def main(camera_toml_path, enable_distortion_correction, scale_val = 0.65):
camera_config = get_config(camera_toml_path)
camera = Camera(camera_config)
print(camera)
scaling = partial(scaling_int, scale=scale_val)
if camera_config.roi_size != 4:
sys.exit('This script is only supported on "camera_config.roi_size == 4" ')
if camera_config.auto_exposure != "roi":
sys.exit('This script is only supported on "camera_config.auto_exposure == roi" ')
image_width = camera.image_width
image_height = camera.image_height
roi = cvui.Rect(0, 0, 0, 0)
WINDOW_NAME = "Capture"
cvui.init(WINDOW_NAME)
click_pos_x = image_width // 2
click_pos_y = image_height // 2
while True:
key = cv2.waitKey(10)
frame = np.zeros((scaling(image_height), scaling(image_width), 3), np.uint8)
frame[:] = (49, 52, 49)
status = camera.update()
if status:
# WARNING:If distortion correction is enabled, the rectangle on windows doesn't indicate actual RoI area for auto exposure.
see3cam_rgb_image = camera.remap_image if enable_distortion_correction else camera.image
scaled_width = scaling(image_width)
scaled_height = scaling(image_height)
see3cam_rgb_image_resized = cv2.resize(see3cam_rgb_image, (scaled_width, scaled_height))
frame[:scaled_height, :scaled_width, :] = see3cam_rgb_image_resized
window_w = image_width // 2
window_h = image_height // 2
if cvui.mouse(cvui.DOWN):
click_pos_x = int(cvui.mouse().x / scale_val)
click_pos_y = int(cvui.mouse().y / scale_val)
camera.set_roi_properties(click_pos_x, click_pos_y, win_size=4)
roi = cvui.Rect(scaling(click_pos_x - image_width // 4), scaling(click_pos_y - image_height // 4), scaling(window_w), scaling(window_h))
# Ensure ROI is within bounds
roi.x = 0 if roi.x < 0 else roi.x
roi.y = 0 if roi.y < 0 else roi.y
roi.width = roi.width + scaled_width - (roi.x + roi.width) if roi.x + roi.width > scaled_width else roi.width
roi.height = roi.height + scaled_height - (roi.y + roi.height) if roi.y + roi.height > scaled_height else roi.height
cvui.rect(frame, roi.x, roi.y, roi.width, roi.height, 0xFF0000)
if key == 27 or key == ord("q"):
break
cvui.update()
cvui.imshow(WINDOW_NAME, frame)
cv2.destroyAllWindows()
def __init__(self, addr, lvl_map, SCREEN):
Client.__init__(self, addr)
self._number_player = int(self._get_number_player())
'''
Iniciando el display antes de cargar el tilemap
'''
self.WIDTH, self.HEIGHT = SCREEN.get_size()
self.SCREEN = SCREEN
#self.SCREEN = pg.display.set_mode((self.WIDTH,self.HEIGHT))
pg.display.set_icon(pg.image.load(ROUTE('lemon.ico')))
'''
TILEMAP
'''
self.tile = TileMap(lvl_map)
self.tile_image = self.tile.make_map()
self.tile_rect = self.tile_image.get_rect()
self._players = {}
self.POSITIONS = {}
'''
Cargando los jugadores y rectangulos
'''
self._load()
pg.display.set_caption(
'Lemon Tank - Client {value} '.format(value=self._number_player))
self.player = Player(self.POSITIONS[self._number_player])
self.player._num_player = self._number_player
self._send(self.player)
if self._data:
self._players = self._data
'''
CAMERA
'''
self.camera = Camera(
self.tile.WIDTH,
self.tile.HEIGHT,
(self.WIDTH, self.HEIGHT),
)
self._bullets = pg.sprite.Group()
def _create_buggy(self):
config_file = open("config/buggy_0.yaml") # Open configuration file
config = yaml.safe_load(config_file) # Load file into config
config_file.close() # Close file
for _, setup in config.iteritems():
print setup["number"]
sonars = []
encoders = []
servos = []
cameras = []
gyroscopes = []
for key, value in setup.iteritems():
if "sonar" in key: # If "sonar" is in the device name
sonars.append(
Sonar(
setup[key]
["number"], # Initialise sonar object with given configurations
setup["number"],
setup[key]["position"],
math.radians(setup[key]["angle"]),
setup[key]["min_dist"],
setup[key]["action"]))
elif "encoder" in key: # If "encoder" is in the device name
encoders.append(
Encoder(
setup[key]
["number"], # Initialise encode object with given configurations
setup["number"]))
elif "servo" in key: # If "servo: is in device name
servos.append(
Servo(
setup[key]
["number"], # Initialise servo object with given configurations
setup["number"],
setup[key]["axis"],
setup[key]["min"],
setup[key]["max"]))
elif "camera" in key: # If "camera" is in device name
cameras.append(
Camera(
setup[key]
["number"], # Initialise camera object with given configurations
setup["number"]))
elif "gyroscope" in key: # If "gyroscope" is in device name
gyroscopes.append((
Gyroscope(
setup[key]
["number"], # Initialise gyroscope object with given congfigs
setup["number"],
axis=setup[key]["axis"])))
self.buggy = Buggy(
sonars=sonars, # Initialise buggy with device objects
encoders=encoders,
servos=servos,
cameras=cameras,
gyroscopes=gyroscopes)
class Game(Client):
def __init__(self, addr, lvl_map, SCREEN):
Client.__init__(self, addr)
self._number_player = int(self._get_number_player())
'''
Iniciando el display antes de cargar el tilemap
'''
self.WIDTH, self.HEIGHT = SCREEN.get_size()
self.SCREEN = SCREEN
#self.SCREEN = pg.display.set_mode((self.WIDTH,self.HEIGHT))
pg.display.set_icon(pg.image.load(ROUTE('lemon.ico')))
'''
TILEMAP
'''
self.tile = TileMap(lvl_map)
self.tile_image = self.tile.make_map()
self.tile_rect = self.tile_image.get_rect()
self._players = {}
self.POSITIONS = {}
'''
Cargando los jugadores y rectangulos
'''
self._load()
pg.display.set_caption(
'Lemon Tank - Client {value} '.format(value=self._number_player))
self.player = Player(self.POSITIONS[self._number_player])
self.player._num_player = self._number_player
self._send(self.player)
if self._data:
self._players = self._data
'''
CAMERA
'''
self.camera = Camera(
self.tile.WIDTH,
self.tile.HEIGHT,
(self.WIDTH, self.HEIGHT),
)
self._bullets = pg.sprite.Group()
#self._text_damage = Text((self.WIDTH//2,self.HEIGHT),f'Damage: {self.player._damage} %')
def _damage(self):
return self.player._damage
def _load(self):
#self._bricks= []
self._bricks = pg.sprite.Group()
for tile_object in self.tile.tmxdata.objects:
if tile_object.name == 'player':
self.POSITIONS[tile_object.id] = (tile_object.x, tile_object.y)
elif tile_object.name == 'brick':
self._bricks.add(
Brick(tile_object.x, tile_object.y, tile_object.width,
tile_object.height))
#self._bricks = np.array(self._bricks)
def update(self):
self.camera.update(self.player)
'''
Si self._data no está vacio,
actualizar self._players
'''
if self._data:
self._players = self._data
else:
pass
for i in self._players.keys():
player = self._players[i]
#player.update()
if player._fire == True:
self._bullets.add(self._add_obj(Bullet, player))
player._fire == False
for bullet in self._bullets:
self._collided_bullet(bullet)
bullet.update()
self._collided_bullet_with_player(bullet)
self._collided_player(self.player)
if self.player._fire == True:
self._bullets.add(self._add_obj(Bullet, self.player))
self.player._fire = False
self._move()
self._send(self.player)
sprites = pg.sprite.groupcollide(self._bricks, self._bullets, 1, 0)
if sprites:
for i in sprites.keys():
for bullet in sprites[i]:
bullet.explosion = True
sprites = {}
def _move(self):
key = pg.key.get_pressed()
if key[pg.K_d]:
self.player._rotate(-1, TANK[self._number_player][0])
self.player._angle_cannon, self.player._rect_cannon = self.player.rotate(
-1, self.player._angle_cannon, TANK[self._number_player][1],
self.player._rect_cannon)
elif key[pg.K_a]:
self.player._rotate(1, TANK[self._number_player][0])
self.player._angle_cannon, self.player._rect_cannon = self.player.rotate(
1, self.player._angle_cannon, TANK[self._number_player][1],
self.player._rect_cannon)
radians = math.radians(self.player._angle)
self.player.vlx = self.player._VL * -math.sin(radians)
self.player.vly = self.player._VL * -math.cos(radians)
if key[pg.K_w]:
self.player.rect.centerx += self.player.vlx
self.player.rect.centery += self.player.vly
if key[pg.K_s]:
self.player.rect.centerx -= self.player.vlx
self.player.rect.centery -= self.player.vly
self.player._rect_interno.center = self.player.rect.center
self.player._rect_cannon.center = self.player._rect_interno.center
if key[pg.K_i]:
self.player._angle_cannon, self.player._rect_cannon = self.player.rotate(
-1, self.player._angle_cannon, TANK[self._number_player][1],
self.player._rect_cannon)
elif key[pg.K_p]:
self.player._angle_cannon, self.player._rect_cannon = self.player.rotate(
1, self.player._angle_cannon, TANK[self._number_player][1],
self.player._rect_cannon)
if key[pg.K_o]:
self.player._fire = True
def draw(self):
self.SCREEN.blit(self.tile_image,
self.camera.apply_rect(self.tile_rect))
for i in self._players.keys():
player = self._players[i]
tank = player._draw(TANK[player._num_player][0], player._angle)
cannon = player._draw(TANK[player._num_player][1],
player._angle_cannon)
self.SCREEN.blit(tank, self.camera.apply(player))
self.SCREEN.blit(cannon,
self.camera.apply_rect(player._rect_cannon))
for brick in self._bricks:
self.SCREEN.blit(brick.image, self.camera.apply(brick))
'''
Dibujando el tank y el cannon por separado
'''
tank = self.player._draw(TANK[self._number_player][0],
self.player._angle)
cannon = self.player._draw(TANK[self._number_player][1],
self.player._angle_cannon)
self.SCREEN.blit(tank, self.camera.apply(self.player))
self.SCREEN.blit(cannon,
self.camera.apply_rect(self.player._rect_cannon))
'''
Debugenado los rectangulos
'''
pg.draw.rect(self.SCREEN, (0, 100, 0),
self.camera.apply_rect(self.player._rect_interno), 1)
pg.draw.rect(self.SCREEN, (100, 0, 0),
self.camera.apply_rect(self.player._rect_cannon), 1)
for bullet in self._bullets:
self.SCREEN.blit(bullet.image, self.camera.apply(bullet))
def _collided_player(self, player):
if player.rect.left <= 0:
player.rect.left = 0
elif player.rect.right >= self.tile.WIDTH:
player.rect.right = self.tile.WIDTH
if player.rect.top <= 0:
player.rect.top = 0
elif player.rect.bottom >= self.tile.HEIGHT:
player.rect.bottom = self.tile.HEIGHT
def _add_obj(self, Object, player):
position = (player._rect_cannon.center)
return Object(position, player._angle_cannon, player._num_player)
def _collided_bullet(self, bullet):
if bullet.rect.left <= 32 or bullet.rect.right >= (self.tile.WIDTH -
32):
if bullet._done != True:
bullet.explosion = True
if bullet.rect.top <= 32 or bullet.rect.bottom >= (self.tile.HEIGHT -
32):
if bullet._done != True:
bullet.explosion = True
def _collided_bullet_with_player(self, bullet):
if self._number_player != bullet._num_player:
if self.player._rect_interno.colliderect(bullet.rect):
self.player._damage += 2.5
bullet.kill()
else:
for i in self._players.keys():
player = self._players[i]
if player._num_player != bullet._num_player:
if player._rect_interno.colliderect(bullet.rect):
bullet.explosion = True
break
def _collided_object_with_player(self, object):
if self.player._rect_interno.colliderect(object.rect):
if self.player.rect.left <= object.rect.left:
self.player.rect.left = object.rect.left
elif self.player.rect.right >= object.rect.right:
self.player.rect.right = object.rect.left
if self.player.rect.top <= object.rect.top:
self.player.rect.top = object.rect.top
elif self.player.rect.bottom >= object.rect.bottom:
self.player.rect.bottom = object.rect.bottom
def fixture_camera(scope="session"):
camera = Camera(get_config(CONFIG_FILE_PATH))
return camera