def process_camera_frames(self):
while settings.running:
if not settings.processingPath:
frame = cameras.read()
if frame is None:
time.sleep(.25)
else:
if settings.track_bot:
if settings.maze['image'] is None:
settings.maze['image'] = transform.raw_to_map(frame, settings.maze, QtCore.Qt.white)
settings.bot_front['image'] = transform.raw_to_map(frame, settings.bot_front, QtCore.Qt.red)
settings.bot_back['image'] = transform.raw_to_map(frame, settings.bot_back, QtCore.Qt.green)
position, front = tracker.get_bot_info()
settings.bot_position = position
# img = cv2.cvtColor(settings.maze['image'], cv2.COLOR_GRAY2BGR)
processed = transform.overlay(settings.maze['image'], transform.draw_bot(position, front))
current_time = time.time()
if settings.robo_go and abs(current_time - self.last_time) >= self.interval_sec:
dist_thresh = 0.4
if distance(settings.small_goal, settings.bot_position) < dist_thresh:
if not settings.path_q.empty():
settings.small_goal = settings.path_q.get()
print "small goal: " + str(settings.small_goal)
print "position: " + str(position)
else:
settings.robo_go = False
robot.victory_dance()
robot.follow_command(position, front, settings.small_goal)
else:
processed = transform.raw_to_map(frame, settings.maze)
self.image_ready.emit(frame, processed)
QtGui.qApp.quit()
def get_image(self, raw, processed=None):
if self.raw is None:
self.processed.setPixmap(as_pixmap(transform.raw_to_map(raw, self.purpose)))
self.raw = raw
def on_change(self, variable, label, value):
self.purpose[variable] = value
label.setText(str(value))
self.purpose['imagearray'] = transform.raw_to_map(self.raw, self.purpose)
self.purpose['image'] = as_pixmap(self.purpose['imagearray'])
self.processed.setPixmap(self.purpose['image'])
