def __init__(self, winParent):
super(ColorFilterWidget, self).__init__()
self.setupUi(self)
self.winParent = winParent
self.imageUpdate.connect(self.updateImage)
self.filterValues = ColorFilterValues()
self.resetButton.clicked[bool].connect(self.resetValues)
self.hminSlider.valueChanged[int].connect(self.hminValueChange)
self.hmaxSlider.valueChanged[int].connect(self.hmaxValueChange)
self.sminSlider.valueChanged[int].connect(self.sminValueChange)
self.smaxSlider.valueChanged[int].connect(self.smaxValueChange)
self.vminSlider.valueChanged[int].connect(self.vminValueChange)
self.vmaxSlider.valueChanged[int].connect(self.vmaxValueChange)
def __init__(self):
self.lock = threading.Lock()
self.playButton = False
self.cmd = jderobot.CMDVelData()
self.cmd.linearX = self.cmd.linearY = self.cmd.linearZ = 0
self.cmd.angularZ = 0
''' With values distinct to 0 in the next fields, the ardrone not enter in hover mode'''
self.cmd.angularX = 0.5
self.cmd.angularY = 1.0
try:
ic = Ice.initialize(sys.argv)
properties = ic.getProperties()
basecamera = ic.propertyToProxy("Introrob.Camera.Proxy")
self.cameraProxy = jderobot.CameraPrx.checkedCast(basecamera)
if self.cameraProxy:
self.image = self.cameraProxy.getImageData("RGB8")
self.height = self.image.description.height
self.width = self.image.description.width
self.trackImage = np.zeros((self.height, self.width, 3),
np.uint8)
self.trackImage.shape = self.height, self.width, 3
self.thresoldImage = np.zeros((self.height, self.width, 1),
np.uint8)
self.thresoldImage.shape = self.height, self.width, 1
self.filterValues = ColorFilterValues()
else:
print 'Interface camera not connected'
basecmdVel = ic.propertyToProxy("Introrob.CMDVel.Proxy")
self.cmdVelProxy = jderobot.CMDVelPrx.checkedCast(basecmdVel)
if not self.cmdVelProxy:
print 'Interface cmdVel not connected'
basenavdata = ic.propertyToProxy("Introrob.Navdata.Proxy")
self.navdataProxy = jderobot.NavdataPrx.checkedCast(basenavdata)
if self.navdataProxy:
self.navdata = self.navdataProxy.getNavdata()
if self.navdata.vehicle == self.ARDRONE_SIMULATED:
self.virtualDrone = True
else:
self.virtualDrone = False
else:
print 'Interface navdata not connected'
self.virtualDrone = True
baseextra = ic.propertyToProxy("Introrob.Extra.Proxy")
self.extraProxy = jderobot.ArDroneExtraPrx.checkedCast(baseextra)
if not self.extraProxy:
print 'Interface ardroneExtra not connected'
basepose3D = ic.propertyToProxy("Introrob.Pose3D.Proxy")
self.pose3DProxy = jderobot.Pose3DPrx.checkedCast(basepose3D)
if self.pose3DProxy:
self.pose = jderobot.Pose3DData()
else:
print 'Interface pose3D not connected'
except:
traceback.print_exc()
exit()
status = 1
