CamBallToe

The Brazilian version of the popular game TicTacToe - using a Camera, a footBall and the Toe of your choice.

Description

Let's play tic tac toe by shooting a football onto 9 wall segments while detecting our hits with a camera.

This project code is based on zed-open-capture.

define playing wall

User clicks onto 3 points to define playing wall.

Get depth of 4 corner points = distance to origin of camera coordinate system.

ball detection

After defining the playing wall, the ball position is detected in a continuous video stream from the ZED 2 camera.

ToDo

• detect ball
• draw target playing wall
• detect wall distance
• define wall coordinate system with x-y-origin at wall center and z axis pointing away from the wall towards the camera (inverted from z_camera)
• get transformation matrix from camera to wall coordinate system
• transform ball coordinates from camera to wall coordinate system
• divide wall into 9 marking areas
• detect if ball in a marking area
• if ball in marking area and distance of ball center close to wall distance = hit

Build and install

Prerequisites

• USB3 Stereolabs Stereo camera: ZED 2i, ZED 2, ZED, ZED Mini
• Linux OS
• GCC (v7.5+)
• CMake (v3.1+)
• OpenCV (v3.4.0+) -Optional for the examples-

Install prerequisites

• Install GCC compiler and build tools

  sudo apt install build-essential

• Install CMake build system

  sudo apt install cmake

• Install HIDAPI and LIBUSB libraries:

  sudo apt install libusb-1.0-0-dev libhidapi-libusb0 libhidapi-dev

• Install OpenCV to build the examples (optional)

  sudo apt install libopencv-dev libopencv-viz-dev

Clone the repository

git clone https://github.com/FadriPestalozzi/CamBallToe
cd zed-open-capture

Add udev rule

Stereo cameras such as ZED 2 and ZED Mini have built-in sensors (e.g. IMU) that are identified as USB HID devices. To be able to access the USB HID device, you must add a udev rule contained in the udev folder:

cd udev
bash install_udev_rule.sh
cd ..

Build

cmake .. && make -j$(nproc) && ./zed_open_capture_detectball

Coordinates system

The coordinate system is only used for sensor data. The given IMU and Magnetometer data are expressed in the RAW coordinate system as shown below