class FindRed(Behavior):
"""
Uses the camera to find out if there is a red object in front of the robot
"""
def __init__(self, sensob=None, debug=False):
super().__init__()
self.priority = MED
self.debug = debug
self.imager = Imager(width=IMG_WIDTH, height=IMG_HEIGHT)
self.motor_recommendations = [Motors.forward]
def __name__(self):
return "FindRed"
def sense_and_act(self):
"""
Take a picture, find the percentage of red pixels
"""
def red_only(p):
"""
Maps red pixels to white, everything else to black
"""
lower = (155, 25, 0)
upper = (255, 100, 100)
r, g, b = p
if (lower[0] <= r <= upper[0] and lower[1] <= g <= upper[1]
and lower[2] <= b <= upper[2]):
return (255, 255, 255)
return (0, 0, 0)
image = self.bbcon.get_sensob_value(Camera)
mapped = self.imager.map_image2(red_only, image=image)
if self.debug:
mapped.dump_image(fid='image_mapped', type='png')
im_arr = np.array(mapped.image)
white_pixels = np.sum(im_arr == (255, 255, 255))
ratio = white_pixels / (len(im_arr[0]) * len(im_arr))
if ratio > 0.5:
self.match_degree = 0.8
self.motor_speed = 1
else:
self.match_degree = 0
self.motor_speed = 0.3
class FindRed(Behavior):
"""
This behaviour advices the robot to accelerate whenever the camera spots
something red.
"""
def __init__(self, sensob=None, debug=False):
self.priority = 1
self.debug = debug
self.imager = Imager(width=IMG_WIDTH, height=IMG_HEIGHT)
super().__init__()
def sense_and_act(self):
"""
Take a picture, find the percentage of red pixels
"""
def red_only(p):
"""
Maps red pixels to white, everything else to black
"""
lower = (155, 25, 0)
upper = (255, 100, 100)
# r, g, b = p
# if (lower[0] <= r <= upper[0] and
# lower[1] <= g <= upper[1] and
# lower[2] <= b <= upper[2]):
# return (255, 255, 255)
if lower <= p <= upper:
return (255, 255, 255)
return (0, 0, 0)
image = self.bbcon.sensobs.values['camera']
mapped = self.imager.map_image2(red_only, image=image)
if self.debug:
mapped.dump_image(fid='image_mapped', type='png')
im_arr = np.array(mapped.image)
white_pixels = np.sum(im_arr == (255, 255, 255))
ratio = white_pixels/(len(im_arr[0])*len(im_arr))
return 0.8 if ratio > 0.05 else 0, 5
