def calc_velocity_vector(cache, number_of_members):
if len(cache) <= 1:
return (int(0), int(0))
else:
older_newer_elem_tuple = Locator.simple_get_members(
cache, number_of_members)
if older_newer_elem_tuple != None:
velocity_vector = Math.sub_vectors(
older_newer_elem_tuple[1][0], older_newer_elem_tuple[0][0])
the_time = older_newer_elem_tuple[1][
1] - older_newer_elem_tuple[0][1]
try:
velocity_vector = tuple([
element * (1.0 / the_time)
for element in velocity_vector
])
velocity_vector = tuple([
int(round(element * 60.0))
for element in velocity_vector
])
except:
return (int(0), int(0))
return velocity_vector
else:
return (int(0), int(0))
def get_state(self):
bal_X, bal_Y = Math.sub_vectors(self.bal_center_, self.pitch_tl_)
blu_X, blu_Y = Math.sub_vectors(self.blu_robot_center_, self.pitch_tl_)
ylw_X, ylw_Y = Math.sub_vectors(self.ylw_robot_center_, self.pitch_tl_)
blu_dir_X, blu_dir_Y = self.blu_dir_
ylw_dir_X, ylw_dir_Y = self.ylw_dir_
trust_bal = int(round(self.trust_bal_))
trust_blu = int(round(self.trust_blu_))
trust_ylw = int(round(self.trust_ylw_))
bal_velocity_X, bal_velocity_Y = self.bal_vel_
blu_velocity_X, blu_velocity_Y = self.blu_vel_
ylw_velocity_X, ylw_velocity_Y = self.ylw_vel_
# message to be encoded is <msg_code><nr_args><arg1><arg2>...
return [
CommProto.STATE, 19, bal_X, bal_Y, blu_X, blu_Y, ylw_X, ylw_Y,
blu_dir_X, blu_dir_Y, ylw_dir_X, ylw_dir_Y, trust_bal, trust_blu,
trust_ylw, bal_velocity_X, bal_velocity_Y, blu_velocity_X,
blu_velocity_Y, ylw_velocity_X, ylw_velocity_Y
]
def get_state(self): bal_X, bal_Y = Math.sub_vectors(self.bal_center_, self.pitch_tl_) blu_X, blu_Y = Math.sub_vectors( self.blu_robot_center_, self.pitch_tl_) ylw_X, ylw_Y = Math.sub_vectors( self.ylw_robot_center_, self.pitch_tl_) blu_dir_X, blu_dir_Y = self.blu_dir_ ylw_dir_X, ylw_dir_Y = self.ylw_dir_ trust_bal = int(round(self.trust_bal_)) trust_blu = int(round(self.trust_blu_)) trust_ylw = int(round(self.trust_ylw_)) bal_velocity_X, bal_velocity_Y = self.bal_vel_ blu_velocity_X, blu_velocity_Y = self.blu_vel_ ylw_velocity_X, ylw_velocity_Y = self.ylw_vel_ # message to be encoded is <msg_code><nr_args><arg1><arg2>... return [CommProto.STATE, 19, bal_X, bal_Y, blu_X, blu_Y, ylw_X, ylw_Y, blu_dir_X, blu_dir_Y, ylw_dir_X, ylw_dir_Y, trust_bal, trust_blu, trust_ylw, bal_velocity_X, bal_velocity_Y, blu_velocity_X, blu_velocity_Y, ylw_velocity_X, ylw_velocity_Y]
def calc_velocity_vector(cache, number_of_members): if len(cache) <= 1: return (int(0),int(0)) else: older_newer_elem_tuple = Locator.simple_get_members(cache, number_of_members) if older_newer_elem_tuple != None: velocity_vector = Math.sub_vectors(older_newer_elem_tuple[1][0], older_newer_elem_tuple[0][0]) the_time = older_newer_elem_tuple[1][1] - older_newer_elem_tuple[0][1] try: velocity_vector = tuple([element*(1.0/the_time) for element in velocity_vector]) velocity_vector = tuple([int(round(element*60.0)) for element in velocity_vector]) except: return (int(0),int(0)) return velocity_vector else: return (int(0),int(0))
def get_back_dir(self, t_contour, centroid, rad, t_dir, thickness, size):
roi = self.draw_contour(t_contour, size)
#roi = self.get_circular_roi(centroid, rad, bin_im)
# draw a thick line from tip of 'dir_vec' to tip of the inverted
# 'dir_vec'. This is done, to ensure that the 'stand' of the T is
# removed and it's hat is split in two.
cv.Line(roi, Math.add_vectors(t_dir, centroid),
Math.add_vectors(Math.invert_vec(t_dir), centroid),
ColorSpace.RGB_BLACK, thickness)
tmp_im = cv.CreateImage(cv.GetSize(roi), cv.IPL_DEPTH_8U, 1)
cv.Copy(roi, tmp_im) # create image for FindContours
seq = cv.FindContours(tmp_im, cv.CreateMemStorage(0),
cv.CV_RETR_EXTERNAL, cv.CV_CHAIN_APPROX_NONE)
# sort contours from ROI and try to take two with the biggest area
contours = contours_area_sort(seq)[-2:]
if not contours: return None
nr_contours = len(contours)
if nr_contours == 2: # if two available, get vec to midpoint
pt1 = get_contour_center(cv.Moments(contours[0]))
pt2 = get_contour_center(cv.Moments(contours[1]))
mid = Math.add_vectors(pt1, pt2, 1 / 2.0)
elif nr_contours: # if only one, retun it as mid point
mid = get_contour_center(cv.Moments(contours[0]))
# no contours found, check failed, get prev value
else:
return None
mid = Math.int_vec(mid)
dir_vec = Math.sub_vectors(mid, centroid)
# show vector
cv.Line(roi, centroid, Math.add_vectors(centroid, dir_vec),
ColorSpace.RGB_WHITE, 1)
cv.ShowImage('w', roi)
return dir_vec # return the back direction vec
def get_back_dir(self, t_contour, centroid, rad, t_dir, thickness, size):
roi = self.draw_contour(t_contour, size)
#roi = self.get_circular_roi(centroid, rad, bin_im)
# draw a thick line from tip of 'dir_vec' to tip of the inverted
# 'dir_vec'. This is done, to ensure that the 'stand' of the T is
# removed and it's hat is split in two.
cv.Line(roi, Math.add_vectors(t_dir, centroid),
Math.add_vectors(Math.invert_vec(t_dir), centroid),
ColorSpace.RGB_BLACK, thickness)
tmp_im = cv.CreateImage(cv.GetSize(roi), cv.IPL_DEPTH_8U, 1)
cv.Copy(roi, tmp_im) # create image for FindContours
seq = cv.FindContours(tmp_im, cv.CreateMemStorage(0),
cv.CV_RETR_EXTERNAL, cv.CV_CHAIN_APPROX_NONE)
# sort contours from ROI and try to take two with the biggest area
contours = contours_area_sort(seq)[-2:]
if not contours : return None
nr_contours = len(contours)
if nr_contours == 2: # if two available, get vec to midpoint
pt1 = get_contour_center(cv.Moments(contours[0]))
pt2 = get_contour_center(cv.Moments(contours[1]))
mid = Math.add_vectors(pt1, pt2, 1 / 2.0)
elif nr_contours: # if only one, retun it as mid point
mid = get_contour_center(cv.Moments(contours[0]))
# no contours found, check failed, get prev value
else: return None
mid = Math.int_vec(mid)
dir_vec = Math.sub_vectors(mid, centroid)
# show vector
cv.Line(roi, centroid, Math.add_vectors(centroid, dir_vec),
ColorSpace.RGB_WHITE, 1)
cv.ShowImage('w', roi)
return dir_vec # return the back direction vec
class VisionGUI:
WIN_COLOR = 'colored feed'
WIN_RED_BIN = 'red binary image'
WIN_BLU_BIN = 'blu binary image'
WIN_YLW_BIN = 'ylw binary image'
# TODO: Change integer values with these constancs all over the application
COLOR_FEED = 0
RED_BIN_FEED = 1
BLU_BIN_FEED = 2
YLW_BIN_FEED = 3
GUI_SLIDERS = 4
def __init__():
abstract
def create_gui(red_color, blu_color, ylw_color):
if 0 in V_SETT.DISPLAY_FEED:
cv.NamedWindow(VisionGUI.WIN_COLOR, 1)
if 1 in V_SETT.DISPLAY_FEED:
cv.NamedWindow(VisionGUI.WIN_RED_BIN, 1)
if 4 in V_SETT.DISPLAY_FEED:
VisionGUI.atch_trackbars_to_win(VisionGUI.WIN_RED_BIN,
red_color)
else:
VisionGUI.deatch_trackbars(VisionGUI.WIN_RED_BIN)
if 2 in V_SETT.DISPLAY_FEED:
cv.NamedWindow(VisionGUI.WIN_BLU_BIN, 1)
if 4 in V_SETT.DISPLAY_FEED:
VisionGUI.atch_trackbars_to_win(VisionGUI.WIN_BLU_BIN,
blu_color)
else:
VisionGUI.deatch_trackbars(VisionGUI.WIN_BLU_BIN)
if 3 in V_SETT.DISPLAY_FEED:
cv.NamedWindow(VisionGUI.WIN_YLW_BIN, 1)
if 4 in V_SETT.DISPLAY_FEED:
VisionGUI.atch_trackbars_to_win(VisionGUI.WIN_YLW_BIN,
ylw_color)
else:
VisionGUI.deatch_trackbars(VisionGUI.WIN_YLW_BIN)
create_gui = staticmethod(create_gui)
def display_visual_feedback(img, red_bin_img, blu_bin_img, ylw_bin_img,
(bal_center, blu_center, ylw_center, blu_dir,
ylw_dir), (l_goal_t_, l_goal_b_, r_goal_t_,
r_goal_b_), (pitch_tl_, pitch_bl_,
pitch_tr_, pitch_br_),
(trust_bal, trust_blu,
trust_ylw), (bal_vel, blu_vel, ylw_vel)):
if 0 in V_SETT.DISPLAY_FEED:
# display robot and ball centers
# Ball
cv.Circle(img, bal_center, 4, ColorSpace.RGB_BLACK, 2)
# ylw velocity
cv.Line(
img, bal_center,
Math.add_vectors(
bal_center, Math.int_vec(Math.scale_vec(bal_vel,
1 / 60.0))),
ColorSpace.RGB_WHITE, 1, cv.CV_AA)
# Blue
left = Math.rotate_vec(blu_dir, -90)
left_point = Math.add_vectors(left, blu_center)
cv.Line(img, Math.int_vec(Math.add_vectors(left_point, blu_dir)),
Math.int_vec(Math.sub_vectors(left_point, blu_dir)), 1)
right_point = Math.add_vectors(Math.invert_vec(left), blu_center)
cv.Line(img, Math.int_vec(Math.add_vectors(right_point, blu_dir)),
Math.int_vec(Math.sub_vectors(right_point, blu_dir)), 1)
cv.Circle(img, blu_center, 4, ColorSpace.RGB_BLU, -2)
cv.Circle(img, blu_center, 20, ColorSpace.RGB_BLACK, 1)
# blue_dir
cv.Line(img, blu_center, Math.add_vectors(blu_center, blu_dir),
ColorSpace.RGB_BLACK, 1, cv.CV_AA)
# blu velocity
cv.Line(
img, blu_center,
Math.add_vectors(
blu_center, Math.int_vec(Math.scale_vec(blu_vel,
1 / 60.0))),
ColorSpace.RGB_WHITE, 1, cv.CV_AA)
# Yellow
left = Math.rotate_vec(ylw_dir, -90)
left_point = Math.add_vectors(left, ylw_center)
cv.Line(img, Math.int_vec(Math.add_vectors(left_point, ylw_dir)),
Math.int_vec(Math.sub_vectors(left_point, ylw_dir)), 1)
right_point = Math.add_vectors(Math.invert_vec(left), ylw_center)
cv.Line(img, Math.int_vec(Math.add_vectors(right_point, ylw_dir)),
Math.int_vec(Math.sub_vectors(right_point, ylw_dir)), 1)
cv.Circle(img, ylw_center, 4, ColorSpace.RGB_YLW, -2)
cv.Circle(img, ylw_center, 20, ColorSpace.RGB_BLACK, 1)
# ylw_dir
cv.Line(img, ylw_center, Math.add_vectors(ylw_center, ylw_dir),
ColorSpace.RGB_BLACK, 1, cv.CV_AA)
# ylw velocity
cv.Line(
img, ylw_center,
Math.add_vectors(
ylw_center, Math.int_vec(Math.scale_vec(ylw_vel,
1 / 60.0))),
ColorSpace.RGB_WHITE, 1, cv.CV_AA)
# display goal lines
cv.Circle(img, l_goal_t_, 1, ColorSpace.RGB_WHITE, 2)
cv.Circle(img, l_goal_b_, 1, ColorSpace.RGB_WHITE, 2)
cv.Circle(img, r_goal_t_, 1, ColorSpace.RGB_WHITE, 2)
cv.Circle(img, r_goal_b_, 1, ColorSpace.RGB_WHITE, 2)
# display pitch
cv.Circle(img, pitch_tl_, 1, ColorSpace.RGB_WHITE, 2)
cv.Circle(img, pitch_bl_, 1, ColorSpace.RGB_WHITE, 2)
cv.Circle(img, pitch_tr_, 1, ColorSpace.RGB_WHITE, 2)
cv.Circle(img, pitch_br_, 1, ColorSpace.RGB_WHITE, 2)
# show image
cv.ShowImage(VisionGUI.WIN_COLOR, img)
# display binary images if parameters given
if 1 in V_SETT.DISPLAY_FEED:
cv.Circle(red_bin_img, bal_center, 1, ColorSpace.RGB_BLACK, 3)
cv.Circle(red_bin_img, bal_center, 40, ColorSpace.RGB_WHITE, 1)
cv.ShowImage(VisionGUI.WIN_RED_BIN, red_bin_img)
if 2 in V_SETT.DISPLAY_FEED:
cv.Circle(blu_bin_img, blu_center, 1, ColorSpace.RGB_BLACK, 3)
cv.Circle(blu_bin_img, blu_center, 40, ColorSpace.RGB_WHITE, 1)
cv.ShowImage(VisionGUI.WIN_BLU_BIN, blu_bin_img)
if 3 in V_SETT.DISPLAY_FEED:
cv.Circle(ylw_bin_img, ylw_center, 1, ColorSpace.RGB_BLACK, 3)
cv.Circle(ylw_bin_img, ylw_center, 40, ColorSpace.RGB_WHITE, 1)
cv.ShowImage(VisionGUI.WIN_YLW_BIN, ylw_bin_img)
cv.WaitKey(1000 / 35)
