import gbvision as gbv
THRESHOLD = gbv.ColorThreshold([[0, 62], [215, 255], [15, 95]], 'HSV')
def main():
camera = gbv.AsyncUSBCamera(0)
camera.wait_start_reading()
window = gbv.CameraWindow('feed', camera)
window.show_async()
threshold_window = gbv.CameraWindow('threshold',
camera,
drawing_pipeline=THRESHOLD)
threshold_window.show_async()
denoising_window = gbv.CameraWindow('denoised',
camera,
drawing_pipeline=THRESHOLD +
gbv.DistanceTransformThreshold(0.4))
denoising_window.show()
if __name__ == '__main__':
main()
from typing import List
import gbvision as gbv
K = 0.6
THRESHOLD = gbv.ColorThreshold([[14, 34], [146, 255], [48, 208]],
'HSV') + gbv.DistanceTransformThreshold(K)
def radius_restore() -> gbv.Number:
return 1 + K
def circle_process(circs: List[gbv.Circle]) -> List[gbv.Circle]:
return [(c[0], c[1] * radius_restore()) for c in circs]
def main():
camera = gbv.AsyncUSBCamera(0)
camera.set_exposure(-5)
camera.wait_start_reading()
window = gbv.CameraWindow('feed',
camera,
drawing_pipeline=gbv.DrawCircles(
THRESHOLD, (0, 255, 0),
circle_process=circle_process))
window.show_async()
denoising_window = gbv.CameraWindow('denoised',
camera,
drawing_pipeline=THRESHOLD)
import cv2
import gbvision as gbv
import streamlink as sl
from collections import deque
import abc
FPS = 30
MATCH_TIME = 2.5 * 60
extra_time = 10
THRESHOLD = gbv.ColorThreshold([[0, 22], [0, 20], [234, 255]], 'BGR')
class StreamNotFound(Exception):
"""
Rasied if stream was not found
"""
pass
def get_stream_url(twitch_id='firstinspires', youtube_id=None, quality='480p'):
"""
get stream url by twitch id or youtube video id (NOT URL)
:param twitch_id: Twitch channel id
:param youtube_id: Youtube video id (youtube.com/watch? *ID*)
:param quality: quality of the stream, options are: 160p, 360p, 480p, 720p, best, worst
:return: video stream url, -1 if stream not found
"""
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_THRESHOLD = gbv.ColorThreshold([[0, 73], [167, 247], [40, 120]], 'HSV')
def main():
camera = gbv.USBCamera(1, gbv.LIFECAM_3000)
camera.resize(0.75, 0.75)
# connect to camera
camera.set_exposure(-8)
# switch to auto exposure mode
# this works on windows, when using a raspberry pi use booleans instead
threshold_func = gbv.EMPTY_PIPELINE + CARGO_THRESHOLD + gbv.Erode(
5) + gbv.Dilate(10)
# the full pipeline of thresholding and denoising
window = gbv.CameraWindow(
'camera 0',
camera,
drawing_pipeline=gbv.
DrawCircles( # draw the outline circles of the cargos
threshold_func,
(255, 0, 0), # threshold and color is blue (bgr)
contours_process=gbv.FilterContours(100), # filter small contours
circle_process=gbv.sort_circles + gbv.filter_inner_circles
)) # sort circles and delete the inner circles
window.show()
import gbvision as gbv
THRESHOLD_CONST = gbv.ColorThreshold([[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,
rotated_rects_process=gbv.sort_rotated_rects +
gbv.filter_inner_rotated_rects)
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):
import gbvision as gbv
FUEL = gbv.GameObject(0.04523893421169302263386206471922)
FUEL_THRESHOLD = gbv.ColorThreshold([[0, 73], [129, 209], [119, 199]], 'HSV')
def main():
camera = gbv.USBCamera(0)
find_fuel = gbv.CircleFinder(FUEL_THRESHOLD, FUEL, contour_min_area=1000)
fuel_follower = None
window = gbv.FeedWindow('follow')
window.open()
ok = True
found_fuel = False
tracker = gbv.Tracker('MEDIANFLOW')
while ok:
ok, frame = camera.read()
all_fuels = find_fuel.find_shapes(frame)
if (not found_fuel) and len(all_fuels) > 0:
nearest_fuel = all_fuels[0]
fuel_follower = gbv.ContinuesCircle(shape=nearest_fuel,
frame=frame,
tracker=tracker)
found_fuel = True
if found_fuel:
for check in all_fuels:
if fuel_follower.update(frame=frame, shape=check):
break
else:
fuel_follower.update_forced(frame=frame)