Ejemplo n.º 1
0
    def default_action(self):
        """ Update the texture image. """
        # Grab an image from the texture
        if self.bge_object['capturing'] and (self._n != 0) :

            # Call the action of the Camera class
            Camera.default_action(self)

            self.process_image(morse.core.blenderapi.cameras()[self.name()].source)

            self.capturing = True

            if (self._n > 0):
                self._n -= 1
                if (self._n == 0):
                    self.completed(status.SUCCESS)
        else:
            self.capturing = False
Ejemplo n.º 2
0
    def default_action(self):
        """ Update the texture image. """
        # Grab an image from the texture
        if self.bge_object['capturing'] and (self._n != 0):

            # Call the action of the Camera class
            Camera.default_action(self)

            self.process_image(self.image_data)

            self.capturing = True

            if self._n > 0:
                self._n -= 1
                if self._n == 0:
                    self.completed(status.SUCCESS)
        else:
            self.capturing = False
Ejemplo n.º 3
0
    def default_action(self):
        """ Update the texture image. """
        # Grab an image from the texture
        if self.bge_object['capturing'] and (self._n != 0) :

            # Call the action of the Camera class
            Camera.default_action(self)

            self.process_image(morse.core.blenderapi.cameras()[self.name()].source)

            self.capturing = True

            if (self._n > 0):
                self._n -= 1
                if (self._n == 0):
                    self.completed(status.SUCCESS)
        else:
            self.capturing = False
Ejemplo n.º 4
0
    def default_action(self):
        """ Update the texture image. """
        # Grab an image from the texture
        if self.bge_object['capturing'] and (self._n != 0) :

            # Call the action of the Camera class
            Camera.default_action(self)

            self.process_image(self.image_data)

            self.capturing = True

            if self._n > 0:
                self._n -= 1
                if self._n == 0:
                    self.completed(status.SUCCESS)
        else:
            self.capturing = False
Ejemplo n.º 5
0
  def default_action( self ):
      
    #super(self.__class__, self).default_action()
    Camera.default_action( self )
    
    # Grab an image from the texture
    if self.bge_object['capturing'] and (self._n != 0) :

      ## Call the action of the parent class
      #super(self.__class__, self).default_action()
      #Camera.default_action( self )
      #VideoCamera.default_action( self )

      # NOTE: Blender returns the image as a binary string
      #  encoded as RGBA
      image_data = morse.core.blenderapi.cameras()[self.name()].source

      self.robot_pose = copy.copy(self.robot_parent.position_3d)
      
      # Only Reporting Black, White, and Grey to greyscale image
      # Fill in the exportable data
      new_image = numpy.array(image_data.image, dtype='uint8')
      if self.old_image_data != None:
        
        self.monochrome = ( new_image[0::4] * .299 + new_image[1::4] * 0.587 + new_image[2::4] * 0.144 ).astype('uint8')

        #black = self.monochrome > self.old_image_data + 10
        #white = self.monochrome < self.old_image_data - 10
        black = self.monochrome > self.old_image_data + 15
        white = self.monochrome + 15 < self.old_image_data
        self.local_data['image'] = self.grey - self.step * black + self.step * white
      else:
        self.local_data['image'] = self.monochrome#new_image
      self.capturing = True

      self.old_image_data = self.monochrome

      if (self._n > 0):
        self._n -= 1
        if (self._n == 0):
          self.completed(status.SUCCESS)
    else:
      self.capturing = False
Ejemplo n.º 6
0
  def default_action( self ):
      
    #super(self.__class__, self).default_action()
    Camera.default_action( self )
    
    # Grab an image from the texture
    if self.bge_object['capturing'] and (self._n != 0) :

      ## Call the action of the parent class
      #super(self.__class__, self).default_action()
      #Camera.default_action( self )
      #VideoCamera.default_action( self )

      # NOTE: Blender returns the image as a binary string
      #  encoded as RGBA
      image_data = morse.core.blenderapi.cameras()[self.name()].source

      self.robot_pose = copy.copy(self.robot_parent.position_3d)
      
      """ #Simple Subtraction Method
      # Fill in the exportable data
      if self.old_image_data != None:
        self.local_data['image'] = numpy.array(image_data.image, dtype='uint8') - self.old_image_data * self.mask
        # remove small differences within a tolerance
        #self.local_data['image'][abs(self.local_data['image']) < 1] = 0
      else:
        self.local_data['image'] = numpy.array(image_data.image, dtype='uint8')
      """
      """
      # Reporting the difference relative to Grey
      # Fill in the exportable data
      new_image = numpy.array(image_data.image, dtype='uint8')
      if self.old_image_data != None:
        self.local_data['image'] = self.grey + (new_image - self.old_image_data) 
        # remove small differences within a tolerance
        #self.local_data['image'][abs(self.local_data['image']) < 1] = 0
      else:
        self.local_data['image'] = new_image
      """
      """
      # Only Reporting Black, White, and Grey
      # Fill in the exportable data
      new_image = numpy.array(image_data.image, dtype='uint8')
      if self.old_image_data != None:
        black = new_image > self.old_image_data + 10
        white = new_image < self.old_image_data - 10
        self.local_data['image'] = self.grey - self.step * black + self.step * white
        # remove small differences within a tolerance
        #self.local_data['image'][abs(self.local_data['image']) < 1] = 0
      else:
        self.local_data['image'] = new_image
      """
      #"""
      # Only Reporting Black, White, and Grey to greyscale image
      # Fill in the exportable data
      new_image = numpy.array(image_data.image, dtype='uint8')
      if self.old_image_data != None:
        
        self.monochrome = ( new_image[0::4] * .299 + new_image[1::4] * 0.587 + new_image[2::4] * 0.144 ).astype('uint8')

        #black = self.monochrome > self.old_image_data + 10
        #white = self.monochrome < self.old_image_data - 10
        black = self.monochrome > self.old_image_data + 15
        white = self.monochrome + 15 < self.old_image_data
        self.local_data['image'] = self.grey - self.step * black + self.step * white
        #self.local_data['image'] = self.monochrome
        # remove small differences within a tolerance
        #self.local_data['image'][abs(self.local_data['image']) < 1] = 0
      else:
        self.local_data['image'] = self.monochrome#new_image
      #"""
      self.capturing = True

      #self.old_image_data = numpy.array(image_data.image, dtype='int8')
      #self.old_image_data = new_image
      self.old_image_data = self.monochrome

      if (self._n > 0):
        self._n -= 1
        if (self._n == 0):
          self.completed(status.SUCCESS)
    else:
      self.capturing = False