def __analyseReferenceMarker(self):
'''
Analyses reference markers
'''
path = str( self._gui.getObj("txtReferenceMarkerPath").text() )
self.__referenceMarker = getReferenceMarker(path)
mrLogger.logInfo("Analysed " + str( len(self.__referenceMarker) ) + " reference marker.")
self._gui.status( "Analysed " + str( len(self.__referenceMarker) ) + " reference markers" )
def __analyseReferenceMarker(self):
'''
Analyses reference markers
'''
path = str(self._gui.getObj("txtReferenceMarkerPath").text())
self.__referenceMarker = getReferenceMarker(path)
mrLogger.logInfo("Analysed " + str(len(self.__referenceMarker)) +
" reference marker.")
self._gui.status("Analysed " + str(len(self.__referenceMarker)) +
" reference markers")
def __init__(self, gui=None, imageGrabber=None, config=None):
'''
Constructor
'''
super(Distortion, self).__init__(gui=gui, imageGrabber=imageGrabber, config=config)
self.__calibrated = False
self.__calibrating = False
if gui != None:
self.__initGui()
if self._config != None:
cfgFile = self._config.getConfigValue("CONFIGURATION", "cfgCalibration")
if cfgFile != None and self.__loadConfigData(cfgFile):
self._gui.status( "Loaded distortion config." )
mrLogger.logInfo( "Loaded distortion config file " + str(cfgFile) )
def __init__(self, gui=None, imageGrabber=None, config=None):
'''
Constructor
'''
super(Transformation, self).__init__(gui=gui, imageGrabber=imageGrabber, config=config)
self.__calibrated = False
self.__calibrating = False
self.__basisMatrix = array([[1,0],[0,1]])
self.__offset = array([0,0])
if self._gui != None:
self.__initGui()
if self._config != None:
cfgFile = self._config.getConfigValue("CONFIGURATION", "cfgTransformation")
if cfgFile != None and self.__loadConfigData(cfgFile):
self._gui.status( "Loaded transformtaion config." )
mrLogger.logInfo( "Loaded transformation config file " + str(cfgFile) )
def __init__(self, gui=None, imageGrabber=None, config=None):
'''
Constructor
'''
super(Transformation, self).__init__(gui=gui,
imageGrabber=imageGrabber,
config=config)
self.__calibrated = False
self.__calibrating = False
self.__basisMatrix = array([[1, 0], [0, 1]])
self.__offset = array([0, 0])
if self._gui != None:
self.__initGui()
if self._config != None:
cfgFile = self._config.getConfigValue("CONFIGURATION",
"cfgTransformation")
if cfgFile != None and self.__loadConfigData(cfgFile):
self._gui.status("Loaded transformtaion config.")
mrLogger.logInfo("Loaded transformation config file " +
str(cfgFile))
def __processImage(self):
'''
processes image recognision
'''
mrLogger.logInfo( "Main loop started in mode " + str(self.__mode) )
while self.__mode != mrVisionData.VISION_MODE_TERMINATE:
#print "mode:", self.__mode
# get image
img = self._imageGrabber.getImage()
# sets image to distortion module
self.__distortion.setImg(img)
# undistort and crop image
if self.__distortion.isCalibrated():
img = self.__distortion.undistortImage(img)
img = self.__distortion.cropImage(img)
# sets image to transformation and recognition module
self.__transformation.setImg(img)
self.__recognition.setImg(img)
# STREAM IMAGES
if self.__mode in mrVisionData.VISION_STREAMING_MODES:
if self._imageGrabber.isActive():
# recognize objects
self.__recognition.recognize()
# get bots and rectangles
try:
obj = {'bots': self.__recognition.getBots(),
'rectangles': self.__recognition.getRectangles()}
except:
pass
# transformate objects
self.__transformation.transformObjects( obj['bots'] )
# send vision objects
self.__sendVisionData(obj)
# CALIBRATE CHESSBOARD
elif self.__mode == mrVisionData.VISION_MODE_CALIBRATE_DIST:
if not self.__distortion.isCalibrating():
self.__distortion.calibrateCamera()
while self.__distortion.isCalibrating():
pass
self.__setMode(mrVisionData.VISION_MODE_NONE)
# CALIBRATE TRANSFORMATIONEN
elif self.__mode == mrVisionData.VISION_MODE_CALIBRATE_TRANSF:
# To-DO: calibration of transformation
if not self.__transformation.isCalibrating():
self.__transformation.startCalibration()
while self.__transformation.isCalibrating():
pass
self.__setMode(mrVisionData.VISION_MODE_NONE)
# sleep(0.01)
# exit program
mrLogger.logInfo( "Main loop stopped" )
self.__socketManager.stopSocket()
