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https://github.com/wpilibsuite/allwpilib
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72 lines
2.4 KiB
Python
72 lines
2.4 KiB
Python
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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"""
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This is a demo program showing the use of OpenCV to do vision processing. The image is acquired
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from an HTTP camera, then a rectangle is put on the image and sent to the dashboard. OpenCV has
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many methods for different types of processing.
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"""
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import numpy
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import cscore
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from cscore import CameraServer
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import cv2
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#
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# This code will work both on a RoboRIO and on other platforms. The exact mechanism
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# to run it differs depending on whether you’re on a RoboRIO or a coprocessor
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#
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# https://robotpy.readthedocs.io/en/stable/vision/code.html
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def main():
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# Create an HTTP camera. The address will need to be modified to have the
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# correct team number. The exact path will depend on the source.
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camera = cscore.HttpCamera("HTTP Camera", "http://10.x.y.11/video/stream.mjpg")
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# Start capturing images
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CameraServer.startAutomaticCapture(camera)
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# Set the resolution
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camera.setResolution(640, 480)
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# Get a CvSink. This will capture Mats from the camera
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cvSink = CameraServer.getVideo()
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# Setup a CvSource. This will send images back to the Dashboard
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outputStream = CameraServer.putVideo("Rectangle", 640, 480)
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# Mats are very memory expensive. Lets reuse this Mat.
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mat = numpy.zeros((480, 640, 3), dtype="uint8")
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# Declare the color of the rectangle
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rectColor = (255, 255, 255)
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# The camera code will be killed when the robot.py program exits. If you wish to perform cleanup,
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# you should register an atexit handler. The child process will NOT be launched when running the robot code in
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# simulation or unit testing mode
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while True:
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# Tell the CvSink to grab a frame from the camera and put it in the source mat. If there is an error notify the
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# output.
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if cvSink.grabFrame(mat) == 0:
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# Send the output the error.
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outputStream.notifyError(cvSink.getError())
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# skip the rest of the current iteration
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continue
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# Put a rectangle on the image
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mat = cv2.rectangle(
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img=mat,
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pt1=(100, 100),
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pt2=(400, 400),
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color=rectColor,
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lineType=5,
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)
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# Give the output stream a new image to display
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outputStream.putFrame(mat)
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