def __init__(self, robot, width=80, height=60, depth=3, visionSystem=None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {
"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": [
"tl50", "tl40", "tl30", "tl20", "tl10", "t0", "tr50", "tr40",
"tr30", "tr20", "tr10"
],
"Left": ["lt30", "lt20", "lt10", "l0", "lb30", "lb20", "lb10"],
"Bottom": [
"bl50", "bl40", "bl30", "bl20", "bl10", "b0", "br50", "br40",
"br30", "br20", "br10"
],
"Right": ["rt30", "rt20", "rt10", "r0", "rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
def __init__(self, robot, width=80, height=60, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0",
"tr50", "tr40", "tr30", "tr20", "tr10"],
"Left": ["lt30", "lt20", "lt10", "l0",
"lb30", "lb20", "lb10"],
"Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0",
"br50", "br40", "br30", "br20", "br10"],
"Right": ["rt30", "rt20", "rt10", "r0",
"rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
class RobocupCamera(Camera):
"""
"""
def __init__(self, robot, width=80, height=60, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0",
"tr50", "tr40", "tr30", "tr20", "tr10"],
"Left": ["lt30", "lt20", "lt10", "l0",
"lb30", "lb20", "lb10"],
"Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0",
"br50", "br40", "br30", "br20", "br10"],
"Right": ["rt30", "rt20", "rt10", "r0",
"rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
def getPoint( self, distance, direction): # meters, angle off center
row = self.height - \
self.height * cos( direction * PIOVER180 ) * distance/100.0
col = self.width/2.0 \
+ self.width * sin( direction * PIOVER180 ) * distance/100.0
if row < 0 or row >= self.height:
return None, None # off screen
if col < 0 or col >= self.width:
return None, None # off screen
return [int(col), int(row)]
def lookupLines( self, flagName ):
retval = []
for lineName in self.lines:
if flagName in self.lines[lineName]:
retval.append( lineName )
return retval
def update(self):
try:
see = self.robot.see
except:
print "waiting for Robocup camera to come online..."
return # not ready yet
see.sort(lambda x,y: cmp(y[1],x[1]))
objlist = []
linePoints = {}
for s in self.lines:
linePoints[s] = []
for item in see:
# item is something like: [['f', 'c'], 14, 36, 0, 0]
if len(item) >= 3: # otherwise, can't do much without direction
if item[0][0] == "f" or item[0][0] == "g": # it's a flag or goal
flagName = ""
for ch in item[0][1:]:
flagName += "%s" % ch
onLines = self.lookupLines( flagName )
for onLine in onLines:
# distance, direction
x, y = self.getPoint( item[1], item[2])
if x != None and y != None:
linePoints[onLine].append( (x, y) )
if item[0][0] == "p" or \
item[0][0] == "b" or \
item[0][0] == "g" or \
(item[0][0] == "f" and item[0][1] == "g"):
itemName = ""
for ch in item[0]:
itemName += "%s" % ch
if x != None and y != None:
retval = self.getPoint(item[1],item[2])
objlist.append( (itemName, retval[0], retval[1]) )
try:
self._dev.updateMMap(linePoints, objlist)
except TypeError:
print "error in RobocupCamera data format: ignored"
self.processAll() # filters
class RobocupCamera(Camera):
"""
"""
def __init__(self, robot, width=80, height=60, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
self.width = width
self.height = height
self.depth = depth
self._dev = Robocup(self.width, self.height, self.depth)
# connect vision system: --------------------------
self.vision = visionSystem
self.vision.registerCameraDevice(self._dev)
self.width = self.vision.getWidth()
self.height = self.vision.getHeight()
self.depth = self.vision.getDepth()
self._cbuf = self.vision.getMMap()
# -------------------------------------------------
# outer boundaries: Top, Left, Right, Bottom
# inner lines: top, left, right, bottom
# pentalty box: 1pleft, 2pright
# from page 31 of the Robocup Soccer Simulator manual:
self.lines = {"top": ["lt", "ct", "rt"],
"left": ["lt", "glt", "gl", "glb", "lb"],
"bottom": ["lb", "cb", "rb"],
"right": ["rb", "grb", "gr", "grt", "rt"],
"Top": ["tl50", "tl40", "tl30", "tl20", "tl10", "t0",
"tr50", "tr40", "tr30", "tr20", "tr10"],
"Left": ["lt30", "lt20", "lt10", "l0",
"lb30", "lb20", "lb10"],
"Bottom": ["bl50", "bl40", "bl30", "bl20", "bl10", "b0",
"br50", "br40", "br30", "br20", "br10"],
"Right": ["rt30", "rt20", "rt10", "r0",
"rb30", "rb20", "rb10"],
"center": ["t0", "ct", "c", "cb", "b0"],
"1pleft": ["plt", "plc", "plb"],
"2pright": ["prt", "prc", "prb"],
"a": ["plt", "lt20"], # draw pentalty box sides
"A": ["plb", "lb20"], # draw pentalty box sides
"z": ["prt", "rt20"], # draw pentalty box sides
"Z": ["prb", "rb20"], # draw pentalty box sides
}
self.data = CBuffer(self._cbuf)
self.rgb = (0, 1, 2) # offsets to RGB
self.format = "RGB"
Camera.__init__(self, self.width, self.height, self.depth,
"Robocup Camera View")
self.subtype = "robocup"
self.data = CBuffer(self._cbuf)
def getPoint( self, distance, direction): # meters, angle off center
row = self.height - \
self.height * cos( direction * PIOVER180 ) * distance/100.0
col = self.width/2.0 \
+ self.width * sin( direction * PIOVER180 ) * distance/100.0
if row < 0 or row >= self.height:
return None, None # off screen
if col < 0 or col >= self.width:
return None, None # off screen
return [int(col), int(row)]
def lookupLines( self, flagName ):
retval = []
for lineName in self.lines:
if flagName in self.lines[lineName]:
retval.append( lineName )
return retval
def update(self):
if not self.active: return
try:
see = self.robot.see
except:
print "waiting for Robocup camera to come online..."
return # not ready yet
see.sort(lambda x,y: cmp(y[1],x[1]))
objlist = []
linePoints = {}
for s in self.lines:
linePoints[s] = []
for item in see:
# item is something like: [['f', 'c'], 14, 36, 0, 0]
if len(item) >= 3: # otherwise, can't do much without direction
if item[0][0] == "f" or item[0][0] == "g": # it's a flag or goal
flagName = ""
for ch in item[0][1:]:
flagName += "%s" % ch
onLines = self.lookupLines( flagName )
for onLine in onLines:
# distance, direction
x, y = self.getPoint( item[1], item[2])
if x != None and y != None:
linePoints[onLine].append( (x, y) )
if item[0][0] == "p" or \
item[0][0] == "b" or \
item[0][0] == "g" or \
(item[0][0] == "f" and item[0][1] == "g"):
itemName = ""
for ch in item[0]:
itemName += "%s" % ch
if x != None and y != None:
retval = self.getPoint(item[1],item[2])
objlist.append( (itemName, retval[0], retval[1]) )
try:
self._dev.updateMMap(linePoints, objlist)
except TypeError:
print "error in RobocupCamera data format: ignored"
self.processAll() # filters
