def run(self):
read_color_data()
self.cam=WebCam(info=self.cam_info)
if self.debug:
self.debug_thread.start()
try:
while self.pipe.recv() == True:
im=self.cam.get_image()
small_im=cv.CreateImage((im.width/2, im.height/2), cv.IPL_DEPTH_8U, 3)
cv.PyrDown(im, small_im);
smaller_im=cv.CreateImage((im.width/4, im.height/4), cv.IPL_DEPTH_8U, 3)
cv.PyrDown(small_im, smaller_im);
smallerer_im=cv.CreateImage((im.width/8, im.height/8), cv.IPL_DEPTH_8U, 3)
cv.PyrDown(smaller_im, smallerer_im);
colors=convert_to_colors(smallerer_im)
closest_ball=self.find_closest_ball(colors)
self.pipe.send({"closest_ball": closest_ball})
self.colors=colors
#time.sleep(0.01)
except KeyboardInterrupt:
pass
finally:
if self.debug:
self.debug_thread.stop()
self.cam.stop()
class VisionProc(multiprocessing.Process):
def __init__(self, cam_info, pipe, debug=False):
multiprocessing.Process.__init__(self)
self.cam_info=cam_info
self.pipe=pipe
self.debug=debug
if self.debug:
self.debug_thread=DebugThread(self)
def run(self):
read_color_data()
self.cam=WebCam(info=self.cam_info)
if self.debug:
self.debug_thread.start()
try:
while self.pipe.recv() == True:
im=self.cam.get_image()
small_im=cv.CreateImage((im.width/2, im.height/2), cv.IPL_DEPTH_8U, 3)
cv.PyrDown(im, small_im);
smaller_im=cv.CreateImage((im.width/4, im.height/4), cv.IPL_DEPTH_8U, 3)
cv.PyrDown(small_im, smaller_im);
smallerer_im=cv.CreateImage((im.width/8, im.height/8), cv.IPL_DEPTH_8U, 3)
cv.PyrDown(smaller_im, smallerer_im);
colors=convert_to_colors(smallerer_im)
closest_ball=self.find_closest_ball(colors)
self.pipe.send({"closest_ball": closest_ball})
self.colors=colors
#time.sleep(0.01)
except KeyboardInterrupt:
pass
finally:
if self.debug:
self.debug_thread.stop()
self.cam.stop()
def find_closest_ball(self, im):
for b in find_blobs(im, color=RED, reverse=True):
if self.is_ball(b, im):
return self.cam.info.get_vector(b[0], im)
return None
def is_ball(self, blob, im):
"""Check if a list of pixels is a ball"""
size=self.cam.info.get_pixel_size(blob[0], im)*len(blob)
return size>15 and size<45
