Race Code - PerformProcessingStage usage
These are the various stages of the PerformProcessingStage function available to Race.py.
Each stage is followed by an example of the output.
You can save images using the command SaveImage(image, title).
For example:
1 | SaveImage(someImage, 'saved-photo') |
will make a file called saved-photo.jpg in the /home/pi/formulapi/logs directory.
Be aware there are limits on how much data we will upload to the FTP after a race, it would be a bad idea to save lots of images each lap!
Grabbing the camera image (stage 0)
1 | image = GetLatestImage() |
Stage 1 - Get the minimums and maximums from an image
1 | rMin, rMax, gMin, gMax, bMin, bMax = PerformProcessingStage(1, image) |
Stage 2 - Crop the image
1 | image = PerformProcessingStage(2, image) |
Stage 3 - Auto brightness
1 | image = PerformProcessingStage(3, image) |
Stage 4 - Find black areas
1 | black = PerformProcessingStage(4, image) |
Stage 5 - Erode a channel to remove noise
1 | black = PerformProcessingStage(5, black) |
Stage 6 - Split the colour channels
1 | red, green, blue = PerformProcessingStage(6, image) |
Stage 7 - Auto level a channel
1 | red = PerformProcessingStage(7, (red, rMin, rMax, Settings.redGain)) |
Stage 8 - Get the maximum channel for each pixel
1 | maxImage = PerformProcessingStage(8, (red, green, blue)) |
Stage 9 - Exclude unwanted parts of each channel
1 | red = PerformProcessingStage(9, (red, maxImage, black)) |
This would usually be followed by an erosion (stage 5)
1 | red = PerformProcessingStage(5, red) |
Stage 10 - Merge channels to a single image to make them easy to see
1 | viewImage = PerformProcessingStage(10, (red, green, blue, black)) |
This is usually for viewing or logging benefit.
Typically image processing / analysis would work with the stage 9 images.
The full listing
Here is the whole sequence laid out in full, saving the results of each stage:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 | # Grab the imageimage = GetLatestImage()SaveImage(image, '00-raw')# Get range levels for laterrMin, rMax, gMin, gMax, bMin, bMax = PerformProcessingStage(1, image)print rMin, rMax, gMin, gMax, bMin, bMax# Crop the imageimage = PerformProcessingStage(2, image)SaveImage(image, '02-cropped')# Auto brightnessimage = PerformProcessingStage(3, image)SaveImage(image, '03-auto-bright')# Find black areasblack = PerformProcessingStage(4, image)SaveImage(black, '04-black-raw')# Erode the black areasblack = PerformProcessingStage(5, black)SaveImage(black, '05-black')# Split the coloursred, green, blue = PerformProcessingStage(6, image)SaveImage(red, '06-red-raw')SaveImage(green, '06-green-raw')SaveImage(blue, '06-blue-raw')# Auto level channelsred = PerformProcessingStage(7, (red, rMin, rMax, Settings.redGain))SaveImage(red, '07-red-leveled')green = PerformProcessingStage(7, (green, gMin, gMax, Settings.greenGain))SaveImage(green, '07-green-leveled')blue = PerformProcessingStage(7, (blue, bMin, bMax, Settings.blueGain))SaveImage(blue, '07-blue-leveled')# Get the maximumsmaxImage = PerformProcessingStage(8, (red, green, blue))SaveImage(maxImage, '08-max')# Exclude unwanted parts of each channelred = PerformProcessingStage(9, (red, maxImage, black))SaveImage(red, '09a-red-section')green = PerformProcessingStage(9, (green, maxImage, black))SaveImage(green, '09a-green-section')blue = PerformProcessingStage(9, (blue, maxImage, black))SaveImage(blue, '09a-blue-section')# Erode the channelsred = PerformProcessingStage(5, red)SaveImage(red, '09b-red')green = PerformProcessingStage(5, green)SaveImage(green, '09b-green')blue = PerformProcessingStage(5, blue)SaveImage(blue, '09b-blue')# Merge channels to a single image to make them easy to seeviewImage = PerformProcessingStage(10, (red, green, blue, black))SaveImage(viewImage, '10-final-view') |
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