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camera: adjust for the different rotation 

Also tmp disable blue spots disturbance filtering
pull/1/head
emamaker 2022-06-09 09:54:53 +02:00
parent bb7677eda5
commit 2bad8a9921
2 changed files with 37 additions and 44 deletions
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2
src/system/positions/positionsys_camera.cpp
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@ -51,7 +51,7 @@ void PositionSysCamera::update(){
} }
//IMPORTANT STEP: or the direction of the plane will be flipped //IMPORTANT STEP: or the direction of the plane will be flipped
posx *= -1; // posx *= -1;
posy *= -1; posy *= -1;
if(CURRENT_DATA_WRITE.bSeen == false && CURRENT_DATA_WRITE.ySeen == false ) { if(CURRENT_DATA_WRITE.bSeen == false && CURRENT_DATA_WRITE.ySeen == false ) {

79
utility/OpenMV/conic_eff_h7.py
View File

@ -28,10 +28,10 @@ def val_map(x, in_min, in_max, out_min, out_max):
# Check side # Check side
def isInLeftSide(img, x): def isInLeftSide(img, x):
return x < img.width() / 2 return x < img.height() / 2
def isInRightSide(img, x): def isInRightSide(img, x):
return x > img.width() / 2 return x >= img.height() / 2
# LED Setup ################################################################## # LED Setup ##################################################################
@ -45,11 +45,11 @@ blue_led.on()
############################################################################## ##############################################################################
thresholds = [ (62, 100, -10, 21, 27, 112), # thresholds yellow goalz thresholds = [ (72, 100, -26, 12, 37, 91), # thresholds yellow goalz
(34, 60, -4, 18, -65, -19)] # thresholds blue goal (6, 31, -15, 4, -35, 0) (30, 54, -8, 12, -42, -17)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
roi = (50, 0, 270, 200) roi = (20, 0, 260, 240)
# Camera Setup ############################################################### # Camera Setup ###############################################################
'''sensor.reset()xxxx '''sensor.reset()xxxx
@ -68,12 +68,12 @@ sensor.reset()
sensor.set_pixformat(sensor.RGB565) sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA) sensor.set_framesize(sensor.QVGA)
sensor.set_windowing(roi) sensor.set_windowing(roi)
sensor.set_contrast(0) sensor.set_contrast(3)
sensor.set_saturation(2) sensor.set_saturation(3)
sensor.set_brightness(3) sensor.set_brightness(3)
sensor.set_auto_whitebal(False, (-6.02073, -4.99849, -1.083474)) sensor.set_auto_whitebal(False, (-6.02073, -5.88632, -0.931115))
sensor.set_auto_exposure(False, 6576) sensor.set_auto_exposure(False, 4445)
#sensor.set_auto_gain(False, gain_db=8.78) sensor.set_auto_gain(False, 10.2374 )
sensor.skip_frames(time = 300) sensor.skip_frames(time = 300)
clock = time.clock() clock = time.clock()
@ -121,8 +121,8 @@ while(True):
y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1] y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1]
y_cx = int(y1_cy - img.height() / 2) y_cx = int(y1_cx - img.width() / 2)
y_cy = int(img.width() / 2 - y1_cx) y_cy = int(img.height() / 2 - y1_cy)
#Normalize data between 0 and 100 #Normalize data between 0 and 100
@ -148,12 +148,29 @@ while(True):
a blue blob that is in the same side of the ground as the yellow one, if so, discard it and check a new one a blue blob that is in the same side of the ground as the yellow one, if so, discard it and check a new one
''' '''
b_cx = BYTE_UNKNOWN
b_cy = BYTE_UNKNOWN
#Prepare for send as a list of characters
s_bcx = b_cx
s_bcy = b_cy
b_area, b1_cx, b1_cy, b_code = tt_blue[nb-1]
b_cx = int(b1_cx - img.width() / 2)
b_cy = int(img.height() / 2 - b1_cy)
if b_found == True:
img.draw_cross(b1_cx, b1_cy)
b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
#Prepare for send as a list of characters
s_bcx = chr(b_cx)
s_bcy = chr(b_cy)
else:
b_cx = BYTE_UNKNOWN
b_cy = BYTE_UNKNOWN
#Prepare for send as a list of characters
s_bcx = b_cx
s_bcy = b_cy
'''
if b_found == True: if b_found == True:
for i in range(nb-1, 0,-1): for i in range(nb-1, 0,-1):
b_area, b1_cx, b1_cy, b_code = tt_blue[i] b_area, b1_cx, b1_cy, b_code = tt_blue[i]
@ -180,33 +197,9 @@ while(True):
#Prepare for send as a list of characters #Prepare for send as a list of characters
s_bcx = b_cx s_bcx = b_cx
s_bcy = b_cy s_bcy = b_cy
'''index = 1 '''
if b_found == True:
while nb-index >= 0:
b_area, b1_cx, b1_cy, b_code = tt_blue[nb-index]
index += 1 #print(str(y_cx) + " | " + str(y_cy) + " --- " + str(b_cx) + " | " + str(b_cy))
# If the two blobs are on opposide side of the field, everything is good
if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))):
img.draw_cross(b1_cx, b1_cy)
b_cx = int(b1_cy - img.height() / 2)
b_cy = int(img.width() / 2 - b1_cx)
print("before :" + str(b_cx) + " " + str(b_cy))
b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
print("after :" + str(b_cx) + " " + str(b_cy))
#Prepare for send as a list of characters
s_bcx = chr(b_cx)
s_bcy = chr(b_cy)
break'''
print(str(s_ycx) + " | " + str(s_ycy) + " --- " + str(s_bcx) + " | " + str(s_bcy))
uart.write(START_BYTE) uart.write(START_BYTE)
uart.write(s_bcx) uart.write(s_bcx)