- improved lasertrack

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@331 b431acfa-c32f-4a4a-93f1-934dc6c82436

lasertrack.py

@@ -47,6 +47,14 @@ class MyRgbProcess(RgbProcess):
 	def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None, brick=None):
 		super(MyRgbProcess, self).__init__(name, resolution, numEntries, next)
 		self.brick = brick
+		self.isVisible = False
+
+	def sendBrick(self, errorX, errorY):
+		if self.brick is not None:
+			data = struct.pack("f", errorX)
+			ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
+			data = struct.pack("f", errorY)
+			ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
 
 	def process(self):
 		data = self.read(1.0)
@@ -61,16 +69,19 @@ class MyRgbProcess(RgbProcess):
 				x = maxLoc[0]
 				y = maxLoc[1]
 				if maxVal > 100*minVal:
+					if not self.isVisible:
+						print ("Visible")
+					self.isVisible = True
 					img1_objects = cv2.rectangle(img1_objects,(x-5,y-5),(x+5,y+5),(0,0,255),2)
-					print(maxLoc)
+					errorX = float(x)-160
-					if self.brick is not None:
+					errorY = float(y)-120
-						error = float(x)-160
+					self.sendBrick(errorX/2, errorY/2)
-						data = struct.pack("f", error/2)
+#					print(maxLoc)
-						ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
+				else:
-						error = float(y)-120
+					if self.isVisible:
-						data = struct.pack("f", error/2)
+						print ("NOT Visible")
-						ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
+						self.sendBrick(0, 0)
-
+					self.isVisible = False
 			else:
 				# Contour approach
 				gray_blurred = cv2.GaussianBlur(gray,(5,5),0)