Changeset 510

Timestamp:

06/03/09 18:31:27 (3 years ago)

Author:

mosttw

Message:

Work on vision code

Location:

trunk/software

Files:

• rb/auto.py (modified) (3 diffs)
• rb/vision/__init__.py (modified) (2 diffs)
• rb/vision/classify.h (modified) (1 diff)
• rb/vision/classify_hard.c (modified) (1 diff)
• rbconfig.py (modified) (2 diffs)

trunk/software/rb/auto.py

@@ -20 +20 @@
 import time
 from math import pi
-from collections import defaultdict
 
 from rb.core.logging import log_debug, log_info, log_warn, log_error, log_die
 from rb.utils import points_to_vec, rad_delta
-from rb.vision import Camera
+from rb.vision import GRASS, OBSTACLE
 
 from time import sleep
@@ -68 +67 @@
 
         def navigate_course(self):
-                values = [0.1, 0.1, 0.1, 0.1]
+                counts = [0.1, 0.1, 0.1, 0.1]
 
                 # count points `in front' of us
-                for point in self.points:
-                        if (-10 < point[0] and point[0] < 10 and point[0] < 10):
-                                values[point[2]] += 1
+                for x, y, type in self.points:
+                        if -10 < x < 10:
+                                counts[type] += 1
 
-                if (values[Camera.GRASS] < 10):
-                        print "Auto.navigate_course: Not enough data, aborting" 
-                        return False;
+                if counts[GRASS] < 10:
+                        print "Auto.navigate_course: Not enough clear area; aborting" 
+                        self.controller.drive.setspeed(0, 0)
 
                 # If it's `mostly' clear
                 print "Auto.navigate_course: values = ", values 
-                if (values[Camera.GRASS]/values[Camera.OBSTICLE]) > 2:
+                if (counts[GRASS]/counts[OBSTACLE]) > 2:
                         # go forward
                         print "Auto.navigate_course: Moving forward" 
                         self.controller.drive.setspeed(0.5, 0.5)
                 else:
-                        print "Auto.navigate_course: Obsticle detected" 
+                        print "Auto.navigate_course: Obstacle detected"
+                        self.controller.drive.setspeed(0, 0)
                         # TODO:
                         # count points on left/right
@@ -95 +95 @@
                 Update the output based on `current_data`.
                 '''
+                # This is old code --- very old
                 SPEED = .75
                 if self.accel is not None:

trunk/software/rb/vision/__init__.py

@@ -5 +5 @@
 from time import sleep
 
+# TODO: import these from the C enum
+GRASS    = 0
+OBSTACLE = 1
+LINE     = 2
+IGNORE   = 3
+
+DTREE    = 0
+HARD     = 1
+
+COLORS = {
+    GRASS    : [0,   255, 0  ],
+    OBSTACLE : [255, 0,   0  ],
+    LINE     : [255, 255, 255],
+    IGNORE   : [0,   0,   255],
+}
+
 class Camera(object):
-        # TODO: import these from the C enum
-        GRASS    = 0
-        OBSTICLE = 1
-        LINE     = 2
-        IGNORE   = 3
-
-        DTREE    = 0
-        HARD     = 1
-        
-        COLORS = {
-                GRASS    : [0,   255, 0  ],
-                OBSTICLE : [255, 0,   0  ],
-                LINE     : [255, 255, 255],
-                IGNORE   : [0,   0,   255],
-        }
-
         def __init__(self, controller):
                 self.running = True
@@ -46 +46 @@
         win = gtk.Window()
         image = gtk.Image()
-        _vision._init(TRUE, Camera.DTREE)
+        _vision._init(True, DTREE)
         points, pixbuf = _vision._get_points()
         image.set_from_pixbuf(pixbuf)

trunk/software/rb/vision/classify.h

@@ -6 +6 @@
 enum {
         RB_GRASS,
-        RB_OBSTICLE,
+        RB_OBSTACLE,
         RB_LINE,
         RB_IGNORE  ,

trunk/software/rb/vision/classify_hard.c

@@ -30 +30 @@
         /* Mark outputs */
         CvMat *output = cvCreateMat(size.height, size.width, CV_8U);
-        cvSet(output, cvRealScalar(RB_OBSTICLE), NULL);
+        cvSet(output, cvRealScalar(RB_OBSTACLE), NULL);
         cvSet(output, cvRealScalar(RB_GRASS),    grass_mask);
         cvSet(output, cvRealScalar(RB_LINE ),    line_mask);

trunk/software/rbconfig.py

@@ -3 +3 @@
 '''
 
-from rb.vision import Camera
+from rb.vision import DTREE, HARD 
 
 name = 'RATT' # Human-readable robot name
@@ -23 +23 @@
 # This is just the path to the CGI script, without the querystring parameters
 fake_ccam = True
-classifier = Camera.HARD
+classifier = HARD
 ccam_url = "http://192.168.0.226/admin-bin/ccam.cgi"