def main(args):
# The image source may differ from the default depending on the command-line arguments
source = None
try:
if args.picamera:
source = capture.picamera()
LOG.info('Will grab frames from the picamera.')
elif args.image is not None:
file = args.image
source = capture.image_file(file)
LOG.info('Will grab frames from a static image: {}.'.format(file))
elif args.ipcamera is not None:
url = 'http://{}/mjpg/video.mjpg'.format(args.ipcamera)
source = capture.ip_camera(url)
LOG.info('Will grab frames from IP camera at {}'.format(url))
else:
index = args.webcam
source = capture.webcam(index)
LOG.info('Will grab frames from webcam #{}.'.format(index))
except (capture.CameraInitializationError, FileNotFoundError) as e:
# TODO Do something meaningful and retry
LOG.error(e)
exit('Unable to read from image source.')
# Initialize NetworkTables one time at the start; other code assumes it is initialized.
network.init_network_tables(args.ip)
# NetworkTables communication. The script aims to be interchangeable with GRIP.
network_publisher = NetworkTablePublisher('GRIP/myContoursReport', silent=args.nt_silent)
# Debug communication
detect_receiver = None # TODO
detect_publisher = NetworkTablePublisher('Grapple', silent=args.nt_silent)
detect = Detect(detect_receiver, detect_publisher)
# For GUI debugging
display = DisplayObserver()
for image in source:
targets = detect.get_data(image)
# Adapt the payload into the same format as GRIP to be compatible with
# the current code on the RIO
# TODO this is probably why the zip function is a thing
areas, centers_x, centers_y = [], [], []
for area, (center_x, center_y) in targets:
areas.append(area)
centers_x.append(center_x)
centers_y.append(center_y)
network_publisher.on_next(('area', areas))
network_publisher.on_next(('centerX', centers_x))
network_publisher.on_next(('centerY', centers_y))
if not args.no_gui:
# Overlay the contours onto the original image and display it
centers = list(zip(centers_x, centers_y))
display.on_next(detect.to_image(centers))
# All done, manually evoke cleanup callbacks
network_publisher.on_completed()
display.on_completed()
