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vision.py
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vision.py
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import cv2
import numpy as np
from cscore import CameraServer
from networktables import NetworkTables
from grip import GripPipeline
HORIZONTAL_RES = 1280 // 2
VERTICAL_RES = 720 // 2
def extra_process(cnt):
x, y, w, h = cv2.boundingRect(cnt)
center_x = x + w / 2
center_y = y + h / 2
rect = cv2.minAreaRect(cnt)
angle = rect[-1]
width = rect[1][0]
height = rect[1][1]
if width < height:
angle += 90
table = NetworkTables.getTable('LiveWindow/Vision')
table.putNumber('x', center_x)
table.putNumber('y', center_y)
table.putNumber('angle', angle)
def main():
cs = CameraServer.getInstance()
cs.enableLogging()
camera = cs.startAutomaticCapture()
camera.setResolution(HORIZONTAL_RES, VERTICAL_RES)
NetworkTables.initialize(server='10.56.54.2')
pipeline = GripPipeline()
cvSink = cs.getVideo()
outputStream = cs.putVideo('Shooter', HORIZONTAL_RES, VERTICAL_RES)
img = np.zeros(shape=(VERTICAL_RES, HORIZONTAL_RES, 3), dtype=np.uint8)
while True:
time, img = cvSink.grabFrame(img)
if time == 0:
outputStream.notifyError(cvSink.getError())
continue
pipeline.process(img)
if len(pipeline.find_contours_output) > 0:
extra_process(max(pipeline.find_contours_output,
key=cv2.contourArea))
outputStream.putFrame(pipeline.find_contours_image)