Dec-16-2018, 01:13 PM
Hi, I am new to python and while I am learning I clean up my code.
I have learned a bit about classes and while I changed my (messy) code to work with classes an error occurred when starting the camera thread.
All help would be much appreciated.
I have learned a bit about classes and while I changed my (messy) code to work with classes an error occurred when starting the camera thread.
All help would be much appreciated.
from picamera.array import PiRGBArray
from picamera.array import PiRGBArray
from picamera import PiCamera
import time
import cv2
import tkinter as tk
import numpy as np
from PIL import Image
from PIL import ImageTk
from threading import Thread
class interface:
t = None
canvas = tk.Tk()
canvas.geometry("800x600")
canvas.title("Zelfrijdende auto interface")
b = tk.Label(canvas)
b.grid(row=0,column=1,rowspan=240,columnspan=320)
#upSB = tk.Scrollbar(canvas,orient= tk.HORIZONTAL)
#settings voor lijnherkenning
upSBlabel=tk.Label(canvas,text="kleur sterkte")
upSBlabel.grid(row=1,column=0,sticky='s')
#bovenste grijswaarde
upSBlabel2=tk.Label(canvas,text="upper grayscale")
upSBlabel2.grid(row=2,column=0,sticky='s')
upSB= tk.Scale(canvas, from_=0, to=255,orient=tk.HORIZONTAL)
upSB.grid(row=3,column=0,columnspan = 1,sticky='ew')
#laagste grijswaarde
downSBlabel=tk.Label(canvas,text="lower grayscale")
downSBlabel.grid(row=4,column=0,sticky='s')
downSB = tk.Scale(canvas,from_=0,to=255,orient= tk.HORIZONTAL)
downSB.grid(row=5,column=0,columnspan = 1,sticky='ew')
#detectie hoogte
detectionHlabel=tk.Label(canvas,text="Detection height")
detectionHlabel.grid(row=7,column=0,sticky='s')
detectionH = tk.Scale(canvas,from_=1,to=240,orient= tk.HORIZONTAL)
detectionH.grid(row=8,column=0,columnspan = 1,sticky='ew')
#detectie breedte
detectionW = tk.Scale(canvas,from_=1,to=160,orient= tk.HORIZONTAL)
detectionW.grid(row=10,column=0,columnspan = 1,sticky='ew')
detectionWlabel=tk.Label(canvas,text="Detection width")
detectionWlabel.grid(row=9,column=0,sticky='s')
#actie label
ACTION = "None"
ActionLabel1=tk.Label(canvas,text="Action:")
ActionLabel1.grid(row=0,column=322,sticky='nw')
ActionLabel=tk.Label(canvas,text=ACTION)
ActionLabel.grid(row=1,column=322,sticky='nw')
#preview systeem van de settings
checkedPreview = False
def changeDISPLAYmode ():
global checkedPreview
if(checkedPreview == True):
checkedPreview = False
else:
checkedPreview = True
showPreview = tk.Button(canvas,text="Preview",command=changeDISPLAYmode)
showPreview.grid(row=6,column=0)
def TAKEFOTO():
camera = PiCamera()
camera.resolution = (320, 240)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(320, 240))
# allow the camera to warmup
time.sleep(0.1)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="rgb", use_video_port=True):
image = frame.array
(rows,columns,layers) = image.shape
value = image.item(100,100,0)
image.setflags(write=1)
downValue = int(downSB.get())
upValue = int(upSB.get())
#get line intersections
leftIntersection = False
rightIntersection = False
for y in range (0,int(detectionW.get())):
dh = rows-detectionH.get()
x = int(int(columns/2)-y)
if(leftIntersection == False and image.item(dh,x,0) > downValue and image.item(dh,x,1) > downValue and image.item(dh,x,2) > downValue and image.item(dh,x,0) < upValue and image.item(dh,x,1) < upValue and image.item(dh,x,2) < upValue):
global dh
LEFTintersection = np.array([x,dh])
cv2.line(image,(LEFTintersection[0]-5,LEFTintersection[1]),(LEFTintersection[0]+5,LEFTintersection[1]),(255,255,255),5)
print("left_intersection")
leftIntersection = True
xSEARCHright = int(columns/2)+y
if(rightIntersection == False and image.item(dh,xSEARCHright,0) > downValue and image.item(dh,xSEARCHright,1) > downValue and image.item(dh,xSEARCHright,2) > downValue and image.item(dh,xSEARCHright,0) < upValue and image.item(dh,xSEARCHright,1) < upValue and image.item(dh,xSEARCHright,2) < upValue):
global dh
RIGHTintersection = np.array([xSEARCHright,dh])
cv2.line(image,(RIGHTintersection[0]-5,RIGHTintersection[1]),(RIGHTintersection[0]+5,RIGHTintersection[1]),(255,255,255),5)
print("right_intersection")
rightIntersection = True
image[dh,x] = [0,0,0]
image[dh,xSEARCHright] = [0,0,0]
#intersecties gevonden, nu actie bepalen
x = action()
action = x.decideAction(leftinter=LEFTintersection,rightinter=RIGHTintersection)
global ACTION
ACTION = action
if(checkedPreview == True):
cv2.rectangle(image,(0,0),(int(columns/2),80),(downValue,downValue,downValue),cv2.FILLED)
cv2.rectangle(image,(int(columns/2),0),(int(columns),80),(upValue,upValue,upValue),cv2.FILLED)
key = cv2.waitKey(1) & 0xFF
image = Image.fromarray(image)
image = ImageTk.PhotoImage(image)
b.configure(image = image)
b.image = image
rawCapture.truncate(0)
# if the `q` key was pressed, break from the loop
if key == ord("q"):
break
def startCamera():
t = Thread (target=interface().TAKEFOTO)
t.start()
def stopCamera():
t.join()
startCam = tk.Button(canvas,command=startCamera,text="START CAMERA")
startCam.grid(row=0,column=0)
canvas.mainloop()
class action:
def decideAction(leftinter,rightinter):
mid = leftinter[0]-rightinter[0]
if(mid>0):
action = "left"
if(mid<0):
action = "right"
return action
interface()Error:ERROR:
Exception in Tkinter callback
Traceback (most recent call last):
File "/usr/lib/python3.5/tkinter/__init__.py", line 1562, in __call__
return self.func(*args)
File "/home/pi/Desktop/zelfrijdendewagen/main.py", line 145, in startCamera
t = Thread (target=interface().TAKEFOTO)
NameError: name 'interface' is not defined