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# A Fuzzy Logic PTZ Vision Tracker
# Uses Python-integrated Vision System
from pyrobot.brain.fuzzy import *
from pyrobot.brain.behaviors import *
class BBB(BehaviorBasedBrain):
def destroy(self):
print "robot=", self.robot
self.removeDevice("ptz0")
class Track(Behavior):
def setup(self):
# assumes that a camera device is already running!
# we don't put it here, so that you can load whatever
# type of camera you want: fake, blob, v4l, etc.
self.camera = self.robot.camera[0]
self.camWidth = self.camera.width
self.camHeight = self.camera.height
def update(self):
# match a reddish color:
self.camera.apply("match", 144, 78, 76)
# super color red:
self.camera.apply("superColor", 1, -1, -1, 0, 128)
# blobify all red:
blob = self.camera.apply("blobify", 0, 255, 255, 0, 1, 1, 1)[0]
# returns x1, y1, x2, y2, area
if blob[4] > 200:
cx = (blob[0] + blob[2]) / 2
cy = (blob[1] + blob[3]) / 2
self.IF(Fuzzy(0, self.camWidth ) << cx, 'pan', 5.0, "pan left")
self.IF(Fuzzy(0, self.camWidth ) >> cx, 'pan', -5.0, "pan right")
self.IF(Fuzzy(0, self.camHeight ) << cy, 'tilt',-5.0, "tilt down")
self.IF(Fuzzy(0, self.camHeight ) >> cy, 'tilt', 5.0, "tilt up")
class MyState(State):
def setup(self):
self.add(Track(1, {'pan': 1, 'tilt': 1}))
def INIT(engine):
ptz = engine.robot.startDevice("ptz");
brain = BBB({'pan' : ptz.panRel,
'tilt': ptz.tiltRel,
'update' : engine.robot.update },
engine)
brain.add(MyState(1)) # make it active
return brain |
