labels = [i.strip() for i in labels]
print('depthai.__version__ == %s' % depthai.__version__)
print('depthai.__dev_version__ == %s' % depthai.__dev_version__)
if not depthai.init_device(cmd_file):
print("Error initializing device. Try to reset it.")
exit(1)
print('Available streams: ' + str(depthai.get_available_steams()))
# Do not modify the default values in the config Dict below directly. Instead, use the `-co` argument when running this script.
config = {
# Possible streams:
# ['left', 'right','previewout', 'metaout', 'depth_sipp', 'disparity', 'depth_color_h']
# If "left" is used, it must be in the first position.
# To test depth use:
#'streams': [{'name': 'depth_sipp', "max_fps": 12.0}, {'name': 'previewout', "max_fps": 12.0}, ],
#'streams': [{'name': 'previewout', "max_fps": 3.0}, {'name': 'depth_mm_h', "max_fps": 3.0}],
'streams': [{'name': 'previewout', "max_fps": fps}, {'name': 'metaout', "max_fps": 2.0}],
#'streams': ['metaout', 'previewout'],
'depth':
{
'calibration_file': consts.resource_paths.calib_fpath,
# 'type': 'median',
def setup():
global pitch_pid_modifier
global rotate_pid_modifier
global t_start = time()
global time_start = time()
global frame_count = {}
global frame_count_prev = {}
global bus
global slave_address
global i2c_cmd
self.arg_setup()
# imshow_debug = False
if self.args['imshow_debug']:
self.imshow_debug = True
self.timeout_time = self.tmout()
pitch_pid_modifier = self.args['pitch_pid_modify']
rotate_pid_modifier = self.args['rotate_pid_modify']
if self.args['i2c_off']:
self.communication_on = False
else:
self.communication_on = True
trackbars_on = False
if self.args['create_trackbars']:
self.trackbars_on = True
trackbars_on = True
self.imshow_debug = True
# cmd_file = consts.resource_paths.device_cmd_fpath
if self.args['dev_debug']:
self.cmd_file = ''
print('depthai will not load cmd file into device.')
with open(consts.resource_paths.blob_labels_fpath) as fp:
self.labels = fp.readlines()
self.labels = [i.strip() for i in labels]
print('depthai.__version__ == %s' % depthai.__version__)
print('depthai.__dev_version__ == %s' % depthai.__dev_version__)
if not depthai.init_device(self.cmd_file):
print("Error initializing device. Try to reset it.")
exit(1)
print('Available streams: ' + str(depthai.get_available_steams()))
if self.args['config_overwrite'] is not None:
config = utils.merge(self.args['config_overwrite'],self.config)
print("Merged Pipeline config with overwrite",config)
if 'depth_sipp' in config['streams'] and ('depth_color_h' in config['streams'] or 'depth_mm_h' in config['streams']):
print('ERROR: depth_sipp is mutually exclusive with depth_color_h')
exit(2)
# del config["streams"][config['streams'].index('depth_sipp')]
self.stream_names = [stream if isinstance(stream, str) else stream['name'] for stream in config['streams']]
# create the pipeline, here is the first connection with the device
self.p = depthai.create_pipeline(self.config=config)
if self.p is None:
print('Pipeline is not created.')
exit(2)
# t_start = time()
# time_start = time()
# frame_count = {}
# frame_count_prev = {}
for s in self.stream_names:
frame_count[s] = 0
frame_count_prev[s] = 0
self.entries_prev = []
################## I2C COMMUNICATION SETUP ####################
if self.communication_on:
self.bus = smbus.SMBus(1)
################## ADDED FOR COLOR DETECTION CWM ####################
if self.imshow_debug:
cv2.namedWindow('g_image')
cv2.namedWindow('r_image')
# if self.trackbars_on:
# cv2.namedWindow('r1_sliders')
# cv2.namedWindow('r2_sliders')
# cv2.namedWindow('g_sliders')
if trackbars_on:
cv2.namedWindow('r1_sliders')
cv2.namedWindow('r2_sliders')
cv2.namedWindow('g_sliders')
# white blank image
self.blank_image = 255 * np.ones(shape=[10, 256, 3], dtype=np.uint8)
self.thrs=50
#cv2.createTrackbar('Hue', 'image', 80, 179, nothing)
#cv2.createTrackbar('Sat', 'image', 127, 255, nothing)
#cv2.createTrackbar('Val', 'image', 222, 255, nothing)
if trackbars_on:
cv2.createTrackbar('filterThresh', 'r1_sliders', self.thresholdValue, 100, nothing)
cv2.createTrackbar('r1LowHue', 'r1_sliders', self.r1LowHue, 179, nothing)
cv2.createTrackbar('r1LowSat', 'r1_sliders', self.r1LowSat, 255, nothing)
cv2.createTrackbar('r1LowVal', 'r1_sliders', self.r1LowVal, 255, nothing)
cv2.createTrackbar('r1UpHue', 'r1_sliders', self.r1UpHue, 179, nothing)
cv2.createTrackbar('r1UpSat', 'r1_sliders', self.r1UpSat, 255, nothing)
cv2.createTrackbar('r1UpVal', 'r1_sliders', self.r1UpVal, 255, nothing)
cv2.createTrackbar('r2LowHue', 'r2_sliders', self.r2LowHue, 179, nothing)
cv2.createTrackbar('r2LowSat', 'r2_sliders', self.r2LowSat, 255, nothing)
cv2.createTrackbar('r2LowVal', 'r2_sliders', self.r2LowVal, 255, nothing)
cv2.createTrackbar('r2UpHue', 'r2_sliders', self.r2UpHue, 179, nothing)
cv2.createTrackbar('r2UpSat', 'r2_sliders', self.r2UpSat, 255, nothing)
cv2.createTrackbar('r2UpVal', 'r2_sliders', self.r2UpVal, 255, nothing)
cv2.createTrackbar('gLowHue', 'g_sliders', self.gLowHue, 179, nothing)
cv2.createTrackbar('gLowSat', 'g_sliders', self.gLowSat, 255, nothing)
cv2.createTrackbar('gLowVal', 'g_sliders', self.gLowVal, 255, nothing)
cv2.createTrackbar('gUpHue', 'g_sliders', self.gUpHue, 179, nothing)
cv2.createTrackbar('gUpSat', 'g_sliders', self.gUpSat, 255, nothing)
cv2.createTrackbar('gUpVal', 'g_sliders', self.gUpVal, 255, nothing)
## red ball mask areas
#red_mask_1 = cv2.inRange(im_hsv, (0, 120, 70), (10, 255, 255))
#red_mask_2 = cv2.inRange(im_hsv, (170, 120, 70), (179, 255, 255))
#lower_red1 = np.array([0, 120, 100])
#upper_red1 = np.array([10, 255, 255])
#lower_red2 = np.array([170, 120, 100])
#upper_red2 = np.array([179, 255, 255])
#green mask area centered around
# (80, 127, 222)
#green_mask = cv2.inRange(im_hsv, (55, 120, 70), (105, 255, 255))
# lower_green = np.array([40, 10, 200])
# upper_green = np.array([120, 245, 255])
#lower_green = np.array([55, 120, 70])
#upper_green = np.array([105, 255, 255])
#sets how much to blur
self.filt=39
self.exitNow=0
self.pause=0