fixed tracker issues, changed port to 5805

config.py

@@ -5,8 +5,8 @@
 # when using static ip for robot
 #config.networktables_server_ip = '10.26.1.11'
 
-config.video_source_number = 1
-config.long_video_source_number = 0
+config.video_source_number = 0
+config.wide_video_source_number = 1
 config.networktables_table = 'SmartDashboard'
 
 config.gstreamer_bitrate = '3500000'
@@ -16,4 +16,4 @@
 
 # config.gstreamer_pipeline = 'appsrc ! videoconvert ! omxh265enc bitrate=%s ! video/x-h265, stream-format=(string)byte-stream ! h265parse ! rtph265pay ! udpsink host=%s port=%s' % (config.gstreamer_bitrate, config.gstreamer_client_ip, config.gstreamer_client_port)
 
-tornado_server_port="8080"
+tornado_server_port="5805"

main.py

@@ -69,7 +69,7 @@ def main(): # main method defined
 
     if(main_controller.enable_dual_camera):
         longCam = USBCam()
-        longCam.open(config.long_video_source_number)
+        longCam.open(config.wide_video_source_number)
 
     # Set camera properties
     # cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
@@ -97,11 +97,11 @@ def main(): # main method defined
 
     time.sleep(5)
 
-    camera_ws = create_connection("ws://localhost:8080/camera/ws")
-    processed_ws = create_connection("ws://localhost:8080/processed/ws")
-    calibration_ws = create_connection("ws://localhost:8080/calibration/ws")
-    tracking_ws = create_connection("ws://localhost:8080/tracking/ws")
-    controller_listener.start("ws://localhost:8080/dashboard/ws")
+    camera_ws = create_connection("ws://localhost:5805/camera/ws")
+    processed_ws = create_connection("ws://localhost:5805/processed/ws")
+    calibration_ws = create_connection("ws://localhost:5805/calibration/ws")
+    tracking_ws = create_connection("ws://localhost:5805/tracking/ws")
+    controller_listener.start("ws://localhost:5805/dashboard/ws")
 
     logger.info('starting main loop ')
     frame_cnt = 0
@@ -117,7 +117,7 @@ def main(): # main method defined
                 print('opening camera')
                 if main_controller.enable_dual_camera:
                    longCam.open(config.video_source_number)                
-                mainCam.open(config.wide_cam_source_number)
+                mainCam.open(config.wide_video_source_number)
                 # if the cap is not already open, do so
 
             if main_controller.camera_mode == CAMERA_MODE_HEXAGON and main_controller.enable_dual_camera:

network/__init__.py

@@ -4,4 +4,3 @@
 
 from network import color_profile_listener
 
-from network.tracking_data_poster import send_tracking

processing/ball_tracker2.py

@@ -103,7 +103,7 @@ def process(img, camera, frame_cnt, color_profile):
                 radius_text = 'radius:%s' % (radius)
                 coordinate_text = 'x:%s y:%s ' % (center_mass_x, center_mass_y)
                 area_text = 'area:%s width:%s height:%s' % (area, w, h)
-                angle_text = 'angle:%.2f  distance:%s' % (angle, distance)
+                angle_text = 'angle:%.2f  distance:%.2f' % (angle, distance)
 
                 cv2.putText(original_img, coordinate_text, (int(x), int(y) - 35), font, .4, colors.WHITE, 1, cv2.LINE_AA)
                 cv2.putText(original_img, area_text, (int(x), int(y) - 20), font, .4, colors.WHITE, 1, cv2.LINE_AA)

processing/bay_tracker.py

@@ -87,7 +87,7 @@ def process(img, camera, frame_cnt, color_profile):
                 vertices_text = 'vertices:%s' % (num_vertices)
                 coordinate_text = 'x:%s y:%s ' % (center_mass_x, center_mass_y)
                 area_text = 'area:%s width:%s height:%s' % (area, w, h)
-                angle_text = 'angle:%.2f  distance:%s' % (angle, distance)
+                angle_text = 'angle:%.2f  distance:%.2f' % (angle, distance)
 
                 cv2.putText(original_img, coordinate_text, (x, y - 35), font, .4, colors.WHITE, 1, cv2.LINE_AA)
                 cv2.putText(original_img, area_text, (x, y - 20), font, .4, colors.WHITE, 1, cv2.LINE_AA)

processing/port_tracker.py

@@ -70,7 +70,7 @@ def process(img, camera, frame_cnt, color_profile):
             #
             if shape_util.dimensions_match(contour, 6,2, WIDTH_TO_HEIGHT_RATIO):
                 # print 'x:%s, y:%s angle:%s ' % ( center_mass_x, center_mass_y, angle )
-                distance = shape_util.distance_in_inches(w)
+                distance = shape_util.distance_in_inches_long(w)
                 angle = shape_util.get_angle(camera, center_mass_x, center_mass_y)
                 font = cv2.FONT_HERSHEY_DUPLEX
 
@@ -89,7 +89,7 @@ def process(img, camera, frame_cnt, color_profile):
                 vertices_text = 'vertices:%s' % (num_vertices)
                 coordinate_text = 'x:%s y:%s ' % (center_mass_x, center_mass_y)
                 area_text = 'area:%s width:%s height:%s' % (area, w, h)
-                angle_text = 'angle:%.2f  distance:%s' % (angle, distance)
+                angle_text = 'angle:%.2f  distance:%.2f' % (angle, distance)
 
                 cv2.putText(original_img, coordinate_text, (x, y - 35), font, .4, colors.WHITE, 1, cv2.LINE_AA)
                 cv2.putText(original_img, area_text, (x, y - 20), font, .4, colors.WHITE, 1, cv2.LINE_AA)

processing/shape_util.py

@@ -54,3 +54,6 @@ def get_distance(width_pixel, width_actual, focal_length):
 
 def distance_in_inches(width_pixel):
     return 762 * (width_pixel ** -0.8)
+
+def distance_in_inches_long(width_pixel):
+    return 34618 * x ** -1.06

requirements.txt

@@ -1,5 +1,86 @@
-pynetworktables==2019.0.2
+apt-clone==0.2.1
+apturl==0.5.2
+asn1crypto==0.24.0
+beautifulsoup4==4.6.0
+blinker==1.4
+Brlapi==0.6.6
+certifi==2018.1.18
+chardet==3.0.4
+cryptography==2.1.4
+cupshelpers==1.0
+Cython==0.29.15
+defer==1.0.6
+distro-info===0.18ubuntu0.18.04.1
+feedparser==5.2.1
+gevent==1.4.0
+graphsurgeon==0.4.1
+greenlet==0.4.15
+html5lib==0.999999999
+httplib2==0.9.2
+idna==2.6
+Jetson.GPIO==2.0.4
+keyring==10.6.0
+keyrings.alt==3.0
+language-selector==0.1
+launchpadlib==1.10.6
+lazr.restfulclient==0.13.5
+lazr.uri==1.0.3
+louis==3.5.0
+lxml==4.2.1
+macaroonbakery==1.1.3
+Mako==1.0.7
+MarkupSafe==1.0
+numpy==1.13.3
+oauth==1.0.1
+oauthlib==2.0.6
+PAM==0.4.2
+Pillow==7.0.0
+protobuf==3.0.0
+pycairo==1.16.2
+pycrypto==2.6.1
+pycups==1.9.73
+pygobject==3.26.1
+PyICU==1.9.8
+PyJWT==1.5.3
+pymacaroons==0.13.0
+PyNaCl==1.1.2
+pynetworktables==2020.0.2
+pyRFC3339==1.0
+python-apt==1.6.4
+python-dateutil==2.6.1
+python-debian==0.1.32
+pytz==2018.3
+pyxdg==0.25
+PyYAML==3.12
+requests==2.18.4
+requests-unixsocket==0.1.5
+SecretStorage==2.3.1
+simplejson==3.13.2
+six==1.14.0
+ssh-import-id==5.7
+system-service==0.3
+systemd-python==234
+tensorrt==6.0.1.10
 tornado==6.0.3
-zmq=0.0.0
-Pillow>=5.3.0
-opencv-python==3.2.0
+ubuntu-drivers-common==0.0.0
+uff==0.6.5
+ujson==1.35
+unity-scope-calculator==0.1
+unity-scope-chromiumbookmarks==0.1
+unity-scope-colourlovers==0.1
+unity-scope-devhelp==0.1
+unity-scope-firefoxbookmarks==0.1
+unity-scope-manpages==0.1
+unity-scope-openclipart==0.1
+unity-scope-texdoc==0.1
+unity-scope-tomboy==0.1
+unity-scope-virtualbox==0.1
+unity-scope-yelp==0.1
+unity-scope-zotero==0.1
+urllib3==1.22
+wadllib==1.3.2
+webencodings==0.5
+websocket==0.2.1
+websocket-client==0.57.0
+xkit==0.0.0
+zope.interface==4.3.2

test_video.py

@@ -74,7 +74,7 @@ def main():
     #TODO: if no camera, exit and msg no camera
     time.sleep(5)
     logger.info('starting main loop')
-    ws = create_connection("ws://localhost:8080/tracking/ws")
+    ws = create_connection("ws://localhost:5805/tracking/ws")
 
     frame_cnt = 0
     while(True):

web/www/tracker.js

@@ -49,10 +49,11 @@ function draw(targets) {
             size = target.width;
             octx.beginPath();
             octx.moveTo(x + size * Math.cos(0), y + size * Math.sin(0));
-            for (var side; side < 7; side++) {
+            for (var side = 0; side < 7; side++) {
                 octx.lineTo(x + size * Math.cos(side * 2 * Math.PI / 6), y + size * Math.sin(side * 2 * Math.PI / 6));
             }
             octx.fill();
+	    octx.closePath();
         }
     })
     ctx.clearRect(0, 0, canvas.width, canvas.height);