def default_action(self):
""" Update the texture image. """
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0) :
# Call the action of the Camera class
Camera.default_action(self)
self.process_image(morse.core.blenderapi.cameras()[self.name()].source)
self.capturing = True
if (self._n > 0):
self._n -= 1
if (self._n == 0):
self.completed(status.SUCCESS)
else:
self.capturing = False
def default_action(self):
""" Update the texture image. """
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0):
# Call the action of the Camera class
Camera.default_action(self)
self.process_image(self.image_data)
self.capturing = True
if self._n > 0:
self._n -= 1
if self._n == 0:
self.completed(status.SUCCESS)
else:
self.capturing = False
def default_action(self):
""" Update the texture image. """
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0) :
# Call the action of the Camera class
Camera.default_action(self)
self.process_image(morse.core.blenderapi.cameras()[self.name()].source)
self.capturing = True
if (self._n > 0):
self._n -= 1
if (self._n == 0):
self.completed(status.SUCCESS)
else:
self.capturing = False
def default_action(self):
""" Update the texture image. """
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0) :
# Call the action of the Camera class
Camera.default_action(self)
self.process_image(self.image_data)
self.capturing = True
if self._n > 0:
self._n -= 1
if self._n == 0:
self.completed(status.SUCCESS)
else:
self.capturing = False
def default_action( self ):
#super(self.__class__, self).default_action()
Camera.default_action( self )
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0) :
## Call the action of the parent class
#super(self.__class__, self).default_action()
#Camera.default_action( self )
#VideoCamera.default_action( self )
# NOTE: Blender returns the image as a binary string
# encoded as RGBA
image_data = morse.core.blenderapi.cameras()[self.name()].source
self.robot_pose = copy.copy(self.robot_parent.position_3d)
# Only Reporting Black, White, and Grey to greyscale image
# Fill in the exportable data
new_image = numpy.array(image_data.image, dtype='uint8')
if self.old_image_data != None:
self.monochrome = ( new_image[0::4] * .299 + new_image[1::4] * 0.587 + new_image[2::4] * 0.144 ).astype('uint8')
#black = self.monochrome > self.old_image_data + 10
#white = self.monochrome < self.old_image_data - 10
black = self.monochrome > self.old_image_data + 15
white = self.monochrome + 15 < self.old_image_data
self.local_data['image'] = self.grey - self.step * black + self.step * white
else:
self.local_data['image'] = self.monochrome#new_image
self.capturing = True
self.old_image_data = self.monochrome
if (self._n > 0):
self._n -= 1
if (self._n == 0):
self.completed(status.SUCCESS)
else:
self.capturing = False
def default_action( self ):
#super(self.__class__, self).default_action()
Camera.default_action( self )
# Grab an image from the texture
if self.bge_object['capturing'] and (self._n != 0) :
## Call the action of the parent class
#super(self.__class__, self).default_action()
#Camera.default_action( self )
#VideoCamera.default_action( self )
# NOTE: Blender returns the image as a binary string
# encoded as RGBA
image_data = morse.core.blenderapi.cameras()[self.name()].source
self.robot_pose = copy.copy(self.robot_parent.position_3d)
""" #Simple Subtraction Method
# Fill in the exportable data
if self.old_image_data != None:
self.local_data['image'] = numpy.array(image_data.image, dtype='uint8') - self.old_image_data * self.mask
# remove small differences within a tolerance
#self.local_data['image'][abs(self.local_data['image']) < 1] = 0
else:
self.local_data['image'] = numpy.array(image_data.image, dtype='uint8')
"""
"""
# Reporting the difference relative to Grey
# Fill in the exportable data
new_image = numpy.array(image_data.image, dtype='uint8')
if self.old_image_data != None:
self.local_data['image'] = self.grey + (new_image - self.old_image_data)
# remove small differences within a tolerance
#self.local_data['image'][abs(self.local_data['image']) < 1] = 0
else:
self.local_data['image'] = new_image
"""
"""
# Only Reporting Black, White, and Grey
# Fill in the exportable data
new_image = numpy.array(image_data.image, dtype='uint8')
if self.old_image_data != None:
black = new_image > self.old_image_data + 10
white = new_image < self.old_image_data - 10
self.local_data['image'] = self.grey - self.step * black + self.step * white
# remove small differences within a tolerance
#self.local_data['image'][abs(self.local_data['image']) < 1] = 0
else:
self.local_data['image'] = new_image
"""
#"""
# Only Reporting Black, White, and Grey to greyscale image
# Fill in the exportable data
new_image = numpy.array(image_data.image, dtype='uint8')
if self.old_image_data != None:
self.monochrome = ( new_image[0::4] * .299 + new_image[1::4] * 0.587 + new_image[2::4] * 0.144 ).astype('uint8')
#black = self.monochrome > self.old_image_data + 10
#white = self.monochrome < self.old_image_data - 10
black = self.monochrome > self.old_image_data + 15
white = self.monochrome + 15 < self.old_image_data
self.local_data['image'] = self.grey - self.step * black + self.step * white
#self.local_data['image'] = self.monochrome
# remove small differences within a tolerance
#self.local_data['image'][abs(self.local_data['image']) < 1] = 0
else:
self.local_data['image'] = self.monochrome#new_image
#"""
self.capturing = True
#self.old_image_data = numpy.array(image_data.image, dtype='int8')
#self.old_image_data = new_image
self.old_image_data = self.monochrome
if (self._n > 0):
self._n -= 1
if (self._n == 0):
self.completed(status.SUCCESS)
else:
self.capturing = False
