import gbvision as gbv
VISION_TARGET_THRESHOLD = gbv.Threshold([[0, 25], [150, 255], [0, 25]], 'BGR')
# the vision target threshold, found using median threshold
VISION_TARGET = gbv.GameObject(0.08424226967)
# target size (in meters) is about 0.14x0.05
# the square root of this size is the constant above (0.0842422...)
def main():
finder = gbv.TargetPairFinder(
VISION_TARGET_THRESHOLD + gbv.Erode(3) + gbv.Dilate(4), VISION_TARGET)
# define the target finder
camera = gbv.USBCamera(0, gbv.LIFECAM_3000)
# connect to camera
camera.set_auto_exposure(False)
# turn off auto exposure mode (on raspberry pi)
camera.set_exposure(False)
# turn exposure to minimum (on raspberry pi)
while True:
ok, frame = camera.read()
if ok:
hatches = finder(frame, camera)
if len(hatches) > 0:
closest_hatch = hatches[0]
print('found hatch at distance: %s\nand angle: %s' %
(gbv.distance_from_object(closest_hatch),
gbv.plane_angle_by_location(closest_hatch)))
import gbvision as gbv
FUEL = gbv.GameObject(0.04523893421169302263386206471922)
FUEL_THRESHOLD = gbv.ColorThreshold([[0, 76], [215, 255], [40, 120]], 'HSV')
def main():
camera = gbv.USBCamera(0, gbv.LIFECAM_3000)
find_fuel = gbv.CircleFinder(FUEL_THRESHOLD, FUEL)
while True:
ok, frame = camera.read()
all_fuels = find_fuel(frame, camera)
if len(all_fuels) > 0:
nearest_fuel = all_fuels[0]
print('found fuel at distance %f meters and %f angles' %
(gbv.distance_from_object(nearest_fuel),
gbv.plane_angle_by_location(nearest_fuel)))
if __name__ == '__main__':
main()
import gbvision as gbv
CARGO = gbv.GameObject(0.2926321307845007)
CARGO_THRESHOLD = gbv.Threshold([[5, 15], [225, 255], [115, 175]], 'HSV')
def main():
camera = gbv.USBCamera(0, gbv.LIFECAM_3000)
find_cargo = gbv.CircleFinder(CARGO_THRESHOLD, CARGO)
while True:
ok, frame = camera.read()
all_cargos = find_cargo(frame, camera)
if len(all_cargos) > 0:
nearest_cargo = all_cargos[0]
print('found cargo at distance %f meters and %f angles' %
(gbv.distance_from_object(nearest_cargo),
gbv.plane_angle_by_location(nearest_cargo)))
if __name__ == '__main__':
main()
import gbvision as gbv
THRESHOLD_CONST = gbv.Threshold([[91, 151], [77, 137], [76, 136]], 'HSV')
# found using median threshold
OBJECT_CONST = gbv.GameObject(0.20706279240848655)
def main():
camera = gbv.USBCamera(0, gbv.LIFECAM_3000)
threshold_function = THRESHOLD_CONST + gbv.MedianBlur(5)
finder = gbv.RotatedRectFinder(threshold_function, OBJECT_CONST, contour_min_area=100)
window = gbv.CameraWindow('feed', camera, drawing_pipeline=gbv.DrawRotatedRects(
threshold_func=threshold_function,
color=(255, 0, 0),
contours_process=gbv.FilterContours(1000),
rotated_rects_process=gbv.sort_rotated_rects + gbv.filter_inner_rotated_rects
))
window.open()
while window.is_opened():
frame = window.show_and_get_frame()
objects = finder(frame, camera)
if len(objects):
print("object is at distance: %s meters" % (gbv.distance_from_object(objects[0])))
window.close()
if __name__ == '__main__':
main()