main.py

#!/usr/bin/env python2

import sys
import cv2
from processor import Processor
from processor import FPS
from processor import VideoHandler
from threadedtcpserver import ConnectionThread

if __name__ == '__main__':

    # -- Flags --
    # Second argument is always debug, third graphical if applicable
    if len(sys.argv) == 3:
        if sys.argv[1] == "True":
            debug = True
        else: 
            debug = False
        if sys.argv[2] == "True":
            graphical  = True
        else:
            graphical  = False

    else:
        debug = True
        graphical = True


    if graphical:
        goalwinname = "NetCam"
        pyramidwinname = "UsbCam"
        cv2.namedWindow(goalwinname)
        cv2.namedWindow(pyramidwinname)

    processor = Processor()
    frisbeecamera = VideoHandler("http://10.29.45.11/mjpg/video.mjpg") 
    climbingcamera = VideoHandler(0)
    fps = FPS()
    connThread = ConnectionThread() # The tcp server is threaded
    # becasue waiting for a connection is blocking

    # Trackbars to find best hsv min/max values
    if debug and graphical:
        cv2.createTrackbar("H-Min", goalwinname, processor.t_huemin, 255, processor.huemin )
        cv2.createTrackbar("S-Min", goalwinname, processor.t_saturationmin, 255, processor.saturationmin )
        cv2.createTrackbar("V-Min", goalwinname, processor.t_valuemin, 255, processor.valuemin )

        cv2.createTrackbar("H-Max", goalwinname, processor.t_huemax, 255, processor.huemax )
        cv2.createTrackbar("S-Max", goalwinname, processor.t_saturationmax, 255, processor.saturationmax )
        cv2.createTrackbar("V-Max", goalwinname, processor.t_valuemax, 255, processor.valuemax )



    connThread.start()
    while True:

        if frisbeecamera.captureenabled:
            goalimg = frisbeecamera.get_img()
            processedgoalimg, goalnum = processor.find_squares(goalimg, debug, graphical)
            if graphical:
                cv2.imshow(goalwinname, processedgoalimg)

        if climbingcamera.captureenabled:
            pyramidimg = climbingcamera.get_img()
            processedpyramidimg, pyramidnum = processor.find_squares(pyramidimg, debug, graphical)
            if graphical:
                cv2.imshow(pyramidwinname, processedpyramidimg)

        # The processor thread sets the distance; connThread reads
        connThread.distance = processor.distance


        print fps.determineFPS()

        cv2.waitKey(30)