mirror of
https://github.com/PhotonVision/photonvision
synced 2026-06-27 02:01:40 +00:00
v1 test and bug fixes
This commit is contained in:
ori
@@ -18,11 +18,14 @@ class VisionHandler(metaclass=Singleton):
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def _hsv_threshold(self, hue: list, saturation: list, value: list, img: numpy.ndarray, is_erode: bool,
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is_dilate: bool):
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img = cv2.erode(img, kernel=self.kernel, iterations=is_erode)
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img = cv2.dilate(img, kernel=self.kernel, iterations=is_dilate)
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out = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
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return cv2.inRange(out, (hue[0], saturation[0], value[0]), (hue[1], saturation[1], value[1]))
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blur = cv2.blur(img, (3, 3))
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hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
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lower = numpy.array([hue[0], saturation[0], value[0]])
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upper = numpy.array([hue[1], saturation[1], value[1]])
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thresh = cv2.inRange(hsv, lower, upper)
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erode_img = cv2.erode(thresh, kernel=self.kernel, iterations=is_erode)
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dilate_img = cv2.dilate(erode_img, kernel=self.kernel, iterations=is_dilate)
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return dilate_img
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def find_contours(self, binary_img: numpy.ndarray):
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_, contours, _ = cv2.findContours(binary_img, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
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@@ -122,11 +125,11 @@ class VisionHandler(metaclass=Singleton):
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intersection_y = (m_a * (intersection_x - x0_a)) + y0_a
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# finding intersection point
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if intersection_direction == 'Up':
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if intersection_y > self.center_y:
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if intersection_y < self.center_y:
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return True
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elif intersection_direction == 'Down':
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if intersection_y > self.center_y:
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return False
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return True
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elif intersection_direction == 'Left':
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if intersection_x < self.center_x:
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return True
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@@ -139,18 +142,21 @@ class VisionHandler(metaclass=Singleton):
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f_contour_list = []
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for index, g_contour in enumerate(i_contours):
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final_contour = g_contour
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for c in range(target_group.value):
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for c in range(target_group.value - 1):
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try:
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first_contour = i_contours[index + c]
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second_contour = i_contours[index + c + 1]
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except IndexError:
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continue
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final_contour = []
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break
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if is_intersecting(first_contour, second_contour, intersection_point):
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final_contour = numpy.concatenate((final_contour, second_contour))
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else:
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continue
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f_contour_list.append(final_contour)
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else:
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final_contour = []
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break
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if final_contour != []:
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f_contour_list.append(final_contour)
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return f_contour_list
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else:
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@@ -188,9 +194,10 @@ class VisionHandler(metaclass=Singleton):
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continue
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#checking for contour grouping before sorting
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grouped_contours = group_target(filtered_contours, TargetGroup[target_grouping], target_intersection)
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sorted_contours = getattr(self.sort_mode, sort_mode)(grouped_contours)
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try:
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sorted_contours = getattr(self.sort_mode, sort_mode)(grouped_contours)
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except TypeError:
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sorted_contours = []
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return sorted_contours
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@unique
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@@ -351,7 +358,11 @@ class VisionHandler(metaclass=Singleton):
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yaw = None
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valid = False
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res = self.draw_image(input_image=image, contour=final_contour)
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if curr_pipeline['is_binary']:
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draw_image = hsv_image
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else:
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draw_image = image
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res = self.draw_image(input_image=draw_image, contour=final_contour)
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socket.send_pyobj(res)
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socket.send_json(dict(
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pitch=pitch,
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1
backend/settings/cams/AN-VC500 Camera.json
Normal file
1
backend/settings/cams/AN-VC500 Camera.json
Normal file
@@ -0,0 +1 @@
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{"pipelines": {"pipeline0": {"exposure": 4, "brightness": 74, "orientation": "Normal", "resolution": [320, 160], "hue": [43, 80], "saturation": [159, 255], "value": [55, 255], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 89.9], "extent": [61, 100], "is_binary": 0, "sort_mode": "Largest", "target_group": "Dual", "target_intersection": "Up"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 30, "width": 640, "height": 480, "pixel_format": "kYUYV"}}
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@@ -1 +1 @@
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{"team_number": 1577, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "USB Camera-B4.09.24.1", "curr_pipeline": "pipeline0"}
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{"team_number": 1577, "connection_type": "DHCP", "ip": "", "gateway": "", "hostname": "Chameleon-Vision", "curr_camera": "AN-VC500 Camera", "curr_pipeline": "pipeline0"}
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@@ -1,8 +1,8 @@
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<template>
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<div id="Threshold">
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<chrange class="spacing" title="Hue" Xkey="hue"></chrange>
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<chrange class="spacing" title="Saturation" Xkey="saturation"></chrange>
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<chrange class="spacing" title="Value" Xkey="value"></chrange>
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<chrange class="spacing" title="Hue" Xkey="hue" :maximum="180"></chrange>
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<chrange class="spacing" title="Saturation" Xkey="saturation" :maximum="255"></chrange>
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<chrange class="spacing" title="Value" Xkey="value" :maximum="255"></chrange>
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<chswitch class="spacing" title="Erode" Xkey="erode"></chswitch>
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<chswitch class="spacing" title="Dilate" Xkey="dilate"></chswitch>
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</div>
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@@ -64,10 +64,10 @@
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},
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isBinary: {
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get: function(){
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return this.$store.state.isBinaryImage;
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return this.$store.state.is_binary;
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},
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set: function(value){
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this.$store.commit('isBinaryImage',value)
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this.$store.commit('is_binary',value)
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}
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}
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},
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@@ -8,10 +8,10 @@
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<InputNumber style="align-self: flex-start;" v-model="value[0]" size="small" :step="steps" ></InputNumber>
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</Col>
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<Col span="10">
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<Slider range v-model="value" @on-input="handleInput" :step="steps"></Slider>
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<Slider range v-model="value" @on-input="handleInput" :step="steps" :max="maximum"></Slider>
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</Col>
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<Col span="4" style="text-align: right">
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<InputNumber style="align-self: flex-end;" v-model="value[1]" size="small" :step="steps"></InputNumber>
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<InputNumber style="align-self: flex-end;" v-model="value[1]" size="small" :step="steps" :max="maximum"></InputNumber>
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</Col>
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</row>
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</template>
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@@ -22,7 +22,8 @@
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props:{
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title:String,
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Xkey:String,
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steps:Number
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steps:Number,
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maximum:Number
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},
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data() {
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return {
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@@ -40,7 +40,7 @@ export const store = new Vuex.Store({
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hostName:"",
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//live info
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streamAdress:("http://"+location.hostname + ":1181/stream.mjpg"),
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isBinaryImage:0,
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is_binary:0,
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//camera lists
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},
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@@ -68,7 +68,7 @@ export const store = new Vuex.Store({
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gateWay : set('gateway'),
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hostName : set('hostname'),
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streamAdress : set('streamAdress'),
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isBinaryImage: set('isBinaryImage'),
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is_binary: set('is_binary'),
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cameraList : set('cameraList'),
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pipelineList: set('piplineList'),
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sort_mode: set('sort_mode'),
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@@ -96,7 +96,7 @@ export const store = new Vuex.Store({
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gateWay: state => state.gateWay,
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hostName: state => state.hostName,
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streamAdress: state => state.streamAdress,
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isBinaryImage: state => state.isBinaryImage,
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is_binary: state => state.is_binary,
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cameraList: state => state.cameraList,
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pipelineList: state => state.pipelineList,
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sort_mode: state => state.sort_mode,
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