Team2890/PhotonVision
4
0
Fork 0
mirror of https://github.com/PhotonVision/photonvision synced 2026-06-21 01:01:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

faster hvs calc and sending time stamp correctly

Browse Source
This commit is contained in:
ori agranat
2019-08-16 20:17:46 +03:00
parent 858aa2bf80
commit bb8457293b
2 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
backend/app/handlers/CameraHander.py
View File

@@ -102,7 +102,7 @@ class CameraHandler:
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.time_stamp)
self.table.putNumber('time_stamp', self.nt_data['time_stamp'])
# if the selected camera in ui is this cam send the point to the ui
except:
pass
@@ -136,7 +136,7 @@ class CameraHandler:
pipeline=pipeline
), zmq.SNDMORE)
socket.send_pyobj(self.image)
socket.send_pyobj((self.time_stamp,self.image))
self.p_image = socket.recv_pyobj()
self.nt_data = socket.recv_json()
@@ -173,9 +173,8 @@ class CameraHandler:
fps = 0
while True:
obj = socket.recv_json()
image = socket.recv_pyobj()
curr_pipeline = obj["pipeline"]
curr_pipeline = socket.recv_json()['pipeline']
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))
@@ -191,7 +190,9 @@ class CameraHandler:
target_grouping=curr_pipeline['target_group'],
target_intersection=
curr_pipeline['target_intersection'])
final_contour = self.vision_handler.output_contour(filtered_contours)
try:
center = final_contour[0]
center_x = (center[1] - curr_pipeline['B']) / curr_pipeline["M"]
@@ -209,6 +210,7 @@ class CameraHandler:
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(
@@ -216,7 +218,8 @@ class CameraHandler:
yaw=yaw,
valid=valid,
raw_point=center,
fps=fps
fps=fps,
time_stamp=time_stamp
))
counter += 1
if (time.time() - start_time) > x:

9
backend/app/handlers/VisionHandler.py
View File

@@ -10,17 +10,14 @@ class VisionHandler():
def _hsv_threshold(self, hue: list, saturation: list, value: list, img: numpy.ndarray, is_erode: bool,
is_dilate: bool):
blur = cv2.blur(img, (3, 3))
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
lower = numpy.array([hue[0], saturation[0], value[0]])
upper = numpy.array([hue[1], saturation[1], value[1]])
thresh = cv2.inRange(hsv, lower, upper)
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
thresh = cv2.inRange(hsv, (hue[0], saturation[0], value[0]), (hue[1], saturation[1], value[1]))
erode_img = cv2.erode(thresh, kernel=self.kernel, iterations=is_erode)
dilate_img = cv2.dilate(erode_img, kernel=self.kernel, iterations=is_dilate)
return dilate_img
def find_contours(self, binary_img: numpy.ndarray):
_, contours, _ = cv2.findContours(binary_img, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
_, contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_TC89_L1)
return contours
class Filter_Contours: