Moved sorting to main.py

controls.py

@@ -15,6 +15,7 @@ def __init__(self):
         self.enable_calibration_feed = False
         self.enable_processing_feed = True
 
+        self.send_tracking_data = True
 
         self.camera_mode = CAMERA_MODE_BALL
         self.enable_feed = True

main.py

@@ -108,13 +108,14 @@ def main():
     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")
 
     logger.info('starting main loop ')
     frame_cnt = 0
     while(True):
 
+        tracking_data = None
+
         frame_cnt += 1
 
         if main_controller.enable_camera:
@@ -159,9 +160,6 @@ def main():
                                                             camera,
                                                             frame_cnt,
                                                             color_profile)
-                # print(tracking_data)
-                dashboard.putStringArray(networktables.keys.vision_target_data, tracking_data)
-                tracking_ws.send(json.dumps(dict(targets=tracking_data)))
 
             elif main_controller.camera_mode == CAMERA_MODE_BALL:
 
@@ -172,7 +170,6 @@ def main():
                                                             camera,
                                                             frame_cnt,
                                                             color_profile)
-                tracking_ws.send(json.dumps(dict(targets=tracking_data)))
 
             elif main_controller.camera_mode == CAMERA_MODE_HEXAGON:
 
@@ -202,6 +199,12 @@ def main():
 
                 # if out is not None:
                 #     out.write(frame)
+            if tracking_data is not None and main_controller.send_tracking_data:
+                # sort tracking data by closests object
+                tracking_data = sorted(tracking_data, key = lambda i: i['dist'])
+                tracking_ws.send(json.dumps(dict(targets=tracking_data)))
+                # put into networktables
+                dashboard.putStringArray(networktables.keys.vision_target_data, tracking_data)
 
             # cv2.imshow('frame', processed_frame )
             # cv2.waitKey(0)
@@ -220,7 +223,7 @@ def main():
 
 
 if __name__ == '__main__':
-    #p = Process(target=start_web.main)
-    #p.start()
+    p = Process(target=start_web.main)
+    p.start()
     main()
-    #p.join()
+    p.join()

processing/ball_tracker2.py

@@ -98,14 +98,7 @@ def process(img, camera, frame_cnt, color_profile):
                         ypos=center_mass_y)
 
                 tracking_data.append(data)
-                # sorter goes here
-                # if len(tracking_data) == 0:
-                #     tracking_data.append(data)
-                # else:
-                #     for target in tracking_data:
-                #         if distance < target["dist"]:
-                #             tracking_data.insert(tracking_data.index(target), data)
-                #             break
+
                 #labels image
                 radius_text = 'radius:%s' % (radius)
                 coordinate_text = 'x:%s y:%s ' % (center_mass_x, center_mass_y)
@@ -134,5 +127,4 @@ def process(img, camera, frame_cnt, color_profile):
     bottom_center = (FRAME_WIDTH // 2, 0)
     cv2.line(original_img, top_center, bottom_center, colors.WHITE, 4)
 
-    tracking_data = sorted(tracking_data, key = lambda i: i['dist'])
     return original_img, tracking_data

processing/bay_tracker.py

@@ -81,16 +81,8 @@ def process(img, camera, frame_cnt, color_profile):
                         angle=angle,
                         xpos=center_mass_x,
                         ypos=center_mass_y)
-
-                if len(tracking_data) == 0:
-                    tracking_data.append(data)
-                else:
-                    for target in tracking_data:
-                        if distance < target["dist"]:
-                            tracking_data.insert(tracking_data.index(target), data)
-                            break
-
-
+
+                tracking_data.append(data)
 
                 vertices_text = 'vertices:%s' % (num_vertices)
                 coordinate_text = 'x:%s y:%s ' % (center_mass_x, center_mass_y)

processing/port_tracker.py

@@ -83,14 +83,8 @@ def process(img, camera, frame_cnt, color_profile):
                         xpos=center_mass_x,
                         ypos=center_mass_y)
 
-                if(not tracking_data):
-                    tracking_data.append(data)
-                else:
-                    for target in tracking_data:
-                        if(distance < target["dist"]):
-                            tracking_data.insert(tracking_data.index(target), data)
-                            break
-
+                tracking_data.append(data)
+
                 num_vertices = shape_util.find_vertices(contour)
                 vertices_text = 'vertices:%s' % (num_vertices)
                 coordinate_text = 'x:%s y:%s ' % (center_mass_x, center_mass_y)