def __init__(self,
cam_pixel_to_point): # type: (CamPixelToPointServer) -> None
State.__init__(self,
outcomes=['ok', 'match', 'err'],
input_keys=['green_shape'])
self.feature_detector = FeatureDetector()
self.cam_pixel_to_point = cam_pixel_to_point
class SearchForShapeInSquareState(State):
def __init__(self, square, cam_pixel_to_point
): # type: (ParkingSquare, CamPixelToPointServer) -> None
State.__init__(self, outcomes=['ok'], input_keys=['green_shape'])
self.feature_detector = FeatureDetector()
self.cam_pixel_to_point = cam_pixel_to_point
self.square = square
def execute(self, ud):
features = self.feature_detector.get_features()
features = [f for f in features if f.colour == 'red']
features = filter_by_distance(features, 1., self.cam_pixel_to_point)
depths = feature_depths(features, self.cam_pixel_to_point)
feature = next(
(f for i, f in enumerate(features) if depths[i] == min(depths)),
None)
if feature is None:
return 'ok'
print(feature.shape)
if feature.shape == ud.green_shape:
notify_match()
self.square.set_contains_shape()
return 'ok'
self.square.set_contains_wrong_shape()
return 'ok'
class Location3State(State):
def __init__(self,
cam_pixel_to_point): # type: (CamPixelToPointServer) -> None
State.__init__(self,
outcomes=['ok', 'match', 'err'],
input_keys=['green_shape'])
self.feature_detector = FeatureDetector()
self.cam_pixel_to_point = cam_pixel_to_point
def execute(self, ud):
try:
features = self.feature_detector.get_features()
features = [f for f in features if f.colour == 'red']
features = filter_by_distance(features, 1.,
self.cam_pixel_to_point)
depths = feature_depths(features, self.cam_pixel_to_point)
feature = next(
(f
for i, f in enumerate(features) if depths[i] == min(depths)),
None)
if feature is None:
return 'err'
print(feature.shape)
if feature.shape == ud.green_shape:
notify_location3_match()
return 'match'
return 'ok'
except Exception, e:
print(e)
return 'err'
class Location2State(State):
def __init__(self):
State.__init__(self, outcomes=['ok', 'err'], output_keys=['green_shape'])
self.feature_detector = FeatureDetector()
def execute(self, ud):
try:
features = self.feature_detector.get_features()
green_shape = next(f.shape for f in features if f.colour == 'green')
ud.green_shape = green_shape
notify_count(len(features))
print(green_shape)
return 'ok'
except Exception, e:
print(e)
ud.green_shape = None
return 'err'
class Location1State(State):
def __init__(self,
cam_pixel_to_point): # type: (CamPixelToPointServer) -> None
State.__init__(self, outcomes=['ok', 'err'])
self.feature_detector = FeatureDetector()
self.cam_pixel_to_point = cam_pixel_to_point
def execute(self, ud):
try:
features = self.feature_detector.get_features()
features = [f for f in features if f.colour == 'red']
features = filter_by_distance(
features,
max_distance=1.,
cam_pixel_to_point=self.cam_pixel_to_point)
notify_count(min(3, len(features)))
return 'ok'
except Exception, e:
print(e)
return 'err'
def __init__(self, square, cam_pixel_to_point
): # type: (ParkingSquare, CamPixelToPointServer) -> None
State.__init__(self, outcomes=['ok'], input_keys=['green_shape'])
self.feature_detector = FeatureDetector()
self.cam_pixel_to_point = cam_pixel_to_point
self.square = square
def __init__(self):
State.__init__(self,
outcomes=['ok', 'err'],
output_keys=['green_shape'])
self.feature_detector = FeatureDetector()