wip #64

Author: previ

.camera.py.swp

@@ -218,20 +218,21 @@ def get_average(self):
         return avg
 
     def find_line(self):
-        img = self.get_image().binarize()
+        img = self.get_image().binarize().invert()
+        img = img.erode().dilate()
         slices = [0,0,0]
         blobs = [0,0,0]
         slices[0] = img.crop(0, int(self._camera.out_rgb_resolution[1]/1.2), self._camera.out_rgb_resolution[0], self._camera.out_rgb_resolution[1])
         slices[1] = img.crop(0, int(self._camera.out_rgb_resolution[1]/1.5), self._camera.out_rgb_resolution[0], int(self._camera.out_rgb_resolution[1]/1.2))
         slices[2] = img.crop(0, int(self._camera.out_rgb_resolution[1]/2.0), self._camera.out_rgb_resolution[0], int(self._camera.out_rgb_resolution[1]/1.5))
         coords = [-1, -1, -1]
         for idx, slice in enumerate(slices):
-            blobs[idx] = slice.find_blobs(minsize=480/(self._cv_image_factor * self._cv_image_factor), maxsize=6400/(self._cv_image_factor * self._cv_image_factor))
+            blobs[idx] = slice.find_blobs(minsize=4000/(self._cv_image_factor * self._cv_image_factor), maxsize=8000/(self._cv_image_factor * self._cv_image_factor))
             if len(blobs[idx]):
                 coords[idx] = (blobs[idx][0].center[0] * 100) / self._camera.out_rgb_resolution[0]
                 logging.info("line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area()))
 
-        return coords[0]
+        return coords
 
     def find_signal(self):
         angle = None

camera.py

@@ -1 +1 @@
-{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "2000000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "harry_3_50", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "prog_move_mpu": "yes", "ctrl_fw_speed": "100", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}
+{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "2000000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "harry_3_50", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}

coderbot.cfg

@@ -273,11 +273,12 @@ def find_ar_code(self):
         if ids is not None:
             print ids
             for i in range(0, len(ids)):
-                codes.append(ids[i][0])
-                rect = corners[i][0]
-                positions.append([(rect[0][0]+rect[1][0]+rect[2][0]+rect[3][0])/4,
-                                  (rect[0][1]+rect[1][1]+rect[2][1]+rect[3][1])/4])
-        return {"codes": codes, "positions": positions}
+                if ids[i][0] != 1023:
+                    codes.append(ids[i][0])
+                    rect = corners[i][0]
+                    positions.append([(rect[0][0]+rect[1][0]+rect[2][0]+rect[3][0])/4,
+                                      (rect[0][1]+rect[1][1]+rect[2][1]+rect[3][1])/4])
+	return {"codes": codes, "positions": positions}
 
     def to_jpeg(self):
         ret, jpeg_array = cv2.imencode('.jpeg', self._data)

cv/image.py

@@ -504,7 +504,7 @@ Blockly.Blocks['coderbot_adv_findLine'] = {
     this.setColour(250);
     this.appendDummyInput()
         .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDLINE);
-    this.setOutput(true, 'Number');
+    this.setOutput(true, 'Array');
     this.setTooltip(Blockly.Msg.LOGIC_BOOLEAN_TOOLTIP);
   }
 };

static/js/blockly/blocks.js

@@ -8,7 +8,7 @@ $(document).on( "pageshow", '#page-program', function( event, ui ) {
              scrollbars:CODERBOT_PROG_SCROLLBARS, maxBlocks:CODERBOT_PROG_MAXBLOCKS,
              zoom:
               {controls: true,
-               wheel: true,
+               wheel: false,
                startScale: 1.0, //you can change this accorting to your needs.
                maxScale: 1.5,
                minScale: 0.2