git-svn-id: http://newslabx.csie.ntu.edu.tw/svn/Ginger@24 5747cdd2-2146-426f-b2b0-0570f90b98ed

trunk/code/readGridEye.py

@@ -1,4 +1,3 @@
-import cv2
 import serial
 import threading
 import time
@@ -154,6 +153,7 @@ if __name__ == '__main__':
             distanceSensor.lock.release()
             grideye2.lock.release()
             grideye.lock.release()
+            p = np.zeros((16,16), np.uint16)
             
             img = (np.array(frame.data)-15)*10
             img = cv2.resize(img.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_CUBIC) # INTER_LINEAR, INTER_CUBIC
@@ -179,8 +179,12 @@ if __name__ == '__main__':
             out[:SIZE, :SIZE] = img
             out[:SIZE, SIZE:] = img2
             
-            
-            overlap = int(SIZE - (distanceBetweenSensors / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
+            try:
+                overlap = int(SIZE - (distanceBetweenSensors / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
+            except:
+                overlap = 0
+            if overlap < 0:
+                overlap = 0
             offset = int(overlap/2)
             # tmp = cv2.resize(img.astype(np.uint8), (SIZE*2-overlap, SIZE))
             # tmp.astype(np.uint16)
@@ -222,7 +226,20 @@ if __name__ == '__main__':
             # out[SIZE*2:, SIZE+offset:SIZE+(SIZE-overlap2)+offset] = img2[:,overlap2:SIZE]
             out = out.astype(np.uint8)
             
+            img = (np.array(frame.data)-15)*10
+            img = img.astype(np.uint8)
+            img2 = (np.array(frame2.data)-15)*10
+            img2 = img2.astype(np.uint8)
+            p = np.zeros((8,16), np.uint8)
+            for i in range(16):
+                if i%2 == 0:
+                    p[:,i] = img[:,int(i/2)]
+                else:
+                    p[:,i] = img2[:,int(i/2)]
+            p = cv2.resize(p, (SIZE,SIZE), interpolation = cv2.INTER_CUBIC)
+            
             cv2.imshow('sample', out)
+            cv2.imshow('p', p)
             videoWriter.write(cv2.cvtColor(out,cv2.COLOR_GRAY2BGR))
             key = cv2.waitKey(1)
             if key == ord('q'):