camera: tweaks to OpenMV script
also add a control on the position of the blue goalpull/1/head
EmaMaker
parent
004c4a47de
commit
ef2de95e60
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@ -26,6 +26,13 @@ def val_map(x, in_min, in_max, out_min, out_max):
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out_max = int(out_max)
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return int((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
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# Check side
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def isInLeftSide(img, x):
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return x < img.width() / 2
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def isInRightSide(img, x):
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return x > img.width() / 2
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# LED Setup ##################################################################
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red_led = pyb.LED(1)
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@ -38,10 +45,10 @@ blue_led.on()
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##############################################################################
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thresholds = [ (75, 100, -10, 13, 12, 40), # thresholds yellow goal
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(40, 70, -13, 13, -35, -11)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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thresholds = [ (67, 100, -14, 28, 32, 58), # thresholds yellow goal
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(53, 69, -21, 11, -44, -13)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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roi = (0, 6, 318, 152)
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roi = (50,5,250, 230)
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# Camera Setup ###############################################################
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'''sensor.reset()xxxx
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@ -59,18 +66,18 @@ clock = time.clock()'''
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sensor.reset()
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sensor.set_pixformat(sensor.RGB565)
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sensor.set_framesize(sensor.QVGA)
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sensor.set_contrast(1)
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sensor.set_saturation(0)
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sensor.set_brightness(3)
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sensor.set_quality(0)
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sensor.set_windowing(roi)
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sensor.set_contrast(0)
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sensor.set_saturation(3)
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sensor.set_brightness(2)
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sensor.set_auto_whitebal(True)
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sensor.set_auto_exposure(False, 3500)
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sensor.set_auto_gain(True)
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sensor.set_auto_exposure(False, 7500)
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sensor.set_auto_gain(False, gain_db=20)
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sensor.skip_frames(time = 300)
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clock = time.clock()
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##############################################################################
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e
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while(True):
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clock.tick()
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@ -84,9 +91,9 @@ while(True):
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tt_blue = [(0,999,0,2)] ## creo una lista di tuple per il blue, valore x = 999 : non trovata
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img = sensor.snapshot()
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for blob in img.find_blobs(thresholds, pixels_threshold=40, area_threshold=50, merge = True):
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for blob in img.find_blobs(thresholds, pixels_threshold=50, area_threshold=70, merge = True):
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img.draw_rectangle(blob.rect())
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img.draw_cross(blob.cx(), blob.cy())
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#img.draw_cross(blob.cx(), blob.cy())
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if (blob.code() == 1):
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tt_yellow = tt_yellow + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
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@ -101,22 +108,24 @@ while(True):
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ny = len(tt_yellow)
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nb = len(tt_blue)
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y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1]
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b_area, b1_cx, b1_cy, b_code = tt_blue[nb-1]
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#Formulas to compute position of points, considering that the H7 is rotated by a certain angle
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#x = y-offset
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#y = offset - x
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#Compute everything related to Yellow First
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y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1]
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y_cx = int(y1_cy - img.height() / 2)
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y_cy = int(img.width() / 2 - y1_cx)
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b_cx = int(b1_cy - img.height() / 2)
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b_cy = int(img.width() / 2 - b1_cx)
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print(str(y_cx) + " | " + str(y_cy) + " --- " + str(b_cx) + " | " + str(b_cy))
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#Normalize data between 0 and 100
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if y_found == True:
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img.draw_cross(y1_cx, y1_cy)
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y_cx = val_map(y_cx, -img.height() / 2, img.height() / 2, 100, 0)
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y_cy = val_map(y_cy, -img.width() / 2, img.width() / 2, 0, 100)
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#Prepare for send as a list of characters
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@ -129,21 +138,43 @@ while(True):
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s_ycx = y_cx
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s_ycy = y_cy
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if b_found == True:
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b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
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b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
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#Prepare for send as a list of characters
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s_bcx = chr(b_cx)
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s_bcy = chr(b_cy)
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else:
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#Compute everything relative to Blue
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'''Given the light situation in our lab and given that blue is usually harder to spot than yellow, we need to check it we got
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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
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'''
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b_cx = BYTE_UNKNOWN
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b_cy = BYTE_UNKNOWN
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#Prepare for send as a list of characters
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s_bcx = b_cx
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s_bcy = b_cy
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index = 1
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if b_found == True:
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while nb-index >= 0:
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b_area, b1_cx, b1_cy, b_code = tt_blue[nb-index]
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# If the two blobs are on opposide side of the field, everything is good
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if (not y_found) or ((isInRightSide(img, b1_cx) and isInLeftSide(img, y1_cx)) or (isInRightSide(img, y1_cx) and isInLeftSide(img, b1_cx))):
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img.draw_cross(b1_cx, b1_cy)
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b_cx = int(b1_cy - img.height() / 2)
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b_cy = int(img.width() / 2 - b1_cx)
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b_cx = val_map(b_cx, -img.height() / 2, img.height() / 2, 100, 0)
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b_cy = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 100)
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#Prepare for send as a list of characters
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s_bcx = chr(b_cx)
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s_bcy = chr(b_cy)
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break
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index += 1
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print(str(y_cx) + " | " + str(y_cy) + " --- " + str(b_cx) + " | " + str(b_cy))
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uart.write(START_BYTE)
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uart.write(s_bcx)
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