def run(self):
cam_mode=self.cam_mode
wsh = self.wsh
js = self.js
wsh2 = self.wsh2
d = "n"
c2 = self.c2
c = self.c
sqx = self.sqx
sqy = self.sqy
x = 0
y = 0
stat="live cam"
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
img1 = c.getImage()
time.sleep(1)
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img2 = Image('imagesmall.jpg')
time.sleep(.5)
img1 = img1.sideBySide(img2)
img1 = img1.scale(544,288)
time.sleep(.5)
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs :
##blobs.draw()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
blobx1 = blobs[-1].x
bloby1 = blobs[-1].y
print blobx1
print bloby1
img1.drawText("ogp: live cam", 10, 10, fontsize=50)
img1.drawText(str(blobx1), blobx1, 250, color=(255,255,255), fontsize=20)
img1.drawText(str(bloby1), 10, bloby1, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
sqx2=sqx+20
sqy2=sqy+20
time.sleep(.5)
wsh.write_message(wsh2, "live")
else:
wsh.write_message(wsh2, "live")
display = SimpleCV.Display()
img = Image("ping/source/image3.jpeg")
# parametre pour image1 : (dilate=2), (stretch(200,255), isCircle(0.2)
# parametre pour image2 : non trouvé
# parametre pour image3 : (dilate=2), (stretch(2,120), isCircle(0.2)
# parametre pour image4 : (dilate=2), (stretch(2,120), isCircle(0.2)
# parametre pour image5 : (dilate=2), (stretch(2,120), isCircle(0.2)
# parametre pour image6 : plante
# parametre pour image7 : non trouvé
dist = img.colorDistance(SimpleCV.Color.ORANGE).dilate(2)
segmented = dist.stretch(2,120).invert()
blobs = segmented.findBlobs()
if blobs:
balles = blobs.filter([b.isCircle(0.2) for b in blobs])
if balles:
for balle in balles:
img.drawCircle((balle.x,balle.y),balle.radius(),SimpleCV.Color.BLUE,3 )
img.show()
def histo(self):
cam_mode = self.cam_mode
js = self.js
ms = self.ms
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
s.write('s')
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs:
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[0].centroid()),10,color=(255,100,100))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
thumbnail = img1.crop(150,25,250,250)
thumbnail = thumbnail.scale(20,20)
thumb1 = "/var/www/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
self.p = p
mySet.add((p,x,y,w,cent,rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy=int(cent[1])
rcolor=rgb1[0]
gcolor=rgb1[1]
bcolor=rgb1[2]
rcolor=int(rcolor)
gcolor=int(gcolor)
bcolor=int(bcolor)
wsh.write_message(wsh2, "rgb_" + str(rcolor)+"_"+str(gcolor)+"_"+str(bcolor))
wsh.write_message(wsh2, "x_" + str(centroidx)+"_"+str(centroidy))
img1.save(js.framebuffer)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p) )
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
print "dark"
def run(self):
wsh = self.wsh
## c = self.c
js = self.js
wsh2 = self.wsh2
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
irpic = pinoir2(js)
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx1 = blobs[-1].x
acy1 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'r'
ms = 50
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx2 = blobs[-1].x
acy2 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'd'
ms = 50
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx3 = blobs[-1].x
acy3 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'l'
ms = 50
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx4 = blobs[-1].x
acy4 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'u'
ms = 50
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx5 = blobs[-1].x
acy5 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx5), 130, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy5), 130, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
cal1 = acx1 - acx2
cal2 = acy2 - acy3
cal3 = acx3 - acx4
cal4 = acy4 = acy5
time.sleep(2)
wsh.write_message(wsh2, "x_" + str(cal1) + "_" + str(cal2) + "_" + str(cal3)+ "_" + str(cal4) )
def histo(self):
cam_mode = self.cam_mode
js = self.js
ms = self.ms
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
s.write('s')
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode == 1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode == 2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs:
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
img1.drawCircle((blobs[-1].x, blobs[-1].y),
30,
color=(255, 255, 255))
img1.drawCircle((blobs[0].centroid()), 10, color=(255, 100, 100))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
thumbnail = img1.crop(150, 25, 250, 250)
thumbnail = thumbnail.scale(20, 20)
thumb1 = "/var/www/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
self.p = p
mySet.add((p, x, y, w, cent, rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy = int(cent[1])
rcolor = rgb1[0]
gcolor = rgb1[1]
bcolor = rgb1[2]
rcolor = int(rcolor)
gcolor = int(gcolor)
bcolor = int(bcolor)
wsh.write_message(
wsh2,
"rgb_" + str(rcolor) + "_" + str(gcolor) + "_" + str(bcolor))
wsh.write_message(wsh2,
"x_" + str(centroidx) + "_" + str(centroidy))
img1.save(js.framebuffer)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p))
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
print "dark"
def run(self):
wsh = self.wsh
## c = self.c
js = self.js
wsh2 = self.wsh2
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
irpic = pinoir2(js)
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx1 = blobs[-1].x
acy1 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'r'
ms = 50
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx2 = blobs[-1].x
acy2 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'd'
ms = 50
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx3 = blobs[-1].x
acy3 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'l'
ms = 50
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx4 = blobs[-1].x
acy4 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'u'
ms = 50
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx5 = blobs[-1].x
acy5 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx5), 130, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy5), 130, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
cal1 = acx1 - acx2
cal2 = acy2 - acy3
cal3 = acx3 - acx4
cal4 = acy4 = acy5
time.sleep(2)
wsh.write_message(
wsh2, "x_" + str(cal1) + "_" + str(cal2) + "_" + str(cal3) + "_" +
str(cal4))
def __call__(self, image):
params = util.utf8convert(self.inspection.parameters)
retVal = []
mask = Image((image.width,image.height))
if( params.has_key('w') and params.has_key('h') and params.has_key('x') and params.has_key('y') ): #rectangle
if( params['x'] + params['w'] < image.width and
params['y'] + params['h'] < image.height and
params['y'] >= 0 and
params['x'] >= 0 ):
mask.drawRectangle(params['x'],params['y'],params['w'],params['h'],width=-1,color=Color.WHITE)
mask = mask.applyLayers()
fs = image.findBlobsFromMask(mask)
ff = M.FrameFeature()
if( fs is not None and len(fs) > 0 ):
#fs[-1].draw()
b = fs[-1]
b.__class__ = BlobRegion
c = b.meanColor()
b.mColor = (int(c[0]),int(c[1]),int(c[2]))
ff.setFeature(b) # a little hacky but I am sure that it works
retVal = [ff]
elif( params.has_key('x') and params.has_key('y') and params.has_key('r') ): # circle
if( params['x'] + params['r'] < image.width and
params['y'] + params['r'] < image.height and
params['x'] - params['r'] >= 0 and
params['y'] - params['r'] >= 0 ):
r = params['r']
x = params['x']
y = params['y']
mask.drawCircle((x,y),r,thickness=-1,color=Color.WHITE)
mask = mask.applyLayers()
fs = image.findBlobsFromMask(mask)
ff = M.FrameFeature()
if( fs is not None and len(fs) > 0 ):
#fs[-1].draw()
b = fs[-1]
b.__class__ = BlobRegion
c = b.meanColor()
b.mColor = (int(c[0]),int(c[1]),int(c[2]))
ff.setFeature(b)
retVal = [ff]
elif( params.has_key('contour') ):
contour = params['contour'] # this may bail out
if( len(contour) >= 3 ):
mask.dl().polygon(contour,filled=True,color=Color.WHITE)
mask = mask.applyLayers()
fs = image.findBlobsFromMask(mask)
ff = M.FrameFeature()
if( fs is not None and len(fs) > 0 ):
#fs[-1].draw()
b = fs[-1]
b.__class__ = BlobRegion
c = b.meanColor()
b.mColor = (int(c[0]),int(c[1]),int(c[2]))
ff.setFeature(b)
retVal = [ff]
if( params.has_key("saveFile") ):
image.save(params["saveFile"])
return retVal
corners.draw()
img.addDrawingLayer(object.dl())
# circle tracking
#dist = img.colorDistance(Color.BLACK).dilate(2)
#segmented = dist.stretch(200,255)
blobs = img.findBlobs()
if blobs:
circles = blobs.filter([b.isCircle(0.2) for b in blobs])
if circles:
img.drawCircle((circles[-1].x, circles[-1].y), circles[-1].radius(),Color.BLUE,3)
img.save("/dev/shm/p4.png")
#img.save(js.framebuffer)
elif keyp == 'v':
pz.stop()
pts = []
row=2
scanWin.addstr(1,1,"Distance Map" )
def run(self):
cam_mode=self.cam_mode
wsh = self.wsh
js = self.js
wsh2 = self.wsh2
d = "n"
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
c2=self.c2
c=self.c
sqx=self.sqx
sqy=self.sqy
x=0
y=0
stat="centering"
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
img1 = c.getImage()
## with picamera.PiCamera() as camera:
## camera.resolution = (544, 288)
## camera.capture('imagesmall.jpg')
## img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs :
##blobs.draw()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
blobx1 = blobs[-1].x
bloby1 = blobs[-1].y
print blobx1
print bloby1
print "sensor"
s.write('n')
time.sleep(1)
position = "altaz_ " + str(s.readline())
wsh.write_message(wsh2, str(position))
img1.drawText("ogp: chasing", 10, 5, fontsize=40)
img1.drawText(str(blobx1), blobx1, 250, color=(255,255,255), fontsize=20)
img1.drawText(str(bloby1), 10, bloby1, color=(255,255,255), fontsize=20)
img1.drawText(str(position), 10, 50, color=(255,255,255), fontsize=25)
sqx2=sqx+20
sqy2=sqy+20
img1.drawRectangle(sqx,sqy,20,20,color=(100,100,255))
img1.save(js.framebuffer)
if blobx1 > sqx2:
d = 'r'
s.write('s')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
if blobx1 < sqx:
d = 'l'
s.write('q')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 > sqy2:
d = 'd'
s.write('a')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 < sqy:
d = 'u'
s.write('w')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
time.sleep(.5)
wsh.write_message(wsh2, "c")
else:
wsh.write_message(wsh2, "c" )
wsh.write_message(wsh2, "CAPTURE" )
def run(self):
cam_mode=self.cam_mode
s.write('s')
wsh = self.wsh
js = self.js
wsh2 = self.wsh2
ms = 50
d = "n"
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
c2=self.c2
sqx=self.sqx
sqy=self.sqy
x=0
y=0
stat="centering"
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs :
##blobs.draw()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
blobx1 = blobs[-1].x
bloby1 = blobs[-1].y
print blobx1
print bloby1
img1.drawText("ogp: centering", 10, 10, fontsize=50)
img1.drawText(str(blobx1), 10, 200, color=(255,255,255), fontsize=50)
##img1.drawText(str(bloby1), 50, 200, color=(255,255,255), fontsize=50)
img1.drawText(str(bloby1), 10, 250, color=(255,255,255), fontsize=50)
img1.save(js.framebuffer)
sqx2=sqx+20
sqy2=sqy+20
if blobx1 > sqx2:
d = '_r'
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
if blobx1 < sqx:
d = 'l'
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 > sqy2:
d = 'd'
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 < sqy:
d = 'u'
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
wsh.write_message(wsh2, "c")
else:
wsh.write_message(wsh2, "c_" + "null" )
def histo(self): ## this def is the "light meter" part---
cam_mode = self.cam_mode ## the pic gets cataloged if true ---
js = self.js
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
i=0
brightpixels=0
darkpixels=0
blobs = 0
if cam_mode == 3: ## sort out the confusing cam modes
img1 = c2.getImage()
time.sleep(.25)
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
time.sleep(0.5)
if blobs:
##find the blob centroid and cut it out 20x20
crop1 = blobs[-1].x
crop2 = blobs[-1].y
crop3 = crop1 - 10
crop4 = crop2 - 10
thumbnail = img1.crop(crop3,crop4,20,20)
img2 = thumbnail
hist = img2.histogram(20)
## split the thumb into 20 levels of darkness
brightpixels = hist[10]
## 10 is where the darkest of the light pixels accumulate
print brightpixels
##while i < 20:
##old code for if you want to split the histogram in two
##if (i < 10):
##darkpixels = darkpixels + hist[i]
##self.darkpixels = darkpixels
##print hist[i]
##else:
##brightpixels = brightpixels + hist[i]
##self.brightpixels = brightpixels
##print hist[i]
##i = i + 1
if (brightpixels<400): ## heres where it decides to catalog the pic or not...
wsh.write_message(wsh2, "histo_" + str(darkpixels) + "_" + str(brightpixels))
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
thumb1 = "/var/www/html/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
img1.drawText("blob = True", 10, 35, color=(255,255,255),fontsize=30)
img1.drawText("search_mode", 10, 5, color=(0,0,255),fontsize=40)
img1.drawText("blob centroid", blobs[-1].x,blobs[-1].y, color=(255,255,255),fontsize=20)
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,0))
img1.drawCircle((blobs[0].centroid()),10,color=(255,255,255))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/html/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
time.sleep(0.5)
self.p = p
mySet.add((p,x,y,w,cent,rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy=int(cent[1])
rcolor=rgb1[0]
gcolor=rgb1[1]
bcolor=rgb1[2]
rcolor=int(rcolor)
gcolor=int(gcolor)
bcolor=int(bcolor)
wsh.write_message(wsh2, "rgb_" + str(rcolor)+"_"+str(gcolor)+"_"+str(bcolor))
wsh.write_message(wsh2, "x_" + str(centroidx)+"_"+str(centroidy))
img1.save(js.framebuffer)
time.sleep(0.5)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p) )
else:
print "senosor dark"
print darkpixels,'_', brightpixels
blobs = 0
wsh.write_message(wsh2, "histo_" + str(darkpixels) + "_" + str(brightpixels))
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
img1.save(js.framebuffer)
print "no blob"
