158 lines
5.1 KiB
Python
158 lines
5.1 KiB
Python
# color tracking with conic mirror - By: EmaMaker - wed 15 jan 2020
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# Based on:
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# color tracking - By: paolix - ven mag 18 2018
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# Automatic RGB565 Color Tracking Example
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#
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import sensor, image, time, pyb, math
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from pyb import UART
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uart = UART(3,19200, timeout_char = 1000)
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CHR_UNKNOWN = '999'
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y_found = False
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b_found = False
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#From Arduino Documentation at: https://www.arduino.cc/reference/en/language/functions/math/map/
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def val_map(x, in_min, in_max, out_min, out_max):
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x = int(x)
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in_min = int(in_min)
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in_max = int(in_max)
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out_min = int(out_min)
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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.height() / 2
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def isInRightSide(img, x):
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return x >= img.height() / 2
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# LED Setup ##################################################################
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red_led = pyb.LED(1)
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green_led = pyb.LED(2)
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blue_led = pyb.LED(3)
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red_led.off()
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green_led.off()
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blue_led.on()
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##############################################################################
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thresholds = [ (72, 100, -26, 12, 37, 91), # thresholds yellow goalz
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(37, 51, -32, 28, -63, -25)] # thresholds blue goal (6, 31, -15, 4, -35, 0)
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roi = (40, 0, 260, 240)
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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_windowing(roi)
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sensor.set_contrast(3)
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sensor.set_saturation(3)
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sensor.set_brightness(3)
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sensor.set_auto_whitebal(False, (-6.02073, -5.494869, -0.8559153))
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sensor.set_auto_exposure(False, 8245)
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sensor.set_auto_gain(False)
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sensor.skip_frames(time = 300)
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clock = time.clock()
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##############################################################################
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while(True):
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clock.tick()
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#print("Exposure: " + str(sensor.get_exposure_us()) + " Gain: " + str(sensor.get_gain_db()) + " White Bal: " + str(sensor.get_rgb_gain_db()))
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blue_led.off()
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y_found = False
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b_found = False
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tt_yellow = [(0,999,0,1)] ## creo una lista di tuple per il giallo, valore x = 999 : non trovata
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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=100, area_threshold=100, 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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if (blob.code() == 1):
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tt_yellow = tt_yellow + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
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y_found = True
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if (blob.code() == 2):
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tt_blue = tt_blue + [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
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b_found = True
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tt_yellow.sort(key=lambda tup: tup[0]) ## ordino le liste
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tt_blue.sort(key=lambda tup: tup[0]) ## ordino le liste
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ny = len(tt_yellow)
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nb = len(tt_blue)
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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_cx - img.width() / 2)
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y_cy = int(img.height() / 2 - y1_cy)
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#For simplicity's sake, normalize data between 0 and 99 (100 values in total)
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if y_found == True:
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img.draw_cross(y1_cx, y1_cy)
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#y_cy = val_map(y_cx, -img.height() / 2, img.height() / 2, 99, 0)
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#y_cx = val_map(y_cy, -img.width() / 2, img.width() / 2, 0, 99)
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#compute angle
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y_angle = math.atan2(y_cy, y_cx)
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y_angle = -90 + (y_angle * 180 / 3.14) #convert to degrees and shift
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y_angle = (int(y_angle)+360)%360 #make sure it's all positive, so we don't have strange things happening when receiving on teensy's side
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#compute dist
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y_dist = int(math.sqrt(y_cx*y_cx + y_cy*y_cy))
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ydata = "{}{}{}{}{}".format("Y", str(y_angle), "-", str(y_dist), "y")
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# il numero 999 indica che non ho trovato nessun blob
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else:
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ydata = "{}{}{}{}{}".format("Y", "999", "-", "0", "y")
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# trasmetto dati in seriale e test su terminale
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uart.write(ydata)
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b_area, b1_cx, b1_cy, b_code = tt_blue[nb-1]
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b_cx = int(b1_cx - img.width() / 2)
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b_cy = int(img.height() / 2 - b1_cy)
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if b_found == True:
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img.draw_cross(b1_cx, b1_cy)
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#b_cy = val_map(b_cx, -img.height() / 2, img.height() / 2, 99, 0)
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#b_cx = val_map(b_cy, -img.width() / 2, img.width() / 2, 0, 99)
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#compute angle
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b_angle = math.atan2(b_cy, b_cx) #to fix to account for camera and robot rotation
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b_angle = -90 + (b_angle * 180 / 3.14) #convert to degrees and shift
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b_angle = (int(b_angle)+360)%360 #make sure it's all positive, so we don't have strange things happening when receiving on teensy's side
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#compute dist
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b_dist = int(math.sqrt(b_cx*b_cx + b_cy*b_cy))
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bdata = "{}{}{}{}{}".format("B", str(b_angle), "-", str(b_dist), "b")
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# il numero 999 indica che non ho trovato nessun blob
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else:
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bdata = "{}{}{}{}{}".format("B", "999", "-", "0", "b")
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uart.write(bdata)
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#BLUE FIRST, YELLOW SECOND. ANGLE FIRST, DISTANCE SECOND
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#print(str(b_angle) + " | " + str(b_dist) + " --- " + str(y_angle) + " | " + str(y_dist))
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print(f"Blue {bdata}")
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print(f"Yellow {ydata}")
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