def __init__(self, pitch, width=640, height=480):
self.width = width
self.height = height
self.pitch = pitch
self.new_polygon = True
self.polygon = self.polygons = []
self.points = []
self.camera = Camera(pitch=pitch)
keys = [
'outline', 'Zone_0', 'Zone_1', 'Zone_2', 'Zone_3', 'pitch_inner',
"Goal_0", "Goal_1"
]
self.data = self.drawing = {}
# Create keys
for key in keys:
self.data[key] = []
self.drawing[key] = []
self.color = RED
drivers.init()
drivers.LED4.off()
print("Self-identifying...")
identity = None
with open("identity.dat", "r") as file:
identity = file.readlines()[0].strip()
print(identity,
"online. Pray to Lafayette Official God.\nWaiting for start signal")
while not os.path.isfile("go"):
pass
os.remove("go")
print("Go time!")
camera = Camera()
mod = VisionModule(width=640, height=480)
collecting = False
drivers.move(drivers.RobotState(drivers.DRIVE, -in_to_cm(6)))
def sweep():
cube = turn_to_block()
if cube != None:
drivers.move(drivers.RobotState(drivers.DRIVE, -cube.dist / 3))
cube = turn_to_block()
if cube != None:
drivers.move(drivers.RobotState(drivers.DRIVE, -cube.dist / 5))
drivers.move(drivers.RobotState(drivers.TURN, math.pi))
drivers.move(drivers.RobotState(drivers.DRIVE, 10))
import cv2
from vision import Camera
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("pitch", help="[0] Main pitch, [1] Secondary pitch")
args = parser.parse_args()
pitch_number = int(args.pitch)
capture = Camera(pitch=pitch_number)
while True:
frame = capture.get_frame()
cv2.imwrite("currBg_" + str(pitch_number) + ".png", frame)
#cv2.imwrite("../currBg_" + str(pitch_number) + ".png", frame)
cv2.imshow('Background view', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
print "done"
Save perspetive point fixes
"""
tools.save_data(self.pitch, self.points,
'calibrations/perspective.json')
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("pitch", help="[0] Main pitch, [1] Secondary pitch")
args = parser.parse_args()
pitch_number = int(args.pitch)
WINDOW_NAME = 'Perspective Calibration'
cam = Camera(pitch=pitch_number)
perspective = Perspective(pitch_number)
cv2.namedWindow(WINDOW_NAME)
cv2.setMouseCallback(WINDOW_NAME, perspective.add_point)
while (1):
frame = cam.get_raw_frame()
frame = cam.fix_radial_distortion(frame)
frame = perspective.draw_points(frame)
cv2.imshow(WINDOW_NAME, frame)
if cv2.waitKey(20) & 0xFF == 27:
break
