def find_balloon(self, color):
if not self.balloonmode.alive:
return False
self.balloonmode.logger.logevent(SearchState.LOGGER_NAME, "Zoeken naar ballon " + color, Logger.MESSAGE)
img = BalloonVision.get_image()
search = BalloonVision.find_balloon(color, img)
while not search[0] and self.balloonmode.alive:
if self.moveTo:
#Beweeg naar links
self.balloonmode.movementHandler.move_one_turn(True)
#self.balloonmode.movementHandler.move(0, 0, 180, 100)
#time.sleep(self.balloonmode.movementHandler.TIME_TURN * 5)
#self.balloonmode.movementHandler.move(0, 0, 0, 0)
elif not self.moveTo:
#Beweeg naar rechts
self.balloonmode.movementHandler.move_one_turn(False)
# self.balloonmode.movementHandler.move(0, 0, 181, 100)
# time.sleep(self.balloonmode.movementHandler.TIME_TURN * 5)
# self.balloonmode.movementHandler.move(0, 0, 0, 0)
img = BalloonVision.get_image()
search = BalloonVision.find_balloon(color, img)
if not self.balloonmode.alive:
return False
return search[1]
def move_balloon_to_center(self, blob, center, color):
self.balloonmode.logger.logevent(MoveState.LOGGER_NAME, "Ballon " + color + " naar het midden bewegen", Logger.MESSAGE)
verschil = self.diff_to_center(blob, center)
while abs(verschil) > 100 and self.balloonmode.alive: #100 px marge voor het midden
print "Blob nog niet in het midden"
if verschil > 0:
#naar links draaien
self.balloonmode.movementHandler.move_one_turn(True)
#self.balloonmode.movementHandler.move(0, 0, 181, 100)
#time.sleep(self.balloonmode.movementHandler.TIME_TURN)
#self.balloonmode.movementHandler.move(0, 0, 0, 0)
else:
#naar rechts draaien
self.balloonmode.movementHandler.move_one_turn(False)
#self.balloonmode.movementHandler.move(0, 0, 180, 100)
#time.sleep(self.balloonmode.movementHandler.TIME_TURN)
#self.balloonmode.movementHandler.move(0, 0, 0, 0)
img = BalloonVision.get_image()
search = BalloonVision.find_balloon(color, img)
blob = search[1]
if search[0]:
verschil = self.diff_to_center(blob, center)
if not self.balloonmode.alive:
return False
return True
def recognize_card(self):
redBlob = None
greenBlob = None
blueBlob = None
blobs = None
self.balloonmode.logger.logevent(CardState.LOGGER_NAME, "Bezig met zoeken", Logger.MESSAGE)
#img = Image("C:\\cards\\realCard1.jpg")
#img = Image("C:\\muur\\card.jpg")
#Blobs uit de afbeelding herkennen
blobs = BalloonVision.recognize_card()
#Zolang er geen blobs zijn gevonden en we alive zijn. Door blijven zoeken
while not blobs[0] or not blobs[1] or not blobs[2] and self.balloonmode.alive:
blobs = BalloonVision.recognize_card()
#Voorbij de while, kaart wordt voorgehouden. Of niet meer alive
if not self.balloonmode.alive:
return False
#Blobs in variabelen zetten
redBlob, greenBlob, blueBlob = blobs
self.balloonmode.logger.logevent(CardState.LOGGER_NAME, "Gevonden.", Logger.MESSAGE)
#Blobs sorteren op y (hoogte)
blobs.sort(key=lambda x: x.y)
return [blobs[0].Name, blobs[1].Name, blobs[2].Name]
def move_to_balloon(self, color, blob):
self.balloonmode.logger.logevent(MoveState.LOGGER_NAME, "Naar ballon " + color + " lopen", Logger.MESSAGE)
#Midden van het beeld
center = 640 / 2
#Draaien zodat de ballon in het midden van de camera staat
move = self.move_balloon_to_center(blob, center, color)
if not move:
return False
#loop naar de ballon
self.balloonmode.logger.logevent(MoveState.LOGGER_NAME, "Vooruit lopen", Logger.MESSAGE)
#Max area = 640*480 = 307200
area = 0
not_found_count = 0
#vooruit lopen
for i in xrange(0, 5):
self.balloonmode.movementHandler.move_one_step()
#self.balloonmode.movementHandler.move(0, 100, 0, 0)
#time.sleep(self.balloonmode.movementHandler.TIME_MOVE_ONE_STEP * 5)
#self.balloonmode.movementHandler.move(0, 0, 0, 0)
while area < 300000 and self.balloonmode.alive:
if not_found_count >= 5:
self.balloonmode.logger.logevent(MoveState.LOGGER_NAME, color + " ballon kwijt, wat nu?!", Logger.MESSAGE)
return False
img = BalloonVision.get_image()
search = BalloonVision.find_balloon(color, img, True)
if search[0]:
#Ballon als nodig naar het midden krijgen.
move = self.move_balloon_to_center(search[1], center, color)
if not move:
return False
area = search[1].area()
for i in xrange(0,5):
self.balloonmode.movementHandler.move_one_step()
#self.balloonmode.movementHandler.move(0, 100, 0, 0)
#time.sleep(self.balloonmode.movementHandler.TIME_MOVE_ONE_STEP * 5)
#self.balloonmode.movementHandler.move(0, 0, 0, 0)
else:
not_found_count += 1
if not self.balloonmode.alive:
return False
return True
def get_balloon_order(self):
if not self.balloonmode.alive:
return False
#Alle balonnen kunnen gezien worden
img = BalloonVision.get_image()
red = BalloonVision.find_red_balloon(img)[1]
green = BalloonVision.find_green_balloon(img)[1]
blue = BalloonVision.find_blue_balloon(img)[1]
while (red is None or green is None or blue is None) and self.balloonmode.alive:
img = BalloonVision.get_image()
red = BalloonVision.find_red_balloon(img)[1]
green = BalloonVision.find_green_balloon(img)[1]
blue = BalloonVision.find_blue_balloon(img)[1]
if not self.balloonmode.alive:
return False
red.Name = "red"
green.Name = "green"
blue.Name = "blue"
balloonOrder = [red, green, blue]
balloonOrder.sort(key=lambda x: x.x)
balloonOrder = [balloonOrder[0].Name, balloonOrder[1].Name, balloonOrder[2].Name]
return balloonOrder
def balloon_alive(self, color):
#Afbeelding ophalen
img = BalloonVision.get_image()
#Blob vinden
return BalloonVision.find_balloon(color, img, True)[0]
