def track_object(objs, labels):
#global delay
global x_deviation, y_deviation, tolerance, arr_track_data
if (len(objs) == 0):
print("no objects to track")
ut.stop()
ut.red_light("OFF")
arr_track_data = [0, 0, 0, 0, 0, 0]
return
#ut.head_lights("OFF")
k = 0
flag = 0
for obj in objs:
lbl = labels.get(obj.id, obj.id)
k = arr_valid_objects.count(lbl)
if (k > 0):
x_min, y_min, x_max, y_max = list(obj.bbox)
flag = 1
break
#print(x_min, y_min, x_max, y_max)
if (flag == 0):
print("selected object no present")
return
x_diff = x_max - x_min
y_diff = y_max - y_min
print("x_diff: ", round(x_diff, 5))
print("y_diff: ", round(y_diff, 5))
obj_x_center = x_min + (x_diff / 2)
obj_x_center = round(obj_x_center, 3)
obj_y_center = y_min + (y_diff / 2)
obj_y_center = round(obj_y_center, 3)
#print("[",obj_x_center, obj_y_center,"]")
x_deviation = round(0.5 - obj_x_center, 3)
y_deviation = round(0.5 - obj_y_center, 3)
print("{", x_deviation, y_deviation, "}")
#move_robot()
thread = Thread(target=move_robot)
thread.start()
#thread.join()
#print(cmd)
arr_track_data[0] = obj_x_center
arr_track_data[1] = obj_y_center
arr_track_data[2] = x_deviation
arr_track_data[3] = y_deviation
def move_robot():
global x_deviation, y_deviation, tolerance, arr_track_data
print("moving robot .............!!!!!!!!!!!!!!")
print(x_deviation, y_deviation, tolerance, arr_track_data)
if(abs(x_deviation)<tolerance and abs(y_deviation)<tolerance):
cmd="Stop"
delay1=0
ut.stop()
ut.red_light("ON")
else:
ut.red_light("OFF")
if (abs(x_deviation)>abs(y_deviation)):
if(x_deviation>=tolerance):
cmd="Move Left"
delay1=get_delay(x_deviation,'l')
ut.left()
time.sleep(delay1)
ut.stop()
if(x_deviation<=-1*tolerance):
cmd="Move Right"
delay1=get_delay(x_deviation,'r')
ut.right()
time.sleep(delay1)
ut.stop()
else:
if(y_deviation>=tolerance):
cmd="Move Forward"
delay1=get_delay(y_deviation,'f')
ut.forward()
time.sleep(delay1)
ut.stop()
if(y_deviation<=-1*tolerance):
cmd="Move Backward"
delay1=get_delay(y_deviation,'b')
ut.back()
time.sleep(delay1)
ut.stop()
arr_track_data[4]=cmd
arr_track_data[5]=delay1
def track_object(objs,labels):
global x_deviation, y_max, tolerance
if(len(objs)==0):
print("no objects to track")
ut.stop()
ut.red_light("OFF")
return
k=0
flag=0
for obj in objs:
lbl=labels.get(obj.id, obj.id)
k = arr_valid_objects.count(lbl)
if (k>0):
x_min, y_min, x_max, y_max = list(obj.bbox)
flag=1
break
#print(x_min, y_min, x_max, y_max)
if(flag==0):
print("selected object no present")
return
x_diff=x_max-x_min
y_diff=y_max-y_min
obj_x_center=x_min+(x_diff/2)
obj_x_center=round(obj_x_center,3)
obj_y_center=y_min+(y_diff/2)
obj_y_center=round(obj_y_center,3)
x_deviation=round(0.5-obj_x_center,3)
y_max=round(y_max,3)
print("{",x_deviation,y_max,"}")
thread = Thread(target = move_robot)
thread.start()
def move_robot():
global x_deviation, y_max, tolerance
if(abs(x_deviation)<tolerance):
if(y_max>0.9):
ut.red_light("ON")
ut.stop()
print("reached person...........")
else:
ut.red_light("OFF")
ut.forward()
print("moving robot ...FORWARD....!!!!!!!!!!!!!!")
else:
ut.red_light("OFF")
if(x_deviation>=tolerance):
delay1=get_delay(x_deviation)
ut.left()
time.sleep(delay1)
ut.stop()
print("moving robot ...Left....<<<<<<<<<<")
if(x_deviation<=-1*tolerance):
delay1=get_delay(x_deviation)
ut.right()
time.sleep(delay1)
ut.stop()
print("moving robot ...Right....>>>>>>>>")
def move_robot():
global x_deviation, y_max, tolerance, arr_track_data
print("moving robot .............!!!!!!!!!!!!!!")
print(x_deviation, tolerance, arr_track_data)
y = 1 - y_max #distance from bottom of the frame
if (abs(x_deviation) < tolerance):
delay1 = 0
if (y < 0.1):
cmd = "Stop"
ut.red_light("ON")
ut.stop()
else:
cmd = "forward"
ut.red_light("OFF")
ut.forward()
else:
ut.red_light("OFF")
if (x_deviation >= tolerance):
cmd = "Move Left"
delay1 = get_delay(x_deviation)
ut.left()
time.sleep(delay1)
ut.stop()
if (x_deviation <= -1 * tolerance):
cmd = "Move Right"
delay1 = get_delay(x_deviation)
ut.right()
time.sleep(delay1)
ut.stop()
arr_track_data[4] = cmd
arr_track_data[5] = delay1