DeepSpaceVision/main.py at master · EnkaTech/DeepSpaceVision · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
from comm import *
from proc import *
import cv2
import numpy as np
from networktables import NetworkTables

if __name__ == '__main__':
    print('Robota bağlanıyor')
    cam = get_robot_camera('10.69.85.2')
    print('Robota bağlandı')
    proc_table = NetworkTables.getTable('imgproc')

    while cam.isOpened:
        capture, contours= detect_targets(cam)

        # Konturları ayıkla
        goodContours = list(filter(cnt_test, contours))

        if len(goodContours) >= 2:
            # Konturlar etrafına kare çek ve hata hesapla
            capture = rectangle(capture, goodContours)
            success, r_error, h_error = calculate_errors(goodContours)

            # Sonuçları robota bildir
            proc_table.putBoolean('Target algılandı', True)
            proc_table.putNumber('Heading', r_error)
            proc_table.putNumber('Horizontal error', h_error)
        else:
            proc_table.putBoolean('Target algılandı', False)
            proc_table.putNumber('Heading', 0)
            proc_table.putNumber('Horizontal error', 0)
        cv2.imshow('Kamera', capture)
        k = cv2.waitKey(5) & 0xFF
        if k == 27:
            break


    cv2.destroyAllWindows()