diff --git a/backend/app/classes/SettingsManager.py b/backend/app/classes/SettingsManager.py
index 76a1f0309..80b89cb3f 100644
--- 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,
diff --git a/backend/app/handlers/VisionHandler.py b/backend/app/handlers/VisionHandler.py
index 56c1433ba..50c4cd51d 100644
--- 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()
+
diff --git a/backend/settings/cams/USB Camera-B4.09.24.1.json b/backend/settings/cams/USB Camera-B4.09.24.1.json
index 794e41662..3f4f72410 100644
--- a/backend/settings/cams/USB Camera-B4.09.24.1.json
+++ b/backend/settings/cams/USB Camera-B4.09.24.1.json
@@ -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}
\ No newline at end of file
+{"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}
\ No newline at end of file
diff --git a/backend/settings/settings.json b/backend/settings/settings.json
index 41fe0b582..4768b240f 100644
--- 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"}
\ No newline at end of file
+{"team_number": 1567, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "USB Camera-B4.09.24.1", "curr_pipeline": "pipeline0"}
\ No newline at end of file
diff --git a/chameleon-client/src/components/CameraTab.vue b/chameleon-client/src/components/CameraTab.vue
index e237466ab..e7c48b2bc 100644
--- a/chameleon-client/src/components/CameraTab.vue
+++ b/chameleon-client/src/components/CameraTab.vue
@@ -23,8 +23,7 @@
-
- Please Restart the computer Manually after saving all cameras
+ Please Restart the computer Manually after saving all cameras
diff --git a/chameleon-client/src/components/Vision.vue b/chameleon-client/src/components/Vision.vue
index ab20901ab..b61e10c7a 100644
--- a/chameleon-client/src/components/Vision.vue
+++ b/chameleon-client/src/components/Vision.vue
@@ -17,10 +17,11 @@
-
-
+
+
![]()
+ {{point}}
@@ -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;
+}
\ No newline at end of file
diff --git a/chameleon-client/src/components/outputTab.vue b/chameleon-client/src/components/outputTab.vue
index e8701d4f6..a49c1b1ae 100644
--- a/chameleon-client/src/components/outputTab.vue
+++ b/chameleon-client/src/components/outputTab.vue
@@ -2,7 +2,19 @@
-
calibrate crosshair
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -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
}
}
}
diff --git a/chameleon-client/src/store.js b/chameleon-client/src/store.js
index 29be7a60d..8ee4d5b0e 100644
--- 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
},
});
\ No newline at end of file