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bug fixes for calibration module

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This commit is contained in:
ori
2019-08-10 10:16:49 -07:00
parent 81667b7b98
commit f8e846dda0
4 changed files with 22 additions and 10 deletions
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15
backend/app/handlers/SocketHandler.py
View File

@@ -1,3 +1,5 @@
import asyncio
import tornado.websocket
import json
from ..classes.Exceptions import NoCameraConnectedException
@@ -14,7 +16,7 @@ def send_all_async(message):
web_socket_clients.remove(ws)
else:
try:
ws.write_message(message)
ws.write_message(json.dumps(message))
except AssertionError as a:
pass
except AssertionError:
@@ -47,11 +49,14 @@ class ChameleonWebSocket(tornado.websocket.WebSocketHandler):
print("WebSocket opened")
def on_message(self, message):
message_dic = json.loads(message)
try:
message_dic = json.loads(message)
for key in message_dic:
self.actions.get(key, self.actions["change_pipeline_values"])(message_dic)
print(message)
for key in message_dic:
self.actions.get(key, self.actions["change_pipeline_values"])(message_dic)
print(message)
except:
print("crash " + message)
def on_close(self):
self.settings_manager.save_settings()

5
backend/app/handlers/VisionHandler.py
View File

@@ -241,7 +241,6 @@ class VisionHandler(metaclass=Singleton):
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
@@ -389,8 +388,8 @@ class VisionHandler(metaclass=Singleton):
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.calculate_pitch(pixel_y=center[1], center_y=center_x, v_focal_length=V_FOCAL_LENGTH)
yaw = self.calculate_yaw(pixel_x=center[0], center_x=center_y, h_focal_length=H_FOCAL_LENGTH)
pitch = self.calculate_pitch(pixel_y=center[1], center_y=center_y, v_focal_length=V_FOCAL_LENGTH)
yaw = self.calculate_yaw(pixel_x=center[0], center_x=center_x, h_focal_length=H_FOCAL_LENGTH)
valid = True
except IndexError:
center = None

2
backend/settings/cams/USB Camera-B4.09.24.1.json
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@@ -1 +1 @@
{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 16, "orientation": "Normal", "hue": [0, 127], "saturation": [0, 138], "value": [0, 122], "erode": false, "dilate": false, "area": [20, 37], "ratio": [0, 80.5], "extent": [0, 100], "is_binary": 1, "sort_mode": "Rightmost", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "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"}, "resolution": 0, "FOV": 56}
{"pipelines": {"pipeline0": {"exposure": 3, "brightness": 0, "orientation": "Normal", "hue": [85, 136], "saturation": [115, 175], "value": [190, 255], "erode": false, "dilate": false, "area": [0, 99], "ratio": [0, 94.4], "extent": [0, 100], "is_binary": 1, "sort_mode": "Largest", "target_group": "Single", "target_intersection": "Up", "M": 1, "B": 0}}, "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"}, "resolution": 0, "FOV": 56}

10
chameleon-client/src/components/outputTab.vue
View File

@@ -43,11 +43,19 @@ import chrange from './ch-range.vue'
if(this.pointA !== undefined && this.pointB !== undefined){
let m = (this.pointB[1] - this.pointA[1]) / (this.pointB[0] - this.pointA[0]);
let b = this.pointA[1] - (m * this.pointA[0]);
this.sendSlope(m,b);
if(isNaN(m) === false && isNaN(b) === false){
this.sendSlope(m,b);
} else{
this.$Message.error("Point A and B are to close apart");
}
this.pointA = undefined;
this.pointB = undefined;
}
},
clearPoints:function(){
this.sendSlope(1,0);
this.pointA = undefined;
this.pointB = undefined;
},
sendSlope(m,b){
this.$socket.sendObj({'M':m});