cv2.setMouseCallback("MotionView", onMouse, "WINDOW_NORMAL");
cv2.imshow("MotionView", frame)
if config["view"]["regions_threshold"]:
cv2.imshow("ThresholdView", thresh)
key = cv2.waitKey(1) & 0xFF
# If the `q` key is pressed, break from the loop;
if key == ord("q"):
break
# Clear the stream in preparation for the next frame or loop loaded file;
frameCounter += 1
if config["debug"]["use_file"] == False:
rawCapture.truncate(0)
if config["debug"]["use_file"] and config["debug"]["file_loop"]:
if frameCounter == (rawCapture.get(cv2.cv.CV_CAP_PROP_FRAME_COUNT) / 2):
frameCounter = 1
rawCapture.set(cv2.cv.CV_CAP_PROP_POS_FRAMES, 0)
# Start filtering right framesets from cache (when not analysing) for persistency;
if config["debug"]["print_messages"]:
print "[MESSAGE] Done, recorded " + str(len(framesCache)) + " datasets!"
print "[MESSAGE] Start filtering recorded information."
if not config["debug"]["file_loop"]:
if config["debug"]["print_frames_cache"]:
print json.dumps(framesCache)
if config["debug"]["print_messages"]:
print "[MESSAGE] Filtering motion with persistency lower than " + str(config["capture"]["frames"]) + " frames..."
if len(framesCache) > 0:
tempFramesCache = {}
for attribute, value in framesCache.iteritems():
GPIO.setup(Echo_sr04, GPIO.IN)
#for rotation of turtlebot
pub=rospy.Publisher('/cmd_vel', Twist, queue_size=10)
rate= rospy.Rate(1)
rot = Twist()
vel_msg=()
# setting the raspberry pi resolution and frame rate
camera = PiCamera()
camera.resolution = (640, 480)
camera.framerate = 30
# PIRGBarray-reads the frames form RasPi camera as NumPy array(takes in camera object and size of resolution)
rawCapture = PiRGBArray(camera, size=(640, 480))
width = rawCapture.get(cv2.CAP_PROP_FRAME_WIDTH)
height = rawCapture.get(cv2.CAP_PROP_FRAME_HEIGHT)
#centre of image
centre = (int(width/2), int(height/2))
# allow the camera to warmup
time.sleep(0.1)
#rotation object
rospy.Publisher("/cmd_vel", Twist, queue_size=1)
rot = Twist()
#to publish the percentage of the red colour detected to auto_nav
target_pub = rospy.Publisher("auto_nav/seen_target", String, queue_size=1)
percentage_1 = float(0)
