ip updated

codeezer · Aug 22, 2016 · ab4b646 · ab4b646
1 parent d9475c3
commit ab4b646
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Showing 2 changed files with 44 additions and 70 deletions.
diff --git a/main.py b/main.py
@@ -5,72 +5,46 @@
 
 def main():
 
-	#scaling factors
-	#sfx = 30.0/140.0
-	#sfy = 30.0/144.0
-
-	#scaling factors
-	sfx = 30.0/148.0
-	sfy = 30.0/144.0
-
-	y_off = 2/sfy
-
-	ball = np.array([])
-	robot1 = np.array([])
-	robot2 = np.array([])
-
-
-	'''
-	#get robot1 position
-	#(x1,y1,x2,y2,x,y,theta)
-	robot1 = track.video(1, 'red')
-	print(robot1)
-	print(sfx*robot1[0], sfy*robot1[1], sfx*robot1[2], sfy*robot1[3], sfx*robot1[4], sfy*robot1[5], robot1[6])
-	dx = robot1[2] - robot1[0]
-	dy = robot1[3] - robot1[1]
-	d = math.sqrt(pow(dx,2) + pow(dy,2))
-	da = math.sqrt(pow(sfx*dx,2) + pow(sfy*dy,2))
-	print(dx, dy, d, sfx*dx, sfy*dy, da)
-	print('\n')
-	#get robot2 position
-	#(x1,y1,x2,y2,x,y,theta)
-	#robot2 = track.video(1, 'green')
-	#print(robot2[6])
-	'''
-
-	#get ball's position
-	#(x,y,w,h)
-	ball = track.video(1, 'red')
-	#print(ball)
-	print(sfx*ball[0], sfy*ball[1], sfx*ball[2], sfy*ball[3])
-
-	time.sleep(5)
-	#get ball's position
-	#(x,y,w,h)
-	ball = track.video(1, 'red')
-	#print(ball)
-	print(sfx*ball[0], sfy*ball[1], sfx*ball[2], sfy*ball[3])
-
+    #scaling factors
+    #sfx = 30.0/140.0
+    #sfy = 30.0/144.0
+
+    #scaling factors
+    sfx = 30.0/152.0
+    sfy = 30.0/152.0
+
+    tfx = 68
+    tfy = 60
+
+    y_off = 2/sfy
+
+    ball = np.array([])
+    robot1 = np.array([])
+    robot2 = np.array([])
+
+    for i in range(100):
+    	ball = track.video(1,'red')
+    #print(ball)
+    	print(str(int(sfx*(ball[0]-tfx)))+','+str(int(sfy*(ball[1]-tfy))))
+
+    #ball = track.video(1,'red')
+    #print(ball)
+    #print(str(int(sfx*(ball[0]-tfx)))+','+str(int(sfy*(ball[1]-tfy))))
+
+    '''
+    #get ball's position
+    #(x,y,w,h)
+    ball = track.video(1, 'red')
+    #print(ball)
+    print(sfx*ball[0], sfy*ball[1], sfx*ball[2], sfy*ball[3])
+
+    time.sleep(5)
+    #get ball's position
+    #(x,y,w,h)
+    ball = track.video(1, 'red')
+    #print(ball)
+    print(sfx*ball[0], sfy*ball[1], sfx*ball[2], sfy*ball[3])
+    '''
 
-	#robot1 = track.video(1, 'red')
-	#print(robot1)
-	#print(sfx*(robot1[2]-robot1[0]))
-	#to track robot track.video(camera_no, color_name_in_string)
-	#returns numpy array of position and orientation of robot
-
-	'''
-	ROBOT1 = np.array([[]])
-	ROBOT2 = np.array([[]])
-	BALL = np.array([])
-
-	ROBOT1 = track.image('btt.jpg','blue')
-	ROBOT2 = track.image('btt.jpg','green')
-	BALL = track.image('btt.jpg','red')
-
-	print(ROBOT1)
-	print(ROBOT2)
-	print(BALL)
-	'''
-
 if __name__=='__main__':
 	main()
diff --git a/pd/track.py b/pd/track.py
@@ -29,7 +29,7 @@ def video(camera_no, color):
             cnt = contours[i]
             #cnt = cv2.convexHull(cnt)
             area = cv2.contourArea(cnt)
-            print(area)
+
             if area > 150:
                 M = cv2.moments(cnt)
                 cx = int(M['m10']/M['m00'])
@@ -64,7 +64,7 @@ def video(camera_no, color):
             #pass
 
 
-        cv2.imshow('img',mask)
+        #cv2.imshow('img',mask)
         k = cv2.waitKey(5) & 0xFF
         if k == 27:
             break
@@ -76,7 +76,7 @@ def process(frame,color):
 
     #cv2.imshow("frame",frame)
     frame = cv2.GaussianBlur(frame, (15, 15), 0)
-    frame = cv2.blur(frame,(5,5))
+    #frame = cv2.blur(frame,(5,5))
     #frame = cv2.medianBlur(frame, 5)
     #frame = cv2.bilateralFilter(frame,9,75,75)
 
@@ -127,5 +127,5 @@ def process(frame,color):
 
     # Bitwise-AND mask and original image
     #res = cv2.bitwise_and(frame,frame, mask= mask)
-    cv2.imshow('kaka',mask)
+    #cv2.imshow('kaka',mask)
     return mask