def ar_in_range():
depth_image = rc.camera.get_depth_image()
ar_image = rc.camera.get_color_image()
ar_image = rc_utils.crop(
ar_image, (0, 0), (rc.camera.get_height() // 2, rc.camera.get_width()))
checking_info, checking_info_id = rc_utils.get_ar_markers(ar_image)
if checking_info:
x = (int)((checking_info[0][0][0][1] + checking_info[0][0][1][1]) // 2)
y = (int)((checking_info[0][0][0][0] + checking_info[0][0][1][0]) // 2)
if rc_utils.get_pixel_average_distance(depth_image, (x, y)) < 200:
contours_ar_orange = rc_utils.find_contours(
ar_image, ORANGE[0], ORANGE[1])
contours_ar_purp = rc_utils.find_contours(ar_image, PURPLE[0],
PURPLE[1])
orange_largest = rc_utils.get_largest_contour(
contours_ar_orange, 2000)
purp_largest = rc_utils.get_largest_contour(contours_ar_purp, 2000)
if orange_largest is not None:
print("orange")
return 1
elif purp_largest is not None:
print("purple")
return 2
else:
return 0
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
color_image = rc.camera.get_color_image()
markers = rc_utils.get_ar_markers(color_image)
def ar_in_range_color(RANGE, d_img, c_img, colors):
#gets depth and ar tags, if there are some, finds center and then compares depth with
# RANGE. If within range, prints ids
depth_image = d_img
ar_image = c_img
ar_image = rc_utils.crop(
ar_image, (0, 0), (rc.camera.get_height() // 2, rc.camera.get_width()))
checking_info, _ = rc_utils.get_ar_markers(ar_image)
if checking_info:
x = (int)((checking_info[0][0][0][1] + checking_info[0][0][1][1]) // 2)
y = (int)((checking_info[0][0][0][0] + checking_info[0][0][1][0]) // 2)
if rc_utils.get_pixel_average_distance(depth_image, (x, y)) < RANGE:
contours = [
rc_utils.find_contours(ar_image, color.value[0],
color.value[1]) for color in colors
]
largest_contours = [(idx, rc_utils.get_largest_contour(cont, 2000))
for idx, cont in enumerate(contours)]
if len(largest_contours):
return colors[max(
largest_contours,
key=lambda x: get_cont_area_proofed(x[1]))[0]]
def ar_in_range_ID(RANGE, d_img, c_img):
#gets depth and ar tags, if there are some, finds center and then compares depth with
# RANGE. If within range, prints ids
depth_image = d_img
ar_image = c_img
ar_image = rc_utils.crop(
ar_image, (0, 0), (rc.camera.get_height() // 2, rc.camera.get_width()))
checking_info, checking_info_id = rc_utils.get_ar_markers(ar_image)
if checking_info:
x = (int)((checking_info[0][0][0][1] + checking_info[0][0][1][1]) // 2)
y = (int)((checking_info[0][0][0][0] + checking_info[0][0][1][0]) // 2)
if rc_utils.get_pixel_average_distance(depth_image, (x, y)) < RANGE:
return (checking_info_id)
return None
def start():
"""
This function is run once every time the start button is pressed
"""
global cur_state
global ar_image
# Have the car begin at a stop
rc.drive.stop()
ar_image = rc.camera.get_color_image()
ar_image = rc_utils.crop(
ar_image, (0, 0), (rc.camera.get_height() // 2, rc.camera.get_width()))
info, info_id = rc_utils.get_ar_markers(ar_image)
update_ar(info, info_id, ar_image)
cur_state = State.laneFollow
#cur_state = State.lineFollow
# Print start message
print(">> Final Challenge - Time Trials")
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
global speed
global angle
global cur_state
global PRIORITY
global prevangle
global cones_done
global cur_mode
global counter
# Get all images
image = rc.camera.get_color_image()
#cur_state == State.cone_slaloming
corners, ids = rc_utils.get_ar_markers(image)
length = len(corners)
if length > 0:
id = 300
index = 0
for idx in range(0, len(ids)):
if ids[idx] < id:
id = ids[idx]
index = idx
TL = corners[index][0][0]
TR = corners[index][0][1]
BL = corners[index][0][3]
area = (abs(TL[0] - TR[0]) +
abs(TL[1] - TR[1])) * (abs(TL[0] - BL[0]) + abs(TL[1] - BL[1]))
print(id[0], area)
if id[0] == 32 and area > 1900:
if cur_state is not State.cone_slaloming:
cur_mode = Mode.no_cones
counter = 0
cur_state = State.cone_slaloming
print("State: ", cur_state)
elif id[0] == 236 and area > 850:
cur_state = State.wall_parking
print("State: ", cur_state)
depth_image = rc.camera.get_depth_image()
###### Line Following State ######
if cur_state == State.line_following:
if image is None:
contour_center = None
else:
# Crop the image to the floor directly in front of the car
image = rc_utils.crop(image, CROP_FLOOR[0], CROP_FLOOR[1])
colorContours = []
contour = None
colorContours = []
red = checkRed(image)
green = checkGreen(image)
#blue = checkBlue(image)
yellow = checkYellow(image)
for priority in PRIORITY:
if priority == "Y" and yellow is not None:
colorContours.append(yellow)
print("yellow")
elif priority == "R" and red is not None:
colorContours.append(red)
print("red")
elif priority == "G" and green is not None:
colorContours.append(green)
print("green")
if not colorContours:
angle = prevangle
contour = None
else:
contour = colorContours[0]
if contour is not None:
# Calculate contour information
contour_center = rc_utils.get_contour_center(contour)
# Draw contour onto the image
rc_utils.draw_contour(image, contour)
rc_utils.draw_circle(image, contour_center)
#change
else:
contour_center = None
if contour_center is not None:
angle = rc_utils.remap_range(contour_center[1], 0,
rc.camera.get_width(), -1, 1,
True)
angle = rc_utils.clamp(angle, -1, 1)
prevangle = angle
# Display the image to the screen
rc.display.show_color_image(image)
##### Cone Slaloming State ######
elif cur_state == State.cone_slaloming:
print("cone slaloming")
update_cones()
###### Wall Parking State ######
elif cur_state == State.wall_parking:
print("Wall Parking")
# Get distance at 1/4, 2/4, and 3/4 width
center_dist = rc_utils.get_depth_image_center_distance(depth_image)
left_dist = rc_utils.get_pixel_average_distance(
depth_image, LEFT_POINT, KERNEL_SIZE)
right_dist = rc_utils.get_pixel_average_distance(
depth_image, RIGHT_POINT, KERNEL_SIZE)
print("distance", center_dist)
# Get difference between left and right distances
dist_dif = left_dist - right_dist
print("dist_dif", dist_dif)
# Remap angle
angle = rc_utils.remap_range(dist_dif, -MAX_DIST_DIF, MAX_DIST_DIF, -1,
1, True)
if abs(dist_dif) > 1:
print("entered")
angle = rc_utils.remap_range(dist_dif, -MAX_DIST_DIF, MAX_DIST_DIF,
-1, 1, True)
if center_dist > 20:
speed = 0.5
elif center_dist < 21 and center_dist > 10:
speed = rc_utils.remap_range(center_dist, 20, 10, 0.5, 0)
speed = rc_utils.clamp(speed, 0, 0.5)
else:
speed = 0
print("speed", speed)
rc.drive.set_speed_angle(speed, angle)
else:
# stop moving
rc.drive.stop()
print("angle", angle)
print("speed", speed)
rc.drive.set_speed_angle(0.6, angle)
def run_phase(self, rc, depth_image, color_image, lidar_scan):
#print(">> Running Wall Following")
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
# Use the triggers to control the car's speed left joystick for angle
#rt = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
#lt = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
#speed = rt - lt
#angle = rc.controller.get_joystick(rc.controller.Joystick.LEFT)[0]
# Calculate the distance
scan = lidar_scan
max_wall = 0.65 #testing max speed
hall = rc.camera.get_width() // 9
optimum = 60
rightDist = rc_utils.get_lidar_average_distance(scan, 44, 10)
leftDist = rc_utils.get_lidar_average_distance(scan, 316, 10)
angle = rc_utils.remap_range(rightDist - leftDist, -hall, hall, -1, 1)
angle = rc_utils.clamp(angle, -1, 1)
# get them tags
corners, ids = rc_utils.get_ar_markers(color_image)
billy = 150
if c.ar_in_range_ID(billy, depth_image, color_image, rc,
4 / 5) == c.ID_DIRECTION:
dirrrrrrrrr = rc_utils.get_ar_direction(corners[0])
#print(dirrrrrrrrr)
if dirrrrrrrrr == rc_utils.Direction.LEFT:
angle = -1
elif dirrrrrrrrr == rc_utils.Direction.RIGHT:
angle = 1
self.ar_tag = True
elif self.is_canyon:
tooClose = 80
if rc_utils.get_depth_image_center_distance(
depth_image) < tooClose:
angle = 1
right_farthest = np.amax(
depth_image[rc.camera.get_height() * 5 // 6,
rc.camera.get_width() //
2:rc.camera.get_width()].flatten())
left_farthest = np.amax(
depth_image[rc.camera.get_height() * 5 // 6,
0:rc.camera.get_width() // 2].flatten())
diff = abs(right_farthest - left_farthest)
AAAAAAAAAH_WE_ARE_ABOUT_TO_FALL____BETTER_STOP_NOW = 100
if self.ar_tag and self.ledge_count == 0 and diff > 50:
if right_farthest > AAAAAAAAAH_WE_ARE_ABOUT_TO_FALL____BETTER_STOP_NOW:
self.many += 1
self.ledge_angle = -1
self.ledge_count = 10
elif left_farthest > AAAAAAAAAH_WE_ARE_ABOUT_TO_FALL____BETTER_STOP_NOW:
self.many += 1
self.ledge_angle = 1
self.ledge_count = 10
#print("left ", left_farthest, " right ", right_farthest)
speed = rc_utils.remap_range(abs(angle), 15, 1, 1, 0.5) #temp controls
if self.many == 3:
self.ar_tag = False
if self.ledge_count > 0:
angle = self.ledge_angle
self.ledge_count -= 1
rc.drive.set_speed_angle(max_wall * speed, angle)
def flane(color_lane):
global contour_center
global contour_area
global speed
global angle
global lane
global arcount
global a
global time
time += rc.get_delta_time()
cimage = rc.camera.get_color_image()
if cimage is None:
contour_center = None
contour_area = 0
else:
#splits image in two so that two separate contours followed
left = rc_utils.crop(
cimage, (360, 0),
(rc.camera.get_height(), rc.camera.get_width() // 2))
right = rc_utils.crop(cimage, (360, rc.camera.get_width() // 2),
(rc.camera.get_height(), rc.camera.get_width()))
both = [left, right]
contour_centers = []
contour_areas = []
#find largest contours of left
contours_pur = rc_utils.find_contours(left, color_lane[0],
color_lane[1])
print(contours_pur)
rc.display.show_color_image(left)
print(color_lane)
contour_left = rc_utils.get_largest_contour(contours_pur,
MIN_CONTOUR_AREA)
#if there are contours, finds center and adds to contour_centers list
if contour_left is not None:
left_center = rc_utils.get_contour_center(contour_left)
contour_centers.append(left_center)
rc_utils.draw_contour(left, contour_left, (255, 0, 0))
rc.display.show_color_image(left)
else:
contour_centers.append(None)
#find largest contours of right
contours = rc_utils.find_contours(right, color_lane[0], color_lane[1])
contour_right = rc_utils.get_largest_contour(contours,
MIN_CONTOUR_AREA)
#if there are contours, finds center and adds to contour_centers list
if contour_right is not None:
right_center = rc_utils.get_contour_center(contour_right)
contour_centers.append(right_center)
#rc_utils.draw_contour(right, contour_right)
#rc.display.show_color_image(right)
else:
contour_centers.append(None)
#adjusts car based on being in the center of two contours
if None not in contour_centers:
lane = True
image = rc.camera.get_color_image()
contour_distance = (
contour_centers[1][1] +
rc.camera.get_width() // 2) - contour_centers[0][1]
contour_center = (contour_centers[0][0] + 10,
(contour_distance // 2) + contour_centers[0][1])
else:
contour_center = None
speed = 1
angle = 0
if lane == True: #catches if goes off lane, else, adjusts based off of center of contours
if contour_centers[0] == None:
print("turn left")
angle = -1
elif contour_centers[1] == None:
print("turn right")
angle = 1
else:
angle = rc_utils.remap_range(contour_center[1], 0,
rc.camera.get_width(), -1, 1,
True)
speed = 1
##getting ar direction
if arcount == 0 and time > 2:
a = rc.camera.get_color_image()
a = rc_utils.crop(
a, (0, rc.camera.get_width() // 4),
(rc.camera.get_height(), rc.camera.get_width() -
(rc.camera.get_width() // 4)))
corners, ids = rc_utils.get_ar_markers(a)
rc_utils.draw_ar_markers(a, corners, ids)
if len(corners) > 0:
#print("getting dir")
if rc_utils.get_ar_direction(corners[0]) == Direction.LEFT:
print(rc_utils.get_ar_direction(corners[0]))
angle = -0.7
if rc_utils.get_ar_direction(corners[0]):
print(rc_utils.get_ar_direction(corners[0]))
angle = 0.7
speed = 1
rc.drive.set_speed_angle(0, 0)
def update():
"""
After start() is run, this function is run every frame until the back button
is pressed
"""
# Display the color image cropped to the top left
if rc.controller.was_pressed(rc.controller.Button.A):
image = rc.camera.get_color_image()
cropped = rc_utils.crop(
image, (0, 0),
(rc.camera.get_height() // 2, rc.camera.get_width() // 2))
rc.display.show_color_image(cropped)
# Find and display the largest red contour in the color image
if rc.controller.was_pressed(rc.controller.Button.B):
image = rc.camera.get_color_image()
contours = rc_utils.find_contours(image, RED[0], RED[1])
largest_contour = rc_utils.get_largest_contour(contours)
if largest_contour is not None:
center = rc_utils.get_contour_center(largest_contour)
area = rc_utils.get_contour_area(largest_contour)
print(f"Largest red contour: center={center}, area={area:.2f}")
rc_utils.draw_contour(image, largest_contour,
rc_utils.ColorBGR.green.value)
rc_utils.draw_circle(image, center, rc_utils.ColorBGR.yellow.value)
rc.display.show_color_image(image)
else:
print("No red contours found")
# Print depth image statistics and show the cropped upper half
if rc.controller.was_pressed(rc.controller.Button.X):
depth_image = rc.camera.get_depth_image()
# Measure average distance at several points
left_distance = rc_utils.get_pixel_average_distance(
depth_image,
(rc.camera.get_height() // 2, rc.camera.get_width() // 4),
)
center_distance = rc_utils.get_depth_image_center_distance(depth_image)
center_distance_raw = rc_utils.get_depth_image_center_distance(
depth_image, 1)
right_distance = rc_utils.get_pixel_average_distance(
depth_image,
(rc.camera.get_height() // 2, 3 * rc.camera.get_width() // 4),
)
print(f"Depth image left distance: {left_distance:.2f} cm")
print(f"Depth image center distance: {center_distance:.2f} cm")
print(f"Depth image raw center distance: {center_distance_raw:.2f} cm")
print(f"Depth image right distance: {right_distance:.2f} cm")
# Measure pixels where the kernel falls off the edge of the photo
upper_left_distance = rc_utils.get_pixel_average_distance(
depth_image, (2, 1), 11)
lower_right_distance = rc_utils.get_pixel_average_distance(
depth_image,
(rc.camera.get_height() - 2, rc.camera.get_width() - 5), 13)
print(f"Depth image upper left distance: {upper_left_distance:.2f} cm")
print(
f"Depth image lower right distance: {lower_right_distance:.2f} cm")
# Find closest point in bottom third
cropped = rc_utils.crop(
depth_image,
(0, 0),
(rc.camera.get_height() * 2 // 3, rc.camera.get_width()),
)
closest_point = rc_utils.get_closest_pixel(cropped)
closest_distance = cropped[closest_point[0]][closest_point[1]]
print(
f"Depth image closest point (upper half): (row={closest_point[0]}, col={closest_point[1]}), distance={closest_distance:.2f} cm"
)
rc.display.show_depth_image(cropped, points=[closest_point])
# Print lidar statistics and show visualization with closest point highlighted
if rc.controller.was_pressed(rc.controller.Button.Y):
lidar = rc.lidar.get_samples()
front_distance = rc_utils.get_lidar_average_distance(lidar, 0)
right_distance = rc_utils.get_lidar_average_distance(lidar, 90)
back_distance = rc_utils.get_lidar_average_distance(lidar, 180)
left_distance = rc_utils.get_lidar_average_distance(lidar, 270)
print(f"Front LIDAR distance: {front_distance:.2f} cm")
print(f"Right LIDAR distance: {right_distance:.2f} cm")
print(f"Back LIDAR distance: {back_distance:.2f} cm")
print(f"Left LIDAR distance: {left_distance:.2f} cm")
closest_sample = rc_utils.get_lidar_closest_point(lidar)
print(
f"Closest LIDAR point: {closest_sample[0]:.2f} degrees, {closest_sample[1]:.2f} cm"
)
rc.display.show_lidar(lidar, highlighted_samples=[closest_sample])
# Identify AR markers
if rc.controller.was_pressed(rc.controller.Button.RB):
image = rc.camera.get_color_image()
markers = rc_utils.get_ar_markers(image, COLORS)
for i in range(len(markers)):
print(f"AR Marker {i}:")
print(markers[i])
print("")
rc_utils.draw_ar_markers(image, markers)
rc.display.show_color_image(image)
if rc.controller.was_pressed(rc.controller.Button.LB):
raise Exception("The left bumper was pressed")
# Print lidar distance in the direction the right joystick is pointed, if clicked
if rc.controller.is_down(rc.controller.Button.RJOY):
rjoy_x, rjoy_y = rc.controller.get_joystick(
rc.controller.Joystick.RIGHT)
lidar = rc.lidar.get_samples()
angle = (math.atan2(rjoy_x, rjoy_y) * 180 / math.pi) % 360
distance = rc_utils.get_lidar_average_distance(lidar, angle)
print(f"LIDAR distance at angle {angle:.2f} = {distance:.2f} cm")
# Default drive-style controls
left_trigger = rc.controller.get_trigger(rc.controller.Trigger.LEFT)
right_trigger = rc.controller.get_trigger(rc.controller.Trigger.RIGHT)
left_joystick = rc.controller.get_joystick(rc.controller.Joystick.LEFT)
rc.drive.set_speed_angle(right_trigger - left_trigger, left_joystick[0])