drone image processing v1

Factory_Automation/Drone/positionTriangulator.py

@@ -12,6 +12,25 @@ class PositionTriangulator:
 
         return cls._instance
 
+    def extract_dark_regions(cls, original_image):
+        # Extract brightness channel from image
+        hsv_img = cv2.cvtColor(original_image, cv2.COLOR_BGR2HSV)
+
+        cls.log_image("h_image.jpg", hsv_img[:,:,0])
+        cls.log_image("S_image.jpg", hsv_img[:,:,1])
+        cls.log_image("v_image.jpg", hsv_img[:,:,2])
+        brightness_img = hsv_img[:,:,2]
+
+        # Average
+        brightness_img = cv2.boxFilter(brightness_img, -1, (3,3))
+
+        # mask
+        mask_darkness = cv2.inRange(brightness_img,0,80)
+        cls.log_image("dark_regions_mask.jpg", mask_darkness)
+
+        dark_regions_extracted = cv2.bitwise_and(original_image,original_image, mask = mask_darkness)
+        return dark_regions_extracted, mask_darkness
+
     def draw_contours(cls,original_image, copper_extracted_image):
         contours, _ = cv2.findContours(copper_extracted_image, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
         for contour in contours:
@@ -60,11 +79,17 @@ class PositionTriangulator:
     def determine_current_position(cls):
         # read for now
         #captured_image = cls.drone_camera.capture_image()
-        captured_image = cv2.imread("SnapshotTest1.jpg")
+        captured_image = cv2.imread("blackPoleImage.jpg")
         cls.log_image("captured_image.jpg", captured_image)
-        copper_extracted_image, mask_copper_image = cls.extract_copper_hue(captured_image)
+        dark_regions_masked_image,mask_dark = cls.extract_dark_regions(captured_image)
+        cls.log_image("dark_regions_extracted_image.jpg", dark_regions_masked_image)
+        copper_extracted_image, mask_copper = cls.extract_copper_hue(captured_image)
         cls.log_image("copper_extracted_image.jpg", copper_extracted_image)
-        contour_image = cls.draw_contours(captured_image,mask_copper_image)
+
+        # Combine copper and dark mask
+
+
+        contour_image = cls.draw_contours(captured_image,mask_copper)
         cls.log_image("contour_image.jpg", contour_image)
         circle_segmented_image = cls.extract_areas_of_interest(captured_image, contour_image)
         cls.log_image("circle_segmented_image.jpg", circle_segmented_image)

Factory_Automation/Mothership/Application/Core/baseGrid.py

@@ -2,21 +2,18 @@ import numpy as np
 import pickle
 def main():
     grid_matrix = [
-        [1,0,0,0,0,0,0,0,0,0,0,0,0,0,0],
-        [1,0,0,0,1,1,1,1,1,0,0,0,1,1,1],
-        [1,0,0,0,1,1,1,1,1,0,0,0,1,1,1],
-        [1,0,0,0,1,0,0,0,1,1,1,1,1,1,1],
-        [1,1,1,1,1,1,1,1,1,1,1,1,1,1,1],
-        [1,1,1,1,1,0,0,1,0,0,0,1,1,1,1],
-        [1,1,1,1,1,0,0,1,0,0,1,1,1,1,1],
-        [1,1,1,1,1,0,0,1,0,0,1,1,1,1,0],
-        [1,1,1,1,1,0,0,1,0,0,1,1,1,1,0],
-        [1,0,0,0,1,1,1,1,1,1,1,1,1,1,0]
+        [0,0,0,0,0,0,0],
+        [0,1,1,1,1,1,0],
+        [0,1,0,1,0,1,0],
+        [0,1,1,1,1,1,0],
+        [0,1,0,1,0,1,0],
+        [0,1,1,1,1,1,0],
+        [0,0,0,0,0,0,0]
     ]
 
     grid_array = np.array(grid_matrix)
 
-    np.save('Mothership/Application/Core/grid.npy', grid_array)
+    np.save('grid.npy', grid_array)
 
 if __name__ == "__main__":
     main()
\ No newline at end of file

Factory_Automation/Mothership/Application/Core/bleClientPi.py

@@ -22,15 +22,15 @@ class BLEClientPi:
     def send(cls, data):
         cls.bluetoothClient.send(data)
 
-    def send_command(cls, command):
+    def send_command(cls, command:DCE):
         # 100 ms delay to seperate commands
         sleep(0.1)
-        cls.bluetoothClient.send(command)
+        cls.bluetoothClient.send(command.get_name())
     
     def send_data(cls,data:str):
         # 100 ms delay to seperate commands
         sleep(0.1)
-        cls.bluetoothServer.send(data)
+        cls.bluetoothClient.send(data)
 
     def process_data(data):
         try:
@@ -47,26 +47,25 @@ class BLEClientPi:
     def connect(cls):
         try:
             cls.bluetoothClient = BluetoothClient("DC:A6:32:18:4C:22", cls.data_received)
-            cls.send_command(DCE.Clear_Queue.get_name())
+            cls.send_command(DCE.Clear_Queue)
             keypress = ""
+            keypress = input("Enter Command")
             while keypress.upper() != "Q":
-                keypress = input("Enter Command")
                 keypress = keypress.upper()
-                cls.send_command(keypress)
-            
-            #cls.send_command(DroneCommandEnum.W.get_name())
-            #cls.send_command(DroneCommandEnum.A.get_name())
-            #cls.send_command(DroneCommandEnum.S.get_name())
-            #cls.send_command(DroneCommandEnum.D.get_name())
+                cls.send_command(DCE.get_enum_by_name(keypress))
+                keypress = input("Enter Command")
+
+            cls.send_data(str(1))
+            cls.send_data(str(1))
+            cls.send_command(DCE.Move)
         finally:
             cls.bluetoothClient.disconnect()
 
 def main():
     bluetoothClient = BLEClientPi()
     bluetoothClient.connect()
-    bluetoothClient.send_data(str(1))
-    bluetoothClient.send_data(str(1))
-    bluetoothClient.send_command(DCE.Move)
+
+    
 
 if __name__ == "__main__":
     main()

Factory_Automation/Mothership/Application/Core/droneStatusEnum.py

@@ -4,7 +4,8 @@ class DroneStatusEnum(Enum):
     Location_Known = 2
     Moving = 3
     Stopped = 4
-    Unrecognized_Command = 5
+    Idle = 5
+    Unrecognized_Command = 6
 
     def get_name(self):
         status_names = {
@@ -12,6 +13,7 @@ class DroneStatusEnum(Enum):
         DroneStatusEnum.Location_Known: "Location_Known",
         DroneStatusEnum.Moving: "Moving",
         DroneStatusEnum.Stopped: "Stopped",
+        DroneStatusEnum.Idle: "Idle",
         DroneStatusEnum.Unrecognized_Command: "Unrecognized_Command"
         }
         return status_names[self]
@@ -22,6 +24,7 @@ class DroneStatusEnum(Enum):
         "Location_Known": DroneStatusEnum.Location_Known,
         "Moving": DroneStatusEnum.Moving,
         "Stopped": DroneStatusEnum.Stopped,
+        "Idle": DroneStatusEnum.Idle,
         "Unrecognized_Command": DroneStatusEnum.Unrecognized_Command
         }
         return status_names[name]