def find_camera():
global camera
cidx = CAMERA_START_INDEX
while True :
try:
if camera:
del(camera)
print(cidx)
camera = Camera(cidx, 10)
camera.set(3, CAMERA_WIDTH)
camera.set(4, CAMERA_HEIGHT)
camera.set(5, 20)
cidx = cidx + 1
if cidx > CAMERA_MAX_INDEX:
cidx = CAMERA_START_INDEX
if camera == None:
print("none")
im = camera.get_image()
if im == None:
continue
h,w,_ = im.shape
print("%d, %d" % (h, w))
if w < 1 or h < 1:
continue
if SHOW_IMAGE :
cv2.imshow("image", im)
break
except (KeyboardInterrupt, SystemExit):
sys.exit()
except:
time.sleep(0.01)
pass
camera.set(3, CAMERA_WIDTH)
camera.set(4, CAMERA_HEIGHT)
camera.set(5, 20)
NetworkTable.setIPAddress("roboRIO-6731-FRC.local")
NetworkTable.setClientMode()
NetworkTable.initialize()
vtable = NetworkTable.getTable("vision")
NetworkTable.addConnectionListener(connectionListener, immediateNotify=True)
if SHOW_IMAGE :
cv2.startWindowThread()
cv2.namedWindow("image")
cv2.imshow("image", camera.get_image())
# main
while True:
st = time.time()
img = camera.capture()
if USE_VISION:
img,a1,a2,c1,c2,ct = finder.findPoints(img, SHOW_IMAGE)
fovh = 30.686 # degrees
x = 8.0 * 0.0254 # distance between tapes (meters)
w = 1.0 # meters
h = w * CAMERA_HEIGHT / CAMERA_WIDTH # meters
import cv2
from networktables import NetworkTables
from vision.camera import Camera
import vision.finder as finder
camera = Camera(0, 10)
img=camera.get_image()
img = finder.findPoints(img)
cv2.imshow("image", img)
cv2.waitKey(0)
cv2.destroyAllWindows()
del(camera)
