Bug/load file to main

findTargetS.py

@@ -29,7 +29,7 @@ def findValids(img_orig, filename, debug):
     # Make copy of frame/image to work with
     img = np.copy(img_orig)
 
-    # Load calibration parameters
+    # LOADING CALIBRATION FROM FILE -- TO FIX -- THIS IS A TEXT FILE
     values = np.load(filename)
     brightness = float(values['brightness'])
     lower_bound = values['lower']

mainSimple.py

@@ -9,87 +9,94 @@
 import NetworkTableModule as NT
 import cv2
 import time
-
-directory = 'C:/Users/Ithier/Documents/FIRST/2017/Off Season/'
-filename = directory + 'imageValues.npz' # folder npz file is in. NPZ file contains hsv values and brightness value
-url = 0
-debug = 1
-validCount = 0 # how many valid targets we've found
-n = 0
-freqFramesNT = 10 # how often we're sending to network tables
-
-#############################################################################
 from networktables import NetworkTable
 import logging
+import numpy as np
+import sys
+
+url = 0             # CAMERA ADDRESS, 0 is local on Windows
+debug = 1           # debug level
+validCount = 0      # how many valid targets we've found
+n = 0               # iterator
+freqFramesNT = 10   # send to NetworkTables every X frames
 
-#if NetworkTable._staticProvider is None:
-try:
-    logging.basicConfig(level=logging.DEBUG)
-    NetworkTable.setIPAddress('10.5.1.2')
-    NetworkTable.setClientMode()
-    NetworkTable.initialize()
-except:
-    if debug == 1:
-        print("Network tables has already been initialized")
+logging.basicConfig(level=logging.DEBUG)
 
+def load_npz_file():
+    """
+    loads npz file (camera calibration)
+    returns float,int,int
+    """
+    filename = "imageValues.npz" # folder npz file is in. NPZ file contains hsv values and brightness value
+    values = np.load(filename)
+    brightness = float(values['brightness'])
+    lower_bound = values['lower']
+    upper_bound = values['upper']
+    return brightness,lower_bound,upper_bound
 
-sd = NetworkTable.getTable("Camera")
-#############################################################################
-cap = cv2.VideoCapture(url) # capture camera, 0 is laptop cam, numbers after that are cameras attached
-time.sleep(2)
-# Check to make sure cap was initialized in capture
-if debug:
-    if cap.isOpened():
-        print('Cap succesfully opened')
-        print(cap.grab())
-    else:
-        print('Cap initialization failed')
-
-    # Create resizable window for camera 
-    cv2.namedWindow('Camera Frame', cv2.WINDOW_NORMAL)
+def init_network_tables():
+    try:
+        NetworkTable.setIPAddress('10.5.1.2')
+        NetworkTable.setClientMode()
+        NetworkTable.initialize()
+        sd = NetworkTable.getTable("Camera")
+    except:
+        if debug == 1:
+            print("Unable to initialize NetworkTables, exiting.")
+            with open("vision_error.log", "w") as text_file:
+                text_file.write("unable to initialize networktables. exited.")
+        sys.exit()
+    return sd
 
-while(cap.isOpened()):
-    # Capture frame-by-frame
-    #    ret returns true or false (T if img read correctly); frame is array of img    
+def init_capture():
+    cap = cv2.VideoCapture(url) # capture camera, 0 is laptop cam, numbers after that are cameras attached
+    time.sleep(2)
+    # Check to make sure cap was initialized in capture
+    if debug:
+        if cap.isOpened():
+            print('Capture Initialized.')
+        else:
+            print('Capture Failed.')
+
+    while(cap.isOpened()):
     ret, frame = cap.read()
-
     if ret == True: # if frame succesfully read
         if frame is None: # if no frame print a blank image
             if debug:
                 print('Frame is None')
                 Processed_frame = cv2.imread('1.png', 1)
                 mask = Processed_frame
-    
+
         else:
             try:
                 # Process image
                 Angle, Distance, validUpdate, Processed_frame, mask, cnt = FT.findValids(frame, filename, debug)
-            
-                if validUpdate: 
+
+                if validUpdate:
                     validCount += 1
-                
+
                 if n > freqFramesNT:
                     # Send to NetworkTable
                     NT.sendValues(sd, Angle, Distance, validCount)
                     n = 0
                 else:
                     n += 1
-                
+
             except:
                 Processed_frame = cv2.imread('1.jpg', 1)
                 mask = Processed_frame
                 if debug:
                     print('There was an error with findValids')
-    
-    if debug:    
+
+    #if debug:
         # Display the resulting frame
-        cv2.imshow('Camera Frame', Processed_frame)
-        cv2.imshow('Mask', mask)
-    
-        if cv2.waitKey(5) & 0xFF == ord('q'):
-            break
-    
+    #    cv2.imshow('Camera Frame', Processed_frame)
+    #    cv2.imshow('Mask', mask)
+
+     #   if cv2.waitKey(5) & 0xFF == ord('q'):
+     #       break
+
 # When capture done, release it
 cap.release() # !! important to do
-if debug:
-    cv2.destroyAllWindows()
+#if debug:
+ #   cv2.destroyAllWindows()