Focusing the FLIR Camera - VEX AI

Once the FLIR Camera has been connected to the Jetson and powered on, it now needs to be focused.

Focusing the FLIR Camera is important to ensure that it sees the Code Strip on the field. This is used to determine the orientation of the robot while on the field. If the FLIR Camera is out of focus, the reported orientation of the robot may not be accurate.

The following article will cover:

  • Connecting Hardware
  • Using the Terminal

Connecting Hardware

The Jetson acts as a mini-computer. In order to focus the FLIR Camera, the following parts are needed in order to access the Terminal.

  • Monitor and Monitor Cable (HDMI or Displayport)
  • Mouse
  • Keyboard

Connect the Monitor to the Jetson via the Monitor Cable. There is a HDMI and Displayport slot on the Jetson.

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In order for the keyboard and mouse to be connected, the following options are available:

  • Two devices connected to the Jetson can be removed (the USB Key and the Intel camera).
  • A USB hub can be connected to the Jetson instead of the USB Key.
  • The mouse and keyboard can be connected to the Jetson via wireless connection (bluetooth).

Using the Terminal

Once all hardware is connected, ensure the Monitor, Jetson, and the FLIR Camera is powered on. Once powered on, the desktop will appear on the monitor.

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Select ‘Terminal’ from the side panel.

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Once the Terminal opens, type the following in the Terminal and then press ‘Enter’ or ‘Return’:
/home/user/AI_Competition/Nano-Example/Robot/CameraView

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A camera view will appear. The default camera view is the Intel Camera.

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Select the ‘D’ key on the keyboard to change the camera view to the FLIR Camera. Notice that the camera may be reporting out of focus.

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Loosen the small screw on the barrel of the lens mount of the FLIR Camera. This screw is used to keep the focus in place even during movement or vibration.

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Screw the FLIR lens in a clockwise or counterclockwise direction until the image in the camera view window is focused. This is recommended to be done on the AI Challenge Field to ensure accuracy.

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Once the FLIR Camera is focused, tighten the small screw on the barrel of the lens mount. Ensure to not tighten the screw too tight, as this could strip some of the screw.

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Once the FLIR Camera is focused and the screw on the barrel of the lens mount is tightened, the Terminal can be closed and the monitor, keyboard, and mouse can be disconnected from the Jetson.

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