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working vision handler

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ori
2019-05-05 13:48:31 -07:00
parent 18d678d6a2
commit d42905db9a
1 changed files with 21 additions and 16 deletions
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37
backend/app/handlers/VisionHandler.py
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@@ -27,8 +27,7 @@ class VisionHandler:
_, contours, _ = cv2.findContours(binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
return contours
def filter_contours(self, input_contours, camera_area, min_area, max_area, min_ratio, max_ratio, min_extent,
max_extent):
def filter_contours(self, input_contours, camera_area, area, ratio, extent):
output = []
rectangle = []
@@ -40,17 +39,17 @@ class VisionHandler:
rect_area = rect[1][0] * rect[1][1]
try:
extent = float(contour_area) / rect_area
ratio = float(rect[1][0]) / rect[1][1]
area = rect_area / camera_area
extent_percent = float(contour_area) / rect_area
ratio_percent = float(rect[1][0]) / rect[1][1]
area_percent = rect_area / camera_area
except:
continue
if area < min_area or area > max_area:
if area_percent < area[0] or area_percent > area[1]:
continue
if ratio < min_ratio or ratio > max_ratio:
if ratio_percent < ratio[0] or ratio_percent > ratio[1]:
continue
if extent < min_extent or extent > max_extent:
if extent_percent < extent[0] or extent_percent > extent[1]:
continue
output.append(contour)
@@ -80,12 +79,16 @@ class VisionHandler:
def camera_process(self, camera,cam_name):
curr_pipline = list(SettingsManager.cams[cam_name]["pipelines"].values())[0]
def change_camera_values():
camera.setBrightness(0)
camera.setExposureManual(0)
def pipeline_listener(table, key, value, is_new):
change_camera_values()
if(is_new):
curr_pipline = SettingsManager.cams[cam_name]["pipelines"][value]
change_camera_values()
def mode_listener(table, key, value, is_new):
pass
@@ -102,17 +105,19 @@ class VisionHandler:
cv_sink = cs.getVideo(camera=camera)
cv_publish = cs.putVideo(name=cam_name, width=SettingsManager().cams[cam_name]["video_mode"]["width"],
height=SettingsManager().cams[cam_name]["video_mode"]["height"])
cam_area = SettingsManager().cams[cam_name]["video_mode"]["width"] * SettingsManager().cams[cam_name]["video_mode"]["height"]
while True:
start = time.time()
_, image = cv_sink.grabFrame(image)
# hsv_image = self._hsv_threshold()
filtered_contours = None
hsv_image = self._hsv_threshold(curr_pipline["hue"],
curr_pipline["saturation"], curr_pipline["value"],
image, curr_pipline["erode"], curr_pipline["dilate"])
# if table.getBoolean("Driver_Mode", False):
#contours = self.find_contours(hsv_image)
# filtered_contours = self.filter_contours(contours)
# pass
# image = self.draw_image(input_image=hsv_image, is_binary=False, rectangles=[])
contours = self.find_contours(hsv_image)
filtered_contours = self.filter_contours(contours, cam_area, curr_pipline["area"], curr_pipline["ratio"], curr_pipline["extent"])
image = self.draw_image(input_image=image, is_binary=False, rectangles=filtered_contours)
cv_publish.putFrame(image)
end = time.time()
print(1/(end-start))