def stage_find(self, should_run=None):
"""
The arm is actively using the end-effector camera to find objects of the
correct size.
:param should_run: a `threading.Event` that tells the stage to continue
if `is_set()` is True
:return: a dict containing this stage's results
"""
log.info("[stage_find] _begin_")
r = dict()
ip = ImageProcessor(res_width=MAX_IMAGE_WIDTH,
res_height=MAX_IMAGE_HEIGHT)
ip.capture_frame()
log.info('[stage_find] max_pixel_count is:{0}'.format(
ip.max_pixel_count))
# check to see if the image processor found an object that is larger
# than the minimum object size we want to try to pickup
if ip.max_pixel_count > MIN_OBJECT_SIZE:
print('largest object is:{0}'.format(ip.largest_object_id))
print('largest object X coord is:{0}'.format(ip.largest_X))
print('largest object Y coord is:{0}'.format(ip.largest_Y))
r['x'] = ip.largest_X
r['y'] = ip.largest_Y
r['filename'] = ip.filename
log.info("[stage_find] found object at x:{0} y:{1}".format(
r['x'], r['y']))
ip.close()
log.info("[stage_find] _end_")
return r
else:
# did not find an object larger than the minimum size - return
# NO_BOX_FOUND
log.info("[stage_find] no object larger than:{0}".format(
MIN_OBJECT_SIZE))
ip.close()
log.info("[stage_find] _end_")
return NO_BOX_FOUND
def stage_find(self, should_run=None):
"""
The arm is actively using the end-effector camera to find objects of the
correct size.
:param should_run: a `threading.Event` that tells the stage to continue
if `is_set()` is True
:return: a dict containing this stage's results
"""
log.info("[stage_find] _begin_")
r = dict()
ip = ImageProcessor(res_width=MAX_IMAGE_WIDTH,
res_height=MAX_IMAGE_HEIGHT)
ip.capture_frame()
log.info('[stage_find] max_pixel_count is:{0}'.format(
ip.max_pixel_count))
# check to see if the image processor found an object that is larger
# than the minimum object size we want to try to pickup
if ip.max_pixel_count > MIN_OBJECT_SIZE:
print('largest object is:{0}'.format(ip.largest_object_id))
print('largest object X coord is:{0}'.format(ip.largest_X))
print('largest object Y coord is:{0}'.format(ip.largest_Y))
r['x'] = ip.largest_X
r['y'] = ip.largest_Y
r['filename'] = ip.filename
log.info("[stage_find] found object at x:{0} y:{1}".format(
r['x'], r['y']))
ip.close()
log.info("[stage_find] _end_")
return r
else:
# did not find an object larger than the minimum size - return
# NO_BOX_FOUND
log.info("[stage_find] no object larger than:{0}".format(
MIN_OBJECT_SIZE))
ip.close()
log.info("[stage_find] _end_")
return NO_BOX_FOUND
