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bug fixes and angle calc

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This commit is contained in:
ori
2019-07-17 22:05:31 -07:00
parent 7cb25a0e8c
commit a34cae4c83
6 changed files with 68 additions and 93 deletions
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89
backend/app/handlers/VisionHandler.py
View File

@@ -72,10 +72,10 @@ class VisionHandler(metaclass=Singleton):
return math.sqrt((center_x-x)**2 + (center_y-y)**2)
def Largest(self, input_contours):
return sorted(input_contours, key=lambda x: cv2.contourArea(x))
return sorted(input_contours, key=lambda x: cv2.contourArea(x), reverse=True)
def Smallest(self, input_contours):
return sorted(input_contours, key=lambda x: cv2.contourArea(x), reverse=True)
return sorted(input_contours, key=lambda x: cv2.contourArea(x))
def Highest(self, input_contours):
return sorted(input_contours, key=lambda x: self.moment_y(x))
@@ -162,7 +162,8 @@ class VisionHandler(metaclass=Singleton):
try:
contour_area = cv2.contourArea(contour)
target_area = float(contour_area / cam_area)*100
if target_area > area[1] or target_area < area[0]:
if target_area >= area[1] or target_area <= area[0]:
continue
rect = cv2.minAreaRect(contour)
@@ -172,13 +173,13 @@ class VisionHandler(metaclass=Singleton):
except ZeroDivisionError:
target_fullness = 0
if target_fullness < extent[0] or target_fullness > extent[1]:
if target_fullness <= extent[0] or target_fullness >= extent[1]:
continue
try:
aspect_ratio = float(rect[1][0]/rect[1][1])*100
aspect_ratio = float(rect[1][0]/rect[1][1])
except ZeroDivisionError:
aspect_ratio = 0
if aspect_ratio < ratio[0] or aspect_ratio > ratio[1]:
if aspect_ratio <= ratio[0] or aspect_ratio >= ratio[1]:
continue
filtered_contours.append(contour)
@@ -222,10 +223,20 @@ class VisionHandler(metaclass=Singleton):
# cv2.circle(input_image, center_point, 0, (0, 255, 0), thickness=3, lineType=8, shift=0)
return input_image
def calculate_pitch(self, pixel_y, center_y, v_focal_length):
pitch = math.degrees(math.atan((pixel_y - center_y) / v_focal_length))
# Just stopped working have to do this:
pitch *= -1
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
def run(self):
# NetworkTables.startClientTeam(team=SettingsManager.general_settings.get("team_number", 1577))
NetworkTables.initialize("localhost")
# NetworkTables.initialize()
cs = CameraServer.getInstance()
port = 5550
@@ -234,12 +245,29 @@ class VisionHandler(metaclass=Singleton):
port += 1
def thread_proc(self, cs, cam_name, port=5557):
pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
def change_camera_values():
SettingsManager.usb_cameras[cam_name].setBrightness(0)
SettingsManager.usb_cameras[cam_name].setExposureManual(0)
def change_camera_values(pipline):
SettingsManager.usb_cameras[cam_name].setBrightness(pipeline['brightness'])
SettingsManager.usb_cameras[cam_name].setExposureManual(pipeline['exposure'])
SettingsManager.usb_cameras[cam_name].setWhiteBalanceAuto()
def pipeline_listener(table, key, value, is_new):
global pipeline
if is_new:
pipeline = SettingsManager.cams[cam_name]["pipelines"][value]
change_camera_values()
def mode_listener(table, key, value, is_new):
pass
table = NetworkTables.getTable("/Chameleon-Vision/" + cam_name)
table.addEntryListenerEx(pipeline_listener, key="Pipeline",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
table.addEntryListenerEx(mode_listener, key="Driver_Mode",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
cv_sink = cs.getVideo(camera=SettingsManager.usb_cameras[cam_name])
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
@@ -256,8 +284,7 @@ class VisionHandler(metaclass=Singleton):
p = Process(target=self.camera_process, args=(cam_name, port))
p.start()
pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
change_camera_values(pipeline)
while True:
_, image = cv_sink.grabFrame(image)
socket.send_json(dict(
@@ -265,25 +292,16 @@ class VisionHandler(metaclass=Singleton):
))
socket.send_pyobj(image)
p_image = socket.recv_pyobj()
nt_data = socket.recv_json()
if nt_data['valid']:
table.putNumber('pitch', nt_data['pitch'])
table.putNumber('yaw', nt_data['yaw'])
table.putBoolean('valid', nt_data['valid'])
cv_publish.putFrame(p_image)
def camera_process(self, cam_name, port):
from fractions import Fraction
# def pipeline_listener(table, key, value, is_new):
# if (is_new):
# curr_pipline = SettingsManager.cams[cam_name]["pipelines"][value]
# change_camera_values()
#
# def mode_listener(table, key, value, is_new):
# pass
#
# table = NetworkTables.getTable("/Chameleon-Vision/" + camera.getInfo().name)
#
# table.addEntryListenerEx(pipeline_listener, key="Pipeline",
# flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
# table.addEntryListenerEx(mode_listener, key="Driver_Mode",
# flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
# change_camera_values()
diagonalView = math.radians(68.5) #needs to be implemented in client
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
@@ -296,8 +314,6 @@ class VisionHandler(metaclass=Singleton):
horizontal_ratio = aspect_fraction.numerator
vertical_ratio = aspect_fraction.denominator
diagonal_aspect = math.hypot(horizontal_ratio, vertical_ratio)
horizontalView = math.atan(math.tan(diagonalView/2) * (horizontal_ratio / diagonalView)) * 2
verticalView = math.atan(math.tan(diagonalView/2) * (vertical_ratio / diagonalView)) * 2
@@ -325,8 +341,23 @@ class VisionHandler(metaclass=Singleton):
target_intersection=
curr_pipeline['target_intersection'])
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)
valid = True
except IndexError:
pitch = None
yaw = None
valid = False
res = self.draw_image(input_image=image, contour=final_contour)
socket.send_pyobj(res)
socket.send_json(dict(
pitch=pitch,
yaw=yaw,
valid= valid
))

2
backend/settings/cams/USB Camera-B4.09.24.1.json
View File

@@ -1 +1 @@
{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 11, "orientation": "Normal", "resolution": [320, 160], "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal", "sort_mode": "Largest", "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": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}}
{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 11, "orientation": "Normal", "resolution": [320, 160], "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [20, 34], "ratio": [0, 22.9], "extent": [13, 71], "is_binary": "Normal", "sort_mode": "Largest", "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": 187, "width": 320, "height": 240, "pixel_format": "kYUYV"}}

57
chameleon-client/src/components/ch-range-ratio.vue
View File

@@ -1,57 +0,0 @@
<template>
<row type="flex" justify="start" align="middle" :gutter="1">
<Col span="4">
<h4>{{title.charAt(0).toUpperCase() + title.slice(1)}} :</h4>
</Col>
<Col span="4" style="text-align: left">
<InputNumber style="align-self: flex-start;" v-model="value[0]" size="small"></InputNumber>
</Col>
<Col span="10">
<Slider range v-model="value" @on-input="handleInput"></Slider>
</Col>
<Col span="4" style="text-align: right">
<InputNumber style="align-self: flex-end;" v-model="value[1]" size="small"></InputNumber>
</Col>
</row>
</template>
<script>
export default {
name: 'ch-range',
props:{
title:String,
Xkey:String
},
data() {
return {
}
},
methods: {
handleInput() {
this.$socket.sendObj({[this.Xkey]:this.value});
}
},
computed:{
value:{
get:function(){
return this.$store.state[this.Xkey];
},
set:function(value){
this.$store.commit(this.Xkey,value);
}
}
}
}
</script>
<style>
h4 {
color: #e6ebf1;
}
/* .ivu-input-number-input{
background-color: #2c3e50 !important;
color: #fff !important;
} */
</style>

9
chameleon-client/src/components/ch-range.vue
View File

@@ -5,13 +5,13 @@
<h4>{{title.charAt(0).toUpperCase() + title.slice(1)}} :</h4>
</Col>
<Col span="4" style="text-align: left">
<InputNumber style="align-self: flex-start;" v-model="value[0]" size="small"></InputNumber>
<InputNumber style="align-self: flex-start;" v-model="value[0]" size="small" :step="steps" ></InputNumber>
</Col>
<Col span="10">
<Slider range v-model="value" @on-input="handleInput"></Slider>
<Slider range v-model="value" @on-input="handleInput" :step="steps"></Slider>
</Col>
<Col span="4" style="text-align: right">
<InputNumber style="align-self: flex-end;" v-model="value[1]" size="small"></InputNumber>
<InputNumber style="align-self: flex-end;" v-model="value[1]" size="small" :step="steps"></InputNumber>
</Col>
</row>
</template>
@@ -21,7 +21,8 @@
name: 'ch-range',
props:{
title:String,
Xkey:String
Xkey:String,
steps:Number
},
data() {
return {

2
chameleon-client/src/components/contourTab.vue
View File

@@ -3,7 +3,7 @@
<chselect class="spacing" title="Sort Mode" Xkey="sort_mode"
:list="['Largest','Smallest','Highest','Lowest','Rightmost','Leftmost','Closest']"></chselect>
<chrange class="spacing" title="Area" Xkey="area"></chrange>
<chrange class="spacing" title="Ratio (W/H)" Xkey="ratio"></chrange>
<chrange class="spacing" title="Ratio (W/H)" Xkey="ratio" :steps="0.1"></chrange>
<chrange class="spacing" title="Extent" Xkey="extent"></chrange>
<chselect class="spacing" title="Target Group" Xkey="target_group"
:list="['Single','Dual','Triple','Quadruple','Quintuple']"></chselect>

2
chameleon-client/src/store.js
View File

@@ -27,7 +27,7 @@ export const store = new Vuex.Store({
dilate: false,
//contours
area:[0,100],
ratio:[0,1],
ratio:[0,20],
extent:[0,100],
sort_mode:'Largest', //
target_group:'Single', //