class BlobCamera(Camera):
"""
"""
def __init__(self, robot, camera=None, depth=3, visionSystem=None):
"""
"""
self.robot = robot
# if no camera given, we'll try a blobfinder
if camera == None:
# is there a default one?
try:
self.blobfinder = self.robot.blobfinder[0]
except AttributeError:
# no,then we'll try to start one:
self.blobfinder = self.robot.startDevice('blobfinder')
else:
# else, you better have supplied a name, like "blobfinder0"
self.blobfinder = camera
self._devBlobFinder = self.blobfinder._dev
while self._devBlobFinder.width == 0:
pass
self.width, self.height = self._devBlobFinder.width, self._devBlobFinder.height
self.depth = depth
self._dev = Blob(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()
# -------------------------------------------------
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,
"Blob Camera View")
self.requires = ["blobfinder"]
self.subtype = "blob"
self.source = "%s[%d]" % (self.blobfinder.type, self.blobfinder.index)
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
blobs = []
for i in range(self._devBlobFinder.blobs_count):
try:
b = self._devBlobFinder.blobs[i]
blobs.append((b.left, b.top, b.right, b.bottom, b.color))
except IndexError:
pass
self._dev.updateMMap(blobs)
self.processAll()
class BlobCamera(Camera):
"""
"""
def __init__(self, robot, camera = None, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
# if no camera given, we'll try a blobfinder
if camera == None:
# is there a default one?
try:
self.blobfinder = self.robot.blobfinder[0]
except AttributeError:
# no,then we'll try to start one:
self.blobfinder = self.robot.startDevice('blobfinder')
else:
# else, you better have supplied a name, like "blobfinder0"
self.blobfinder = camera
self._devBlobFinder = self.blobfinder._dev
while self._devBlobFinder.width == 0: pass
self.width, self.height = self._devBlobFinder.width,self._devBlobFinder.height
self.depth = depth
self._dev = Blob(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()
# -------------------------------------------------
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,
"Blob Camera View")
self.requires = ["blobfinder"]
self.subtype = "blob"
self.source = "%s[%d]" % (self.blobfinder.type, self.blobfinder.index)
self.data = CBuffer(self._cbuf)
def update(self):
if not self.active: return
blobs = []
for i in range(self._devBlobFinder.blobs_count):
try:
b = self._devBlobFinder.blobs[i]
blobs.append((b.left, b.top, b.right, b.bottom, b.color))
except IndexError:
pass
self._dev.updateMMap(blobs)
self.processAll()
def __init__(self, robot, camera=None, depth=3, visionSystem=None):
"""
"""
self.robot = robot
# if no camera given, we'll try a blobfinder
if camera == None:
# is there a default one?
try:
self.blobfinder = self.robot.blobfinder[0]
except AttributeError:
# no,then we'll try to start one:
self.blobfinder = self.robot.startDevice('blobfinder')
else:
# else, you better have supplied a name, like "blobfinder0"
self.blobfinder = camera
self._devBlobFinder = self.blobfinder._dev
while self._devBlobFinder.width == 0:
pass
self.width, self.height = self._devBlobFinder.width, self._devBlobFinder.height
self.depth = depth
self._dev = Blob(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()
# -------------------------------------------------
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,
"Blob Camera View")
self.requires = ["blobfinder"]
self.subtype = "blob"
self.source = "%s[%d]" % (self.blobfinder.type, self.blobfinder.index)
self.data = CBuffer(self._cbuf)
def __init__(self, robot, camera = None, depth = 3, visionSystem = None):
"""
"""
self.robot = robot
# if no camera given, we'll try a blobfinder
if camera == None:
# is there a default one?
try:
self.blobfinder = self.robot.blobfinder[0]
except AttributeError:
# no,then we'll try to start one:
self.blobfinder = self.robot.startDevice('blobfinder')
else:
# else, you better have supplied a name, like "blobfinder0"
self.blobfinder = camera
self._devBlobFinder = self.blobfinder._dev
while self._devBlobFinder.width == 0: pass
self.width, self.height = self._devBlobFinder.width,self._devBlobFinder.height
self.depth = depth
self._dev = Blob(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()
# -------------------------------------------------
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,
"Blob Camera View")
self.requires = ["blobfinder"]
self.subtype = "blob"
self.source = "%s[%d]" % (self.blobfinder.type, self.blobfinder.index)
self.data = CBuffer(self._cbuf)