This week I

• Wrote Camera Calibration code and tested it with camera intended for onboard use : https://github.com/gxgao/eceCapstone/commit/e2563776702df91df376e5ef2d20f3c5c5ad5150
• 
• Created code for pos estimation with calibrated camera: https://github.com/gxgao/eceCapstone/blob/master/video_aruco.py
• Helped setting up tethered Roomba driving
• Created bin identification class and interface
  • https://github.com/gxgao/eceCapstone/blob/master/binID.py
  • updated db interface to support such queries https://github.com/gxgao/eceCapstone/blob/master/dbInterface.py

Classes that I used: 18-202 and Intro to Robo (16-311)  for matrices and CV things

Schedule :

• On schedule
• Next week we plan to finish lidar setup and start path planning module. Will help Jack with slam lidar setup and bring up to schedule, and help set up stepper motors to bring hardware schedule back up.

Accomplishments

• DataBase:
  • This week I finished setting up the db, and added the table we will be using for bin tracking with the schema designed last week: https://github.com/gxgao/eceCapstone/blob/master/binTracking.db
  • Added python high level interface to work with db, so that logic can be executed in code: https://github.com/gxgao/eceCapstone/blob/master/dbInterface.py
  • Will be building ontop functionality as needed
• Data Capture:
  • Got arUCo image recognition to work on static images: https://github.com/gxgao/eceCapstone/blob/master/cv.py
  • Got arUCo image recongnition to work on video streams: https://github.com/gxgao/eceCapstone/blob/master/video_aruco.py
• Path planning has been shuffled to be later to after lidar mapping inputs are complete

Schedule

• Currently On Schedule
• Next week hope to bring up roomba movement, and streamline data capture logic

Courses that helped:

• I am currently taking 15-445 (databases) and it helped me design the schema for the database pretty well
• For CV, 16-311 (Intro to Robotics) helped me look into computer vision schematics.