image average data

Author: previ

camera.py

@@ -197,7 +197,13 @@ def exit(self):
   def calibrate(self):
     img = self._camera.getImage()
     self._background = img.hueHistogram()[-1]
-        
+  
+  def get_average(self):
+    self._image_lock.acquire()
+    avg = self.get_image(0).get_average()
+    self._image_lock.release()
+    return avg
+      
   def find_line(self):
     self._image_lock.acquire()
     img = self.get_image(0).binarize()

data/program_img_average_test.data

@@ -0,0 +1 @@
+{"dom_code": "<xml xmlns=\"http://www.w3.org/1999/xhtml\"><block type=\"controls_whileUntil\" x=\"9\" y=\"103\"><field name=\"MODE\">WHILE</field><value name=\"BOOL\"><block type=\"logic_boolean\"><field name=\"BOOL\">TRUE</field></block></value><statement name=\"DO\"><block type=\"text_print\"><value name=\"TEXT\"><block type=\"coderbot_cam_average\"><field name=\"RETVAL\">V</field></block></value></block></statement></block></xml>", "code": "while True:\n  get_prog_eng().check_end()\n  get_cam().set_text(get_cam().get_average()[2])\n", "name": "img_average_test"}

static/js/blockly/blocks.js

@@ -574,6 +574,34 @@ Blockly.Python['coderbot_adv_findColor'] = function(block) {
   return [code, Blockly.Python.ORDER_ATOMIC];
 };
 
+Blockly.Blocks['coderbot_cam_average'] = {
+  /**
+   * Block for image.get_average() function.
+   * @this Blockly.Block
+   */
+  init: function() {
+    this.setHelpUrl(Blockly.Msg.LOGIC_BOOLEAN_HELPURL);
+    this.setColour(290);
+    this.appendDummyInput()
+        .appendField(Blockly.Msg.CODERBOT_SENSOR_AVERAGE)
+        .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_SENSOR_AVERAGE_HUE, 'H'], 
+                                                [Blockly.Msg.CODERBOT_SENSOR_AVERAGE_SATURATION, 'S'],
+                                                [Blockly.Msg.CODERBOT_SENSOR_AVERAGE_VALUE, 'V'],
+                                                [Blockly.Msg.CODERBOT_SENSOR_AVERAGE_ALL,'ALL']]), 'RETVAL')
+    this.setInputsInline(true);
+    this.setOutput(true, ['Number', 'Array']);
+    this.setTooltip(Blockly.Msg.LOGIC_BOOLEAN_TOOLTIP);
+  }
+};
+
+Blockly.Python['coderbot_cam_average'] = function(block) {
+  // Boolean values true and false.
+  var retval = block.getFieldValue('RETVAL');
+  var ret_code = {'H': '[0]', 'S': '[1]', 'V': '[2]', 'ALL': ''}[retval];
+  var code = 'get_cam().get_average()' + ret_code;
+  return [code, Blockly.Python.ORDER_ATOMIC];
+};
+
 Blockly.Blocks['coderbot_adv_findText'] = {
   /**
    * Block for findText function.

static/js/blockly/bot_en.js

@@ -45,6 +45,11 @@ Blockly.Msg.CODERBOT_SENSOR_FINDFACE_Y = "y coord";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_SIZE = "size";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_ALL = "x, y, size (as list)";
 Blockly.Msg.CODERBOT_SENSOR_FINDLOGO = "find logo";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE = "get image average";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_HUE = "Hue";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_SATURATION = "Saturation";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_VALUE = "Value (brightness)";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_ALL = "HSV (as list)";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_FIND = "find text of kind";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_ACCEPT_ALPHA = "Alpha (A..Z)";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_ACCEPT_NUM = "Numeric (0..9)";

static/js/blockly/bot_fr.js

@@ -44,6 +44,11 @@ Blockly.Msg.CODERBOT_SENSOR_FINDFACE_X = "abscisse";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_Y = "ordonnée";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_SIZE = "taille";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_ALL = "x, y, taille (sous forme de liste)";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE = "get image average";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_HUE = "Hue";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_SATURATION = "Saturation";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_VALUE = "Value (brightness)";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_ALL = "HSV (as list)";
 Blockly.Msg.CODERBOT_SENSOR_FINDLOGO = "trouve le logo";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_FIND = "find text of kind";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_ACCEPT_ALPHA = "Alpha (A..Z)";

static/js/blockly/bot_it.js

@@ -45,6 +45,11 @@ Blockly.Msg.CODERBOT_SENSOR_FINDFACE_Y = "y (ordinata)";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_SIZE = "dimensione";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_ALL = "x, y, dimensione (come lista)";
 Blockly.Msg.CODERBOT_SENSOR_FINDLOGO = "trova logo";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE = "valore medio immagine";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_HUE = "Tinta";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_SATURATION = "Saturazione";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_VALUE = "Luminosità";
+Blockly.Msg.CODERBOT_SENSOR_AVERAGE_ALL = "HSV (come lista)";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_FIND = "trova testo formato da";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_ACCEPT_ALPHA = "Lettere (A..Z)";
 Blockly.Msg.CODERBOT_SENSOR_FINDTEXT_ACCEPT_NUM = "Numeri (0..9)";

templates/blocks_adv.xml

@@ -232,6 +232,7 @@
       <block type="coderbot_camera_videoStop"></block>
     </category>
     <category name="{% trans %}Sensor{% endtrans %}" colour="290">
+      <block type="coderbot_cam_average"></block>
       <block type="coderbot_adv_pathAhead"></block>
       <block type="coderbot_adv_findLine"></block>
       <block type="coderbot_adv_findSignal"></block>

viz/camera.py

@@ -70,7 +70,6 @@ def video_stop(self):
 
     # pack in mp4 container
     params = " -fps 12 -add "  + self.video_filename + self.VIDEO_FILE_EXT_H264 + "  " + self.video_filename + self.VIDEO_FILE_EXT
-    #avconv_params = " -r 30 -i "  + self.video_filename + self.VIDEO_FILE_EXT_H264 + " -vcodec copy  " + self.video_filename + self.VIDEO_FILE_EXT
     os.system(self.FFMPEG_CMD + params)
     # remove h264 file
     os.remove(self.video_filename + self.VIDEO_FILE_EXT_H264)
@@ -88,34 +87,23 @@ def grab(self):
       self.camera._encoders[0] = self.jpeg_encoder
       self.camera._encoders[1] = self.rgb_encoder
 
-    #print "g.2: " + str(ts - time.time())
-    #ts = time.time()
-
     self.out_jpeg.seek(0)
     self.out_rgb.seek(0)
 
     self.jpeg_encoder.start(self.out_jpeg)
     self.rgb_encoder.start(self.out_rgb)
 
-    #print "g.3: " + str(ts - time.time())
-    #ts = time.time()
-
     if not self.jpeg_encoder.wait(10):
       raise picamera.PiCameraError('Timed out')
     if not self.rgb_encoder.wait(10):
       raise picamera.PiCameraError('Timed out')
 
-    #print "g.4: " + str(ts - time.time())
-    #ts = time.time()
-
     with self.camera._encoders_lock:
       del self.camera._encoders[0]
       del self.camera._encoders[1]
     self.jpeg_encoder.close()
     self.rgb_encoder.close()
 
-    #print "g.5: " + str(ts - time.time())
-
   def grab_start(self):
     logging.debug("grab_start")
 

viz/image.py

@@ -143,6 +143,14 @@ def binarize(self, threshold = -1):
         ret, data = cv2.threshold(data, threshold, 255, cv2.THRESH_BINARY_INV)
       return Image(data)
 
+    def get_average(self):
+      data = cv2.cvtColor(self._data, cv2.COLOR_BGR2HSV)
+      logging.info("shape: " + str(data.shape))
+      h = np.average(data[:,:,0])
+      s = np.average(data[:,:,1])
+      v = np.average(data[:,:,2])
+      return [h, s, v]
+
     def find_blobs(self, minsize=0, maxsize=10000000):
       blobs = []
       image = contours = hyerarchy = None