by Team4605 View Post
    Our main issue with tensor flow is with detecting the minerals on the crater side. We've been running into the issue that some of the minerals in the crater are also viewed along with the one's we want. Is there a way to make sure it doesn't see these minerals?
    We had to adjust placement of the camera to make sure it didn't pick up minerals in the crater. It is angled so the crater edge is at the very top of the view.

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  • Team4605
    replied
    Our main issue with tensor flow is with detecting the minerals on the crater side. We've been running into the issue that some of the minerals in the crater are also viewed along with the one's we want. Is there a way to make sure it doesn't see these minerals?

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  • vmoudgal
    replied
    Hello Msdickc, if you are already able to detect the location of the gold sample, AND assuming that your Robot has high enough clearance to pass over the samples without dislocating them, I would suggest attaching servo enabled arms on the two sides, as well as at the bottom of the robot to move the gold sample. this way the robot can make the same movement irrespective of the location of the gold sample and knock it off its location by just activating the appropriate arm. you will need two Autonomous programs depending on where you start (depot side or the Crater side of the lander). WRT safe paths, 1. if you start at the alliance depot (Gold sample) side, move so that the robot can park at the crater on the left side of the Robot. if starting on the Crater side (Silver sample) move the robot to end up at the same Crater. these paths will minimize chances of collisions on the field. Also hug the walls to the extent safely possible while moving so that you avoid knocking the silver samples on your way to the crater. Good luck.

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  • Msdickc
    replied
    I am part of team #15237 and this year is our first year participating and as the programmer I need help with formulating the code needed to give the robot the ability to be able to detect between the two different materials. I already have multiple different autonomous programs depending on where we start a game with our robot (if the crater is behind us or if the depot is). I need help writing the code (I use blocks programming). I would also like if the example that you guys give me also has strings where based on where the materials are how the robot moves (just so that I can get a general idea that I can later fine-tune).

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  • MikeRush
    replied
    when trying to create a new op mode based on the "ConceptTensorFlowObjectDetection" sample, it is not found in the drop-down box. Is there an update or other file(s) that need to be downloaded to be used as a sample?

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  • 11343_Mentor
    replied
    Thanks Tom. As I mentioned in the other thread, might I suggest you try with lighting like a typical school gymnasium lighting? I don't know what they are using these days, used to be mercury vapor lights, but this type of lighting is where the TensorFlow did not work very well. All of our competitions in our area are in school gyms.

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  • Tom Eng
    replied
    Originally posted by 11343_Mentor View Post
    Thanks, I also posted in multiple threads that this is not the issue we are seeing, we have been in auto rotate from the beginning. The issue is due to incorrect modeling of the silver mineral, IMHO.
    11343_Mentor - I'll see if I can do some testing with a bright environment (i.e., lower contrast) and see how the silver mineral detection goes. thanks for the helpful info/feedbac.

    Tom

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  • Cheer4FTC
    replied
    11343_Mentor Could you respond to the following thread with details about your setup? Tom Eng is trying to reproduce the issue so he can debug and possibly improve the performance. In particular:

    . Are you using a phone camera or a webcam? Which brand?

    . What lighting environment are you using? Are there any lighting conditions that are particularly problematic?

    . Where is the camera mounted (low looking horizontally, or high looking down on the minerals)?

    . Is there anything else you notice that could be helpful for him to reproduce the problem?

    https://ftcforum.usfirst.org/forum/f...-and-blue-tape

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  • vmoudgal
    replied
    Hi Noah, Thanks for the link to the Camera Flash control commands. Will try it out. is there a way to increase the field of view of the camera (we are using landscape mode). thanks

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  • Noah
    replied
    Originally posted by vmoudgal View Post
    also, is there a way to turn on and off the phone LED to illuminate the FOV? we see big swings based on the lighting conditions and wonder if the light from the LED will help. thanks for your assistance. Regards vivek
    See this thread. https://ftcforum.usfirst.org/forum/f...9-camera-flash

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  • mjurisch2017
    replied
    Guess I should mention that you know the mineral set is made up of two silver and one gold. Using this logic and two of the mineral locations you can deduce the third minerals location.

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  • mjurisch2017
    replied
    Our team determined our field of view was not wide enough to reliably see all three minerals. We therefore decided to turn the robot slightly to guarantee which 2 minerals it sees and adjusted the program logic to use the two minerals we see.

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