def __init__(self):
self.camera = Camera()
self.camera.start()
self._default_roi = ROI(0.0, 0.0, 1.0, 1.0)
self._default_encoder = Encoder((0.2, 0.2), 382, 100, 20, 200)
self._default_laser_detector = LaserDetector2(225, 'red')
self.encoder = self._default_encoder
self.roi = self._default_roi
self.laser_detector = self._default_laser_detector
self.video_processor = VideoProcessor(self.camera, self.encoder,
self.roi, self.laser_detector)
def __init__(self):
self.camera = Camera()
self.camera.start()
self._default_roi = ROI(0.0, 0.0, 1.0, 1.0)
self._default_encoder = Encoder((0.2, 0.2), 382, 100, 20, 200)
self._default_laser_detector = LaserDetector2(225, 'red')
self.encoder = self._default_encoder
self.roi = self._default_roi
self.laser_detector = self._default_laser_detector
self.video_processor = VideoProcessor(self.camera, self.encoder, self.roi, self.laser_detector)
def create_video_processor(self, roi=None):
self.camera = FakeCamera()
self.encoder = Mock()
self.encoder.position = 0
self.encoder.sections = 200
self.encoder.should_capture_frame_for_section.return_value = (True, 0)
self.mock_laser_detector = Mock()
self.detected_image = np.ones(
(self.camera.image.shape[0], self.camera.image.shape[1]),
dtype='uint8') * 255
self.mock_laser_detector.detect.return_value = self.detected_image
x_center = self.camera.image.shape[1] // 2
if roi:
self.roi = roi
else:
self.roi = ROI.set_from_abs_points((10, 50), (x_center + 1, 70),
self.camera.image.shape)
return VideoProcessor(self.camera, self.encoder, self.roi,
self.mock_laser_detector)
class ScannerAPI(object):
def __init__(self):
self.camera = Camera()
self.camera.start()
self._default_roi = ROI(0.0, 0.0, 1.0, 1.0)
self._default_encoder = Encoder((0.2, 0.2), 382, 100, 20, 200)
self._default_laser_detector = LaserDetector2(225, 'red')
self.encoder = self._default_encoder
self.roi = self._default_roi
self.laser_detector = self._default_laser_detector
self.video_processor = VideoProcessor(self.camera, self.encoder,
self.roi, self.laser_detector)
def set_region_of_interest_from_abs_points(self, point1, point2,
frame_shape_xy):
self.roi = ROI.set_from_abs_points(
point1, point2, [frame_shape_xy[1], frame_shape_xy[0], 3])
self.video_processor.roi = self.roi
def set_region_of_interest_from_rel_points(self, x_rel, y_rel, w_rel,
h_rel):
self.roi = ROI(x_rel, y_rel, w_rel, h_rel)
self.video_processor.roi = self.roi
def capture_image(self, call_back=None, section_offset=0):
if call_back:
self.video_processor.subscribe(
ImageCapture(self.encoder.sections, section_offset), call_back)
else:
self.video_processor.subscribe(
ImageCapture(self.encoder.sections, section_offset))
def capture_points_xyz(self, laser_theta, points=None, call_back=None):
if call_back:
self.video_processor.subscribe(
PointCaptureXYZ(self.encoder.sections, self.img2points,
laser_theta, points), call_back)
else:
self.video_processor.subscribe(
PointCaptureXYZ(self.encoder.sections, self.img2points,
laser_theta, points))
def get_feed_image(self, size):
return self.video_processor.get_bounded_image(*size)
def configure_encoder(self, point, threshold, null_zone, sections):
self.encoder = Encoder(point, threshold, null_zone, 20, sections)
self.video_processor.encoder = self.encoder
def configure_laser_detector(self, low_rbg_float, high_rgb_float):
self.laser_detector = LaserDetector.from_rgb_float(
low_rbg_float, high_rgb_float)
self.video_processor.laser_detector = self.laser_detector
def configure_laser_detector2(self, threshold, color):
self.laser_detector = LaserDetector2(threshold, color)
self.video_processor.laser_detector = self.laser_detector
def configure(self, hardware, callback):
self._hardware = hardware
self.img2points = Image2Points(self._hardware, self.camera.shape)
callback()
def get_scanner_posisitions(self):
if not hasattr(self, '_hardware'):
raise Exception()
return [rad for (rad, pos) in self._hardware.intersections_rad_mm]
def start(self):
self.video_processor.start()
def stop(self):
self.video_processor.stop()
self.camera.stop()
class ScannerAPI(object):
def __init__(self):
self.camera = Camera()
self.camera.start()
self._default_roi = ROI(0.0, 0.0, 1.0, 1.0)
self._default_encoder = Encoder((0.2, 0.2), 382, 100, 20, 200)
self._default_laser_detector = LaserDetector2(225, 'red')
self.encoder = self._default_encoder
self.roi = self._default_roi
self.laser_detector = self._default_laser_detector
self.video_processor = VideoProcessor(self.camera, self.encoder, self.roi, self.laser_detector)
def set_region_of_interest_from_abs_points(self, point1, point2, frame_shape_xy):
self.roi = ROI.set_from_abs_points(point1, point2, [frame_shape_xy[1], frame_shape_xy[0], 3])
self.video_processor.roi = self.roi
def set_region_of_interest_from_rel_points(self, x_rel, y_rel, w_rel, h_rel):
self.roi = ROI(x_rel, y_rel, w_rel, h_rel)
self.video_processor.roi = self.roi
def capture_image(self, call_back=None, section_offset=0):
if call_back:
self.video_processor.subscribe(ImageCapture(self.encoder.sections, section_offset), call_back)
else:
self.video_processor.subscribe(ImageCapture(self.encoder.sections, section_offset))
def capture_points_xyz(self, laser_theta, points=None, call_back=None):
if call_back:
self.video_processor.subscribe(PointCaptureXYZ(self.encoder.sections, self.img2points, laser_theta, points), call_back)
else:
self.video_processor.subscribe(PointCaptureXYZ(self.encoder.sections, self.img2points, laser_theta, points))
def get_feed_image(self, size):
return self.video_processor.get_bounded_image(*size)
def configure_encoder(self, point, threshold, null_zone, sections):
self.encoder = Encoder(point, threshold, null_zone, 20, sections)
self.video_processor.encoder = self.encoder
def configure_laser_detector(self, low_rbg_float, high_rgb_float):
self.laser_detector = LaserDetector.from_rgb_float(low_rbg_float, high_rgb_float)
self.video_processor.laser_detector = self.laser_detector
def configure_laser_detector2(self, threshold, color):
self.laser_detector = LaserDetector2(threshold, color)
self.video_processor.laser_detector = self.laser_detector
def configure(self, hardware, callback):
self._hardware = hardware
self.img2points = Image2Points(self._hardware, self.camera.shape)
callback()
def get_scanner_posisitions(self):
if not hasattr(self, '_hardware'):
raise Exception()
return [rad for (rad, pos) in self._hardware.intersections_rad_mm]
def start(self):
self.video_processor.start()
def stop(self):
self.video_processor.stop()
self.camera.stop()
