def testCreate(self):
cfg = {'name': 'Test', 'type': 'TestSubsystem'}
cfg = core.ConfigNode.fromString(str(cfg))
deps = core.SubsystemList()
cam1 = vision.Camera(640, 480)
cam2 = vision.Camera(640, 480)
visionSystem = vision.VisionSystem(cam1, cam2, cfg, deps)
def testBuoyDetector(self):
# Create a vision system with two mock cameras and an EventHub
cfg = {
'testing': 1,
'BuoyDetector': {
'filtRedLMin': 0,
'filtRedLMax': 255,
'filtRedCMin': 0,
'filtRedCMax': 255,
'filtRedHMin': 230,
'filtRedHMax': 20
}
}
cfg = core.ConfigNode.fromString(str(cfg))
forwardCamera = vision.Camera(640, 480)
backwardCamera = vision.Camera(640, 480)
eventHub = core.EventHub()
deps = core.SubsystemList()
deps.append(eventHub)
visionSystem = vision.VisionSystem(forwardCamera, backwardCamera,
cfg, deps)
# Subscribe to our events about the red light
eventHub.subscribeToType(vision.EventType.BUOY_FOUND,
self.buoyFoundHandler)
eventHub.subscribeToType(vision.EventType.BUOY_LOST,
self.buoyLostHandler)
# Load our test image (really upper right)
image = vision.Image.loadFromFile(
os.path.join(getConfigRoot(), 'red_light_upper_left.png'))
# Start detector then unbackground it
visionSystem.buoyDetectorOn()
visionSystem.unbackground(True)
forwardCamera.capturedImage(image)
forwardCamera.background(0)
# This stops the background thread
visionSystem.update(0)
visionSystem.buoyDetectorOff()
# Check the event
self.assert_(self.found)
self.assert_(self.event)
def testRedLightDetector(self):
# Create a vision system with two mock cameras and an EventHub
cfg = {'testing': 1}
cfg = core.ConfigNode.fromString(str(cfg))
forwardCamera = vision.Camera(640, 480)
backwardCamera = vision.Camera(640, 480)
eventHub = core.EventHub()
deps = core.SubsystemList()
deps.append(eventHub)
visionSystem = vision.VisionSystem(forwardCamera, backwardCamera,
cfg, deps)
# Subscribe to our events about the red light
eventHub.subscribeToType(vision.EventType.LIGHT_FOUND,
self.redFoundHandler)
eventHub.subscribeToType(vision.EventType.LIGHT_LOST,
self.redLostHandler)
# Load our test image (really upper right)
image = vision.Image.loadFromFile(
os.path.join(getConfigRoot(), 'red_light_upper_left.png'))
# Start detector then unbackground it
visionSystem.redLightDetectorOn()
visionSystem.unbackground(True)
forwardCamera.capturedImage(image)
forwardCamera.background(0)
# This stops the background thread
visionSystem.update(0)
visionSystem.redLightDetectorOff()
# Check the event
self.assert_(self.found)
self.assert_(self.event)
self.assertAlmostEqual(0.5 * 4.0 / 3.0, self.event.x, 2)
self.assertAlmostEqual(0.5, self.event.y, 2)
self.assertAlmostEqual(3, self.event.range, 1)
self.assertAlmostEqual(-78.0 / 4,
self.event.azimuth.valueDegrees(), 2)
self.assertAlmostEqual(105.0 / 4,
self.event.elevation.valueDegrees(), 0)