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fixed bugs with unknown pipelines and added driver mode

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ori agranat
2019-08-17 17:57:41 +03:00
parent 102c1ab63d
commit 8c6e52c4ee
3 changed files with 66 additions and 44 deletions
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1
backend/Main.py
View File

@@ -24,7 +24,6 @@ def run_server():
def run():
NetworkTables.startClientTeam(team=settings_manager.general_settings.get("team_number", 1577))
# NetworkTables.initialize("localhost")
port = 5550
for cam_name in settings_manager.usb_cameras:
CameraHandler(cam_name, port).run()

3
backend/app/classes/SettingsManager.py
View File

@@ -2,6 +2,7 @@ import os
import json
import cv2
import cscore
import subprocess
from cscore._cscore import VideoMode
from .Singleton import Singleton
from .Exceptions import PipelineAlreadyExistsException, NoCameraConnectedException
@@ -187,6 +188,8 @@ class SettingsManager(metaclass=Singleton):
for key in dic['change_general_settings_values']:
if self.default_general_settings[key]:
self.general_settings[key] = dic['change_general_settings_values'][key]
if key == "hostname":
subprocess.call(['hostnamectl set-hostname', str(self.general_settings['hostname'])])
self.settings_manager.save_settings()
#after all values has been set change settings
self.change_general_settings()

106
backend/app/handlers/CameraHander.py
View File

@@ -37,29 +37,37 @@ class CameraHandler:
pipeline = self.settings_manager.cams[self.cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[self.cam_name]]
FOV = self.settings_manager.cams[self.cam_name]["FOV"]
def change_camera_values(pipline):
def change_camera_values(pipeline):
self.settings_manager.usb_cameras[self.cam_name].setBrightness(pipeline['brightness'])
self.settings_manager.usb_cameras[self.cam_name].setExposureManual(pipeline['exposure'])
self.settings_manager.usb_cameras[self.cam_name].setWhiteBalanceAuto()
def pipeline_listener(table, key, value, is_new):
asyncio.set_event_loop(asyncio.new_event_loop())
self.settings_manager.cams_curr_pipeline[self.cam_name] = value
change_camera_values(pipeline)
if self.cam_name == self.settings_manager.general_settings['curr_camera']:
self.settings_manager.general_settings['curr_pipeline'] = value
update_settings = self.settings_manager.get_curr_pipeline()
update_settings['curr_pipeline'] = self.settings_manager.general_settings["curr_pipeline"]
send_all_async(update_settings)
if value in self.settings_manager.cams[self.cam_name]['pipelines'].keys():
self.settings_manager.cams_curr_pipeline[self.cam_name] = value
change_camera_values(pipeline)
if self.cam_name == self.settings_manager.general_settings['curr_camera']:
self.settings_manager.general_settings['curr_pipeline'] = value
update_settings = self.settings_manager.get_curr_pipeline()
update_settings['curr_pipeline'] = self.settings_manager.general_settings["curr_pipeline"]
send_all_async(update_settings)
else:
self.table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[self.cam_name])
def mode_listener(table, key, value, is_new):
change_camera_values({
'brightness': 25,
'exposure': 15
})
if value:
change_camera_values({
'brightness': 25,
'exposure': 15
})
else:
change_camera_values(pipeline)
#setting up network table
self.table = NetworkTables.getTable("/Chameleon-Vision/" + self.cam_name)
#init values for pipeline and driver mode
self.table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[self.cam_name])
self.table.putBoolean('Driver_Mode', False)
self.table.addEntryListenerEx(pipeline_listener, key="Pipeline",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
self.table.addEntryListenerEx(mode_listener, key="Driver_Mode",
@@ -101,8 +109,8 @@ class CameraHandler:
# send the point using network tables
self.table.putNumber('pitch', self.nt_data['pitch'])
self.table.putNumber('yaw', self.nt_data['yaw'])
self.table.putNumber('fps', self.nt_data['fps'])
self.table.putNumber('time_stamp', self.nt_data['time_stamp'])
self.table.putNumber('time_stamp', self.nt_data['time_stamp'])
self.table.putNumber('fps', self.nt_data['fps'])
# if the selected camera in ui is this cam send the point to the ui
except:
pass
@@ -132,8 +140,10 @@ class CameraHandler:
#sending and reciving data from opencv sub process
pipeline = self.settings_manager.cams[self.cam_name]["pipelines"][
self.settings_manager.cams_curr_pipeline[self.cam_name]]
socket.send_json(dict(
pipeline=pipeline
pipeline=pipeline,
driver_mode= self.table.getBoolean('Driver_Mode', False)
), zmq.SNDMORE)
socket.send_pyobj((self.time_stamp,self.image))
@@ -173,45 +183,55 @@ class CameraHandler:
fps = 0
while True:
curr_pipeline = socket.recv_json()['pipeline']
obj = socket.recv_json()
curr_pipeline = obj['pipeline']
driver_mode = obj['driver_mode']
time_stamp, image = socket.recv_pyobj()
if curr_pipeline['orientation'] == "Inverted":
M = cv2.getRotationMatrix2D((width / 2, height / 2), 180, 1)
image = cv2.warpAffine(image, M, (width, height))
hsv_image = self.vision_handler._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
image, curr_pipeline["erode"], curr_pipeline["dilate"])
# if table.getBoolean("Driver_Mode", False):
contours = self.vision_handler.find_contours(hsv_image)
filtered_contours = filter_contours.filter_contours(input_contours=contours, area=curr_pipeline['area'],
ratio=curr_pipeline['ratio'],
extent=curr_pipeline['extent'],
sort_mode=curr_pipeline['sort_mode'], cam_area=cam_area,
target_grouping=curr_pipeline['target_group'],
target_intersection=
curr_pipeline['target_intersection'])
if not driver_mode:
hsv_image = self.vision_handler._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
image, curr_pipeline["erode"], curr_pipeline["dilate"])
# if table.getBoolean("Driver_Mode", False):
contours = self.vision_handler.find_contours(hsv_image)
filtered_contours = filter_contours.filter_contours(input_contours=contours, area=curr_pipeline['area'],
ratio=curr_pipeline['ratio'],
extent=curr_pipeline['extent'],
sort_mode=curr_pipeline['sort_mode'], cam_area=cam_area,
target_grouping=curr_pipeline['target_group'],
target_intersection=
curr_pipeline['target_intersection'])
final_contour = self.vision_handler.output_contour(filtered_contours)
final_contour = self.vision_handler.output_contour(filtered_contours)
try:
center = final_contour[0]
center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
pitch = self.vision_handler.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
yaw = self.vision_handler.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
valid = True
except IndexError:
try:
center = final_contour[0]
center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
center_y = (center[0] * curr_pipeline["M"]) + curr_pipeline["B"]
pitch = self.vision_handler.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
yaw = self.vision_handler.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
valid = True
except IndexError:
center = None
pitch = None
yaw = None
valid = False
if curr_pipeline['is_binary']:
draw_image = hsv_image
else:
draw_image = image
res = self.vision_handler.draw_image(input_image=draw_image, contour=final_contour)
else:
res = image
center = None
pitch = None
yaw = None
valid = False
if curr_pipeline['is_binary']:
draw_image = hsv_image
else:
draw_image = image
res = self.vision_handler.draw_image(input_image=draw_image, contour=final_contour)
socket.send_pyobj(res)
socket.send_json(dict(
pitch=pitch,