wip #71

Author: previ

camera.py

@@ -94,12 +94,19 @@ def __init__(self):
             self._cnn_classifier_default = self._cnn_classifiers[cnn_model]
 
         self._camera.grab_start()
+        self._image_cv = self.get_image()
 
         super(Camera, self).__init__()
 
     def get_image(self):
         return image.Image(self._camera.get_image_bgr())
 
+    def get_image_cv_jpeg(self):
+        return self._image_cv.to_jpeg()
+
+    def set_image_cv(self, image):
+        self._image_cv = image
+
     def get_image_jpeg(self):
         return self._camera.get_image_jpeg()
 
@@ -218,20 +225,27 @@ def get_average(self):
         return avg
 
     def find_line(self):
-        img = self.get_image().binarize()
+        avg = self.get_image().get_average()
+        img = self.get_image().binarize(int((avg[0]+avg[2])/2))
+        img = img.erode().dilate()
         slices = [0,0,0]
         blobs = [0,0,0]
         slices[0] = img.crop(0, int(self._camera.out_rgb_resolution[1]/1.2), self._camera.out_rgb_resolution[0], self._camera.out_rgb_resolution[1])
         slices[1] = img.crop(0, int(self._camera.out_rgb_resolution[1]/1.5), self._camera.out_rgb_resolution[0], int(self._camera.out_rgb_resolution[1]/1.2))
         slices[2] = img.crop(0, int(self._camera.out_rgb_resolution[1]/2.0), self._camera.out_rgb_resolution[0], int(self._camera.out_rgb_resolution[1]/1.5))
+        y_offset = [int(self._camera.out_rgb_resolution[1]/1.2),
+                    int(self._camera.out_rgb_resolution[1]/1.5),
+                    int(self._camera.out_rgb_resolution[1]/2.0)]
         coords = [-1, -1, -1]
         for idx, slice in enumerate(slices):
-            blobs[idx] = slice.find_blobs(minsize=480/(self._cv_image_factor * self._cv_image_factor), maxsize=6400/(self._cv_image_factor * self._cv_image_factor))
+            blobs[idx] = slice.find_blobs(minsize=2000/(self._cv_image_factor * self._cv_image_factor), maxsize=8000/(self._cv_image_factor * self._cv_image_factor))
             if len(blobs[idx]):
                 coords[idx] = (blobs[idx][0].center[0] * 100) / self._camera.out_rgb_resolution[0]
-                logging.info("line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area()))
-
-        return coords[0]
+                #logging.info("line coord: " + str(idx) + " " +  str(coords[idx])+ " area: " + str(blobs[idx][0].area()))
+                blob = blobs[idx][0]
+                img.draw_rect(blob.left, y_offset[idx] + blob.top, blob.right, y_offset[idx] + blob.bottom, (0,255,0), 5) 
+        self.set_image_cv(img)
+        return coords
 
     def find_signal(self):
         angle = None

cnn_manager.py

@@ -130,7 +130,7 @@ def run(self):
             self.manager.save_model_status(self.model_name, self.architecture, 0)
             image_dir = self.prepare_images()
             logging.info("retrain")
-            self.trainer.retrain(image_dir, MODEL_PATH + "/" + self.model_name, self.training_steps, self.learning_rate)
+            self.trainer.retrain(image_dir, MODEL_PATH + "/" + self.model_name, self.training_steps, self.learning_rate, flip_left_right=False, random_crop=0, random_scale=0)
             self.manager.save_model_status(self.model_name, self.architecture, 1)
             self.clear_filesystem()
             logging.info("finish")

coderbot.cfg

@@ -1 +1 @@
-{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "2000000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "harry_3_50", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "prog_move_mpu": "yes", "ctrl_fw_speed": "100", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}
+{"move_tr_speed": "85", "move_fw_elapse": "1", "camera_color_object_size_min": "4000", "camera_jpeg_bitrate": "2000000", "load_at_start": "", "move_tr_elapse": "0.5", "sound_stop": "$shutdown.mp3", "show_control_move_commands": "true", "prog_level": "adv", "prog_scrollbars": "true", "move_fw_speed": "100", "camera_color_object_size_max": "160000", "sound_shutter": "$shutter.mp3", "show_page_prefs": "true", "cv_image_factor": "2", "ctrl_hud_image": "", "button_func": "none", "ctrl_fw_elapse": "-1", "ctrl_tr_elapse": "-1", "move_power_angle_2": "60", "move_power_angle_3": "60", "camera_path_object_size_max": "160000", "move_motor_trim": "1", "camera_path_object_size_min": "4000", "cnn_default_model": "harry_3_50", "show_page_program": "true", "sound_start": "$startup.mp3", "camera_exposure_mode": "auto", "ctrl_tr_speed": "80", "ctrl_fw_speed": "100", "camera_jpeg_quality": "20", "prog_maxblocks": "-1", "camera_framerate": "30", "move_motor_mode": "dc", "move_power_angle_1": "45", "show_page_control": "true"}