finished calibration module

2026-06-29 02:21:41 +00:00 · 2019-08-09 05:27:08 -07:00
parent 72c2db8aaf
commit 81667b7b98
8 changed files with 92 additions and 17 deletions
--- a/backend/app/classes/SettingsManager.py
+++ b/backend/app/classes/SettingsManager.py
@@ -30,7 +30,9 @@ class SettingsManager(metaclass=Singleton):
        "is_binary": "Normal",
        "sort_mode": "Largest",
        "target_group": 'Single',
-        "target_intersection": 'Up'
+        "target_intersection": 'Up',
+        "M": 1,
+        "B": 0
    }
    default_general_settings = {
        "team_number": 1577,
--- a/backend/app/handlers/VisionHandler.py
+++ b/backend/app/handlers/VisionHandler.py
@@ -1,4 +1,6 @@
 import asyncio
+import time
+
 from networktables import NetworkTables
 import networktables
 import cv2
@@ -239,6 +241,7 @@ class VisionHandler(metaclass=Singleton):
        return pitch

    def calculate_yaw(self, pixel_x, center_x, h_focal_length):
+
        yaw = math.degrees(math.atan((pixel_x - center_x) / h_focal_length))
        return yaw

@@ -326,7 +329,8 @@ class VisionHandler(metaclass=Singleton):
                                'raw_point': nt_data['raw_point'],
                                'point': {
                                    'pitch': nt_data['pitch'],
-                                    'yaw': nt_data['yaw']
+                                    'yaw': nt_data['yaw'],
+                                    'fps': nt_data['fps']
                                }
                            })
                    except Exception as e:
@@ -360,6 +364,10 @@ class VisionHandler(metaclass=Singleton):
        socket = context.socket(zmq.PAIR)
        socket.connect('tcp://localhost:%s' % str(port))
        filter_contours = self.Filter_Contours(center_x=centerX, center_y=centerY)
+        x = 1
+        counter = 0
+        start_time = time.time()
+        fps = 0
        while True:
            obj = socket.recv_json()
            image = socket.recv_pyobj()
@@ -379,8 +387,10 @@ class VisionHandler(metaclass=Singleton):
            final_contour = self.output_contour(filtered_contours)
            try:
                center = final_contour[0]
-                pitch = self.calculate_pitch(pixel_y=center[1], center_y=centerY, v_focal_length=V_FOCAL_LENGTH)
-                yaw = self.calculate_yaw(pixel_x=center[0], center_x=centerX, h_focal_length=H_FOCAL_LENGTH)
+                center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
+                center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
+                pitch = self.calculate_pitch(pixel_y=center[1], center_y=center_x, v_focal_length=V_FOCAL_LENGTH)
+                yaw = self.calculate_yaw(pixel_x=center[0], center_x=center_y, h_focal_length=H_FOCAL_LENGTH)
                valid = True
            except IndexError:
                center = None
@@ -398,7 +408,14 @@ class VisionHandler(metaclass=Singleton):
                pitch=pitch,
                yaw=yaw,
                valid=valid,
-                raw_point=center
+                raw_point=center,
+                fps=fps
            ))
+            counter += 1
+            if (time.time() - start_time) > x:
+                fps = (counter / (time.time() - start_time))
+                counter = 0
+                start_time = time.time()
+


--- a/backend/settings/cams/USB
+++ b/backend/settings/cams/USB
@@ -1 +1 @@
-{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 10, "orientation": "Normal", "hue": [0, 56], "saturation": [0, 47], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 99], "extent": [0, 100], "is_binary": 1, "sort_mode": "Rightmost", "target_group": "Single", "target_intersection": "Up"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 15, "width": 640, "height": 480, "pixel_format": "kYUYV"}, "resolution": 14, "FOV": 56}
+{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 16, "orientation": "Normal", "hue": [0, 127], "saturation": [0, 138], "value": [0, 122], "erode": false, "dilate": false, "area": [20, 37], "ratio": [0, 80.5], "extent": [0, 100], "is_binary": 1, "sort_mode": "Rightmost", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}, "resolution": 0, "FOV": 56}
--- a/backend/settings/settings.json
+++ b/backend/settings/settings.json
@@ -1 +1 @@
-{"team_number": 1567, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "USB2.0 PC CAMERA", "curr_pipeline": "pipeline0"}
+{"team_number": 1567, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "USB Camera-B4.09.24.1", "curr_pipeline": "pipeline0"}
--- a/chameleon-client/src/components/CameraTab.vue
+++ b/chameleon-client/src/components/CameraTab.vue
@@ -23,8 +23,7 @@
        </Row>
        
        <Button type="primary" size="small" class="buttonClass spacing" v-on:click="socketSendAll">Save settings to current camera</Button>
-          
-          <h4 class="spacing">Please Restart the computer Manually after saving all cameras</h4>
+        <h4 class="spacing">Please Restart the computer Manually after saving all cameras</h4>
        
    </div>
 </template>
--- a/chameleon-client/src/components/Vision.vue
+++ b/chameleon-client/src/components/Vision.vue
@@ -17,10 +17,11 @@
                    </Col>
                    <Col span="12">
                    <Tabs :animated="false"  v-model="isBinary" @on-click="handleImage">
-                    <TabPane label="Normal"></TabPane>    
-                    <TabPane label="Threshold"></TabPane>
+                        <TabPane label="Normal"></TabPane>    
+                        <TabPane label="Threshold"></TabPane>
                    </Tabs>
                    <img class="imageSize" :src="steamAdress" style="">
+                    <h4 class="pointText">{{point}}</h4>
                    </Col>
                </Col>
            </row>
@@ -69,6 +70,12 @@
                set: function(value){
                    this.$store.commit('is_binary',value)
                }
+            },
+            point:{
+                get:function(){
+                    let p = this.$store.state.point;
+                    return ("Pitch: " + parseFloat(p['pitch']).toFixed(2) + " Yaw: " + parseFloat(p['yaw']).toFixed(2) + " FPS: " + parseFloat(p['fps']).toFixed(2))
+                }
            }
        },
    }
@@ -81,4 +88,7 @@
    width: 75%;
    height: 75%;
 }
+.pointText{
+    text-align: center;
+}
 </style>
--- a/chameleon-client/src/components/outputTab.vue
+++ b/chameleon-client/src/components/outputTab.vue
@@ -2,7 +2,19 @@
    <div id="OutputTab">
        <chselect class="spacing" title="Sort Mode" Xkey="sort_mode" 
        :list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Closest']"></chselect>
-        <h6>calibrate crosshair</h6>
+        <Row type="flex" justify="start" align="middle" class="spacing" :gutter="10">
+            <col>
+                <Button type="primary" size="small" v-on:click="takePointA">Take Point A</Button>
+            </col>
+            <col style="margin-left:10px">
+                <Button type="primary" size="small" v-on:click="takePointB">Take Point B</Button>
+            </col>
+        </Row>
+        <Row type="flex" align="middle" class="spacing" :gutter="10">
+            <col>
+                <Button type="warning" size="small" v-on:click="clearPoints">Clear All Points</Button>
+            </col>
+        </Row>
     </div>
 </template>

@@ -19,11 +31,40 @@ import chrange from './ch-range.vue'
            chrange
        },
        methods:{
-
+            takePointA:function(){
+                this.pointA = this.raw_point;
+                this.calcSlope();
+            },
+            takePointB:function(){
+                this.pointB = this.raw_point;
+                this.calcSlope();
+            },
+            calcSlope:function(){
+                if(this.pointA !== undefined && this.pointB !== undefined){
+                    let m = (this.pointB[1] - this.pointA[1]) / (this.pointB[0] - this.pointA[0]);
+                    let b = this.pointA[1] - (m * this.pointA[0]);
+                    this.sendSlope(m,b);
+                }
+            },
+            clearPoints:function(){
+                this.sendSlope(1,0);
+            },
+            sendSlope(m,b){
+                this.$socket.sendObj({'M':m});
+                this.$socket.sendObj({'B':b});
+            }
+        },
+        computed: {
+            raw_point:{
+                get:function(){
+                    return this.$store.state.raw_point;
+                }
+            }
        },
        data() {
            return {
-                
+                pointA:undefined,
+                pointB:undefined
            }
        }
    }
--- a/chameleon-client/src/store.js
+++ b/chameleon-client/src/store.js
@@ -42,7 +42,9 @@ export const store = new Vuex.Store({
        //live info
        port:1181,
        is_binary:0,
-        //camera lists
+        //points
+        raw_point:[],
+        point:{}

    },
    mutations:{
@@ -75,7 +77,9 @@ export const store = new Vuex.Store({
        target_group:set('target_group'),
        target_intersection:set('target_intersection'),
        FOV:set('FOV'),
-        port:set('port')
+        port:set('port'),
+        raw_point:set('raw_point'),
+        point:set('point')
    },
    getters:{
        curr_camera: state => state.curr_camera,
@@ -104,7 +108,9 @@ export const store = new Vuex.Store({
        target_group: state => state.target_group,
        target_intersection: state => state.target_intersection,
        FOV: state => state.FOV,
-        port: state => state.port
+        port: state => state.port,
+        raw_point:state => state.raw_point,
+        point: state => state.point

    },
 });