conic shaped camera mirror final script

utility/OpenMV/conic_eff.py

@@ -0,0 +1,148 @@
+# color tracking with conic mirror - By: EmaMaker - wed 15 jan 2020
+# Based on:
+# color tracking - By: paolix - ven mag 18 2018
+
+# Automatic RGB565 Color Tracking Example
+#
+
+import sensor, image, time, pyb, math
+
+from pyb import UART
+uart = UART(3,19200, timeout_char = 1000)
+
+START_BYTE = chr(105) #'i'
+END_BYTE = chr(115) #'s'
+BYTE_UNKNOWN = chr(116) #'t'
+
+y_found = False
+b_found = False
+
+#From Arduino Documentation at: https://www.arduino.cc/reference/en/language/functions/math/map/
+def val_map(x, in_min, in_max, out_min, out_max):
+    x = int(x)
+    in_min = int(in_min)
+    in_max = int(in_max)
+    out_min = int(out_min)
+    out_max = int(out_max)
+    return int((x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min)
+
+
+# LED Setup ##################################################################
+red_led = pyb.LED(1)
+green_led = pyb.LED(2)
+blue_led = pyb.LED(3)
+
+red_led.off()
+green_led.off()
+blue_led.on()
+##############################################################################
+
+
+
+thresholds = [  (69, 100, -12, 11, 15, 89),    # thresholds yellow goal
+                (20, 51, -23, 26, -69, -31)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+
+roi = (0, 6, 318, 152)
+
+# Camera Setup ###############################################################
+'''sensor.reset()
+sensor.set_pixformat(sensor.RGB565)
+sensor.set_framesize(sensor.QVGA)
+sensor.skip_frames(time = 2000)
+sensor.set_auto_gain(False)         # must be turned off for color tracking
+sensor.set_auto_whitebal(False)     # must be turned off for color tracking
+sensor.set_auto_exposure(False, 10000)
+#sensor.set_backlight(1)
+#sensor.set_brightness(+2)
+#sensor.set_windowing(roi)
+clock = time.clock()'''
+
+sensor.reset()
+sensor.set_pixformat(sensor.RGB565)
+sensor.set_framesize(sensor.QQVGA)
+sensor.set_contrast(+0)
+sensor.set_saturation(+0)
+sensor.set_brightness(0)
+sensor.set_quality(0)
+sensor.set_auto_exposure(False, 8000)
+sensor.set_auto_gain(True)
+sensor.skip_frames(time = 300)
+
+clock = time.clock()
+##############################################################################
+
+
+while(True):
+    clock.tick()
+
+    blue_led.off()
+
+    y_found = False
+    b_found = False
+
+    tt_yellow = [(0,999,0,1)]     ## creo una lista di tuple per il giallo, valore x = 999 : non trovata
+    tt_blue = [(0,999,0,2)]       ## creo una lista di tuple per il blue, valore x = 999 : non trovata
+
+    img = sensor.snapshot()
+    for blob in img.find_blobs(thresholds, pixels_threshold=75, area_threshold=115, merge = True):
+        img.draw_rectangle(blob.rect())
+        img.draw_cross(blob.cx(), blob.cy())
+
+        if (blob.code() == 1):
+            tt_yellow = tt_yellow +  [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
+            y_found = True
+        if (blob.code() == 2):
+            tt_blue = tt_blue +  [ (blob.area(),blob.cx(),blob.cy(),blob.code() ) ]
+            b_found = True
+
+    tt_yellow.sort(key=lambda tup: tup[0])  ## ordino le liste
+    tt_blue.sort(key=lambda tup: tup[0])    ## ordino le liste
+
+    ny = len(tt_yellow)
+    nb = len(tt_blue)
+
+    y_area, y1_cx, y1_cy, y_code = tt_yellow[ny-1]
+    b_area, b1_cx, b1_cy, b_code = tt_blue[nb-1]
+
+    y_cx = int(img.width() / 2 - y1_cx)
+    y_cy = int(img.height() / 2 - y1_cy)
+    b_cx = int(img.width() / 2 - b1_cx)
+    b_cy = int(img.height() / 2 - b1_cy)
+
+    #Normalize data between 0 and 100
+    if y_found == True:
+        y_cx = val_map(y_cx, -img.width() / 2, img.width() / 2, 0, 100)
+        y_cy = val_map(y_cy, -img.height() / 2, img.height() / 2, 0, 100)
+        #Prepare for send as a list of characters
+        s_ycx = chr(y_cx)
+        s_ycy = chr(y_cy)
+    else:
+        y_cx = BYTE_UNKNOWN
+        y_cy = BYTE_UNKNOWN
+        #Prepare for send as a list of characters
+        s_ycx = y_cx
+        s_ycy = y_cy
+
+    if b_found == True:
+        b_cx = val_map(b_cx, -img.width() / 2, img.width() / 2, 0, 100)
+        b_cx = val_map(b_cy, -img.height() / 2, img.height() / 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
+
+    #print(str(y_cx) + " | " + str(y_cy) + "  ---  " + str(b_cx) + " | " + str(b_cy))
+
+    uart.write(START_BYTE)
+    uart.write(s_ycx)
+    uart.write(s_ycy)
+    uart.write(s_bcx)
+    uart.write(s_bcy)
+    uart.write(END_BYTE)
+

utility/OpenMV/main_test_conic.py

@@ -30,7 +30,7 @@ blue_led.on()
 #                (30, 45, 1, 40, -60, -19)]    # thresholds blue goal
 #
 thresholds = [  (55, 98, -14, 12, 7, 55),    # thresholds yellow goal
-                (26, 65, -11, 47, -95, -36)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
+                (20, 51, -23, 26, -69, -31)]  # thresholds blue goal (6, 31, -15, 4, -35, 0)
 
 roi = (0, 6, 318, 152)
 
@@ -49,7 +49,7 @@ clock = time.clock()'''
 
 sensor.reset()
 sensor.set_pixformat(sensor.RGB565)
-sensor.set_framesize(sensor.QVGA)
+sensor.set_framesize(sensor.QQVGA)
 sensor.set_contrast(+0)
 sensor.set_saturation(+0)
 sensor.set_brightness(0)
@@ -79,13 +79,7 @@ while(True):
     tt_blue = [(0,999,0,2)]       ## creo una lista di tuple per il blue, valore x = 999 : non trovata
 
     img = sensor.snapshot()
-    for blob in img.find_blobs(thresholds, pixels_threshold=500, area_threshold=700
+    for blob in img.find_blobs(thresholds, pixels_threshold=75, area_threshold=100, merge = True):
-
-
-
-
-
-, merge = True):
         img.draw_rectangle(blob.rect())
         img.draw_cross(blob.cx(), blob.cy())