Merge pull request #231 from seth10/patch-1

Update black_grayscale_line_following.py
This commit is contained in:
Ibrahim Abd Elkader 2017-05-23 18:50:16 +02:00 committed by GitHub
commit 67bed5c2c3

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@ -20,9 +20,9 @@ GRAYSCALE_THRESHOLD = [(0, 64)]
# will then be averaged with different weights where the most weight is assigned
# to the roi near the bottom of the image and less to the next roi and so on.
ROIS = [ # [ROI, weight]
(0, 100, 160, 20, 0.7), # You'll need to tweak the weights for you app
(0, 050, 160, 20, 0.3), # depending on how your robot is setup.
(0, 000, 160, 20, 0.1)
(0, 100, 160, 20, 0.7), # You'll need to tweak the weights for your app
(0, 50, 160, 20, 0.3), # depending on how your robot is setup.
(0, 0, 160, 20, 0.1)
]
# Compute the weight divisor (we're computing this so you don't have to make weights add to 1).
@ -46,20 +46,15 @@ while(True):
for r in ROIS:
blobs = img.find_blobs(GRAYSCALE_THRESHOLD, roi=r[0:4], merge=True) # r[0:4] is roi tuple.
if blobs:
# Find the index of the blob with the most pixels.
most_pixels = 0
largest_blob = 0
for i in range(len(blobs)):
if blobs[i].pixels() > most_pixels:
most_pixels = blobs[i].pixels()
largest_blob = i
# Find the blob with the most pixels.
largest_blob = max(blobs, key=lambda b: b.pixels())
# Draw a rect around the blob.
img.draw_rectangle(blobs[largest_blob].rect())
img.draw_cross(blobs[largest_blob].cx(),
blobs[largest_blob].cy())
img.draw_rectangle(largest_blob.rect())
img.draw_cross(largest_blob.cx(),
largest_blob.cy())
centroid_sum += blobs[largest_blob].cx() * r[4] # r[4] is the roi weight.
centroid_sum += largest_blob.cx() * r[4] # r[4] is the roi weight.
center_pos = (centroid_sum / weight_sum) # Determine center of line.