wip #69

Author: previ

.camera.py.swp

@@ -218,16 +218,16 @@ def get_average(self):
         return avg
 
     def find_line(self):
-        img = self.get_image().binarize().invert()
-        img = img.erode().dilate()
+        img = self.get_image().binarize()
+        #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=4000/(self._cv_image_factor * self._cv_image_factor), maxsize=8000/(self._cv_image_factor * self._cv_image_factor))
+            blobs[idx] = slice.find_blobs(minsize=300/(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()))

camera.py

@@ -14,20 +14,20 @@ def get_instance(cls, node_name=None):
 
     def __init__(self, node_name):
         self._node_name = node_name
-        rospy.init_node(node_name, disable_signals=True)
+        rospy.init_node(node_name, anonymous=True, disable_signals=True)
         self._publishers = {}
         self._event_generators = []
         self._event_listeners = []
 
     def publish(self, topic, message):
         publisher = self._publishers.get(topic)
         if publisher is None:
-            publisher = rospy.Publisher("/" + self._node_name + "/" + topic, std_msgs.msg.String, queue_size=10)
+            publisher = rospy.Publisher("/" + topic, std_msgs.msg.String, queue_size=10)
             self._publishers[topic] = publisher
         publisher.publish(json.dumps(message))
 
     def register_event_listener(self, topic, callback):
-        self._event_listeners.append(rospy.Subscriber("/" + self._node_name + "/" + topic, std_msgs.msg.String, callback))
+        self._event_listeners.append(rospy.Subscriber("/" + topic, std_msgs.msg.String, callback))
 
     def register_event_generator(self, generator_func):
         generator = threading.Thread(target=generator_func)

event.py

@@ -681,7 +681,7 @@ Blockly.Blocks['coderbot_adv_findARCode'] = {
     this.setColour(250);
     this.appendDummyInput()
         .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDARCODE);
-    this.setOutput(true, 'String');
+    this.setOutput(true, 'HashMap');
     this.setInputsInline(true);
     this.setTooltip(Blockly.Msg.LOGIC_BOOLEAN_TOOLTIP);
   }