- use ev3 brick

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@326 b431acfa-c32f-4a4a-93f1-934dc6c82436

lasertrack.py

@@ -82,8 +82,9 @@ class VideoSource(RgbProcessorAdapter):
 
 
 class MyRgbProcess(RgbProcess):
-	def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
+	def __init__(self, brick, resolution=(320, 240, 3), numEntries=2, next=None):
 		super(MyRgbProcess, self).__init__(resolution, numEntries, next)
+		self.brick = brick
 
 	def process(self):
 		data = self.read(1.0)
@@ -100,6 +101,13 @@ class MyRgbProcess(RgbProcess):
 				if maxVal > 100*minVal:
 					img1_objects = cv2.rectangle(img1_objects,(x-5,y-5),(x+5,y+5),(0,0,255),2)
 					print(maxLoc)
+					error = float(x)-160
+					data = struct.pack("f", error/2)
+					ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
+					error = float(y)-120
+					data = struct.pack("f", error/2)
+					ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
+
 			else:
 				# Contour approach
 				gray_blurred = cv2.GaussianBlur(gray,(5,5),0)
@@ -127,22 +135,19 @@ class MyRgbProcess(RgbProcess):
 				self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
 
 # Connect to brick
-#with ev3.EV3() as brick:
+with ev3.EV3() as brick:
 
-# created a *threaded *video stream, allow the camera sensor to warmup,
-# and start the FPS counter
+	videoSource = VideoSource(videoFile, (width,height,3), framerate)
+	proc = MyRgbProcess(brick, (240, 320, 3), 4)
+	videoSource.processorAdd(proc)
+	videoSource.start()
 
-videoSource = VideoSource(videoFile, (width,height,3), framerate)
-proc = MyRgbProcess((240, 320, 3), 4)
-videoSource.processorAdd(proc)
-videoSource.start()
+	print("[INFO] sampling THREADED frames from `" + videoFile + "` at " + str(framerate) + " frame/s")
+	time.sleep(seconds)
+	videoSource.stop()
+	proc.stop()
 
-print("[INFO] sampling THREADED frames from `" + videoFile + "` at " + str(framerate) + " frame/s")
-time.sleep(seconds)
-videoSource.stop()
-proc.stop()
-
-# do a bit of cleanup
-cv2.destroyAllWindows()
+	# do a bit of cleanup
+	cv2.destroyAllWindows()