import rr
import math
list = rr.GetArrayVariable("BFR_COORDINATES")
if len(list) > 1:
targetPixelHeight = 0
targetSamples = 0
imageWidth = rr.GetVariable("IMAGE_WIDTH")
distance = rr.GetVariable("distance")
leftx = list[0]
leftxx = list[2]
rightx = list[4]
rightxx = list[6]
distanceOffCenter = (leftx + leftxx + rightx + rightxx) / 4
m = math.fabs(distanceOffCenter - (imageWidth / 2))
print m
theta = math.atan((m / (139.08)))
print math.cos(theta)
distanceToWall = (math.cos(theta)) * distance
print distanceToWall
if distanceToWall > 675:
distancetoWallF = -2
else:
distancetoWallF = distanceToWall
rr.SetVariable("DistanceToWall", distanceToWall)
if len(list) > 1:
targetPixelHeight = 0
targetSamples = 0
imageWidth = rr.GetVariable("IMAGE_WIDTH")
distance = rr.GetVariable("distance")
leftx = list[0]
leftxx = list[2]
rightx = list[4]
rightxx = list[6]
distanceOffCenter = (leftx + leftxx + rightx + rightxx) / 4
displacement = imageWidth - distanceOffCenter
print displacement
if displacement > 0
leftgoal = 1
rightgoal = 0
else
rightgoal = 1
leftgoal = 0
rr.SetVariable("LeftGoal", leftgoal)
rr.SetVariable("RightGoal", rightgoal)
import rr
import json
import jsonpickle
import requests
import collections
import urllib2
import sys
response = urllib2.urlopen('http://localhost/autoPilotData')
data = response.read()
rr.SetVariable("data", data)
data = json.loads(data)
rr.SetVariable("data_params", json.dumps(data["params"]))
rr.SetVariable("data_messages", json.dumps(data["messages"]))
def flatten(d, parent_key='', sep='_'):
items = []
for k, v in d.items():
new_key = parent_key + sep + k if parent_key else k
if isinstance(v, collections.MutableMapping):
items.extend(flatten(v, new_key, sep=sep).items())
else:
items.append((new_key, v))
return dict(items)
flattend_data = flatten(data)
try:
#TopRight, TopLeft, BottomLeft, BottomRight
points = Corners(Point(c[0], c[1]), Point(c[2], c[3]), Point(c[4], c[5]),
Point(c[6], c[7]))
#Determine whether the tote is horizontal
topDistance = distance(points.topRight, points.topLeft)
bottomDistance = distance(points.bottomRight, points.bottomLeft)
widthAve = average([topDistance, bottomDistance])
leftDistance = distance(points.topLeft, points.bottomLeft)
rightDistance = distance(points.topRight, points.bottomRight)
heightAve = average([leftDistance, rightDistance])
if widthAve > heightAve:
rr.SetVariable("Orientation", "Horizontal")
else:
rr.SetVariable("Orientation", "Vertical")
#Calculate shape center point
centerX = average([
points.topRight.x, points.topLeft.x, points.bottomRight.x,
points.bottomLeft.x
])
centerY = average([
points.topRight.y, points.topLeft.y, points.bottomRight.y,
points.bottomLeft.y
])
rr.SetArrayVariable("Center Point", [centerX, centerY])
#Calculate Angle