fixed sending empty arrays

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.long_video_source_number = 1
 config.networktables_table = 'SmartDashboard'
 
 config.gstreamer_bitrate = '3500000'

processing/port_tracker.py

@@ -32,16 +32,18 @@ def process(img, camera, frame_cnt, color_profile):
 
     FRAME_WIDTH = camera.FRAME_WIDTH
     FRAME_HEIGHT = camera.FRAME_HEIGHT
-
+    hue = color_profile.hsv_hue
+    sat = color_profile.hsv_sat
+    val = color_profile.hsv_val
+
     tracking_data = []
     original_img = img
-
     img = cv2.GaussianBlur(img, (13, 13), 0)
-    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
-    hsv_mask = cvfilters.hsv_threshold(img, color_profile)
-    img = cv2.bitwise_and(img, img, hsv_mask)
-    img = cv2.erode(img, None, iterations=2)
-    img = cv2.dilate(img, None, iterations=2)
+    hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
+    mask = cv2.inRange(hsv, (hue.min, sat.min, val.min),  (hue.max, sat.max, val.max))
+    img = cvfilters.apply_mask(img, mask)
+    # img = cv2.erode(img, None, iterations=2)
+    # img = cv2.dilate(img, None, iterations=2)
     img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
 
     # if debug:
@@ -68,14 +70,14 @@ def process(img, camera, frame_cnt, color_profile):
             center_mass_x = x + w / 2
             center_mass_y = y + h / 2
             #
-            if shape_util.dimensions_match(contour, 6,2, WIDTH_TO_HEIGHT_RATIO):
+            if shape_util.dimensions_match(contour, 6,1, 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.ge:(w)
                 angle = shape_util.get_angle(camera, center_mass_x, center_mass_y)
                 font = cv2.FONT_HERSHEY_DUPLEX
 
                 # set tracking_data
-                data = dict(shape='BAY',
+                data = dict(shape='PORT',
                         width=w,
                         height=h,
                         dist=distance,

processing/shape_util.py

@@ -18,8 +18,10 @@ def dimensions_match(contour, vertices, range, desired_ratio):
             temp = w
             w = h
             h = temp
-        MIN_RATIO = desired_ratio * 0.5
-        MAX_RATIO = desired_ratio * 1.50
+        MIN_RATIO = desired_ratio * 0.80
+        MAX_RATIO = desired_ratio * 1.2
+        #MIN_RATIO = desired_ratio * 0.6
+        #MAX_RATIO = desired_ratio * 1.4
 
         ar = w / float(h)
         # print(ar)
@@ -54,3 +56,6 @@ 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 * (width_pixel ** -1.06)

profiles/color_profile_BALL.json

@@ -2,30 +2,30 @@
     "camera_mode": "BALL",
     "rgb": {
         "r": {
-            "min": "107",
-            "max": "152"
+            "min": "82",
+            "max": "124"
         },
         "b": {
-            "min": "21",
-            "max": "78"
+            "min": 0,
+            "max": "60"
         },
         "g": {
-            "min": "118",
-            "max": 156
+            "min": "60",
+            "max": "152"
         }
     },
     "hsv": {
         "h": {
             "min": 0,
-            "max": 37
+            "max": 41
         },
         "s": {
-            "min": 155,
-            "max": 210
+            "min": 103,
+            "max": 197
         },
         "v": {
-            "min": 108,
-            "max": 152
+            "min": "34",
+            "max": 148
         }
     },
     "hsl": {

profiles/color_profile_BAY.json

@@ -16,15 +16,15 @@
     },
     "hsv": {
         "h": {
-            "min": "28",
-            "max": "199"
+            "min": "59",
+            "max": "83"
         },
         "s": {
-            "min": "80",
-            "max": "255"
+            "min": 42,
+            "max": 255
         },
         "v": {
-            "min": "165",
+            "min": 137,
             "max": 255
         }
     },

profiles/color_profile_HEXAGON.json

@@ -0,0 +1,45 @@
+{
+    "camera_mode": "HEXAGON",
+    "rgb": {
+        "r": {
+            "min": 0,
+            "max": 255
+        },
+        "b": {
+            "min": 0,
+            "max": 255
+        },
+        "g": {
+            "min": 0,
+            "max": 255
+        }
+    },
+    "hsv": {
+        "h": {
+            "min": "52",
+            "max": "77"
+        },
+        "s": {
+            "min": "46",
+            "max": "172"
+        },
+        "v": {
+            "min": "49",
+            "max": "243"
+        }
+    },
+    "hsl": {
+        "h": {
+            "min": 0,
+            "max": 255
+        },
+        "s": {
+            "min": 0,
+            "max": 255
+        },
+        "l": {
+            "min": 0,
+            "max": 255
+        }
+    }
+}

web/tornado_server.py

@@ -53,7 +53,6 @@ def start():
         color_profiles=color_profile_map
     )
 
-    # ImagePushStreamHandler.start(application=app)
 
     # Start the app
     logger.info("Listening on http://localhost:%s/", config.tornado_server_port)

web/www/tracker.js

@@ -33,6 +33,7 @@ function draw(targets) {
     var octx = offscreenCanvas.getContext("2d");
     octx.fillStyle = "#0095DD";
     targets.forEach(function(target){
+	console.log(target.shape);    
         if(target.shape == 'BALL'){
             octx.beginPath();
             octx.arc(target.xpos, target.ypos, target.radius, 0, Math.PI*2);
@@ -44,15 +45,18 @@ function draw(targets) {
             octx.fillRect(target.xpos,target.ypos, target.width, target.width * 11/7);
         }
         if(target.shape =='PORT'){
-            x = target.xpos;
-            y = target.ypos;
-            size = target.width;
+            var x = target.xpos;
+	    var y = target.ypos;
+            var size = target.width;
+
+	    octx.strokeStyle = "#0095DD";
             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);