solving several problems with pibot api

src/drivers/PiBot/JdeRobotKids.yml

@@ -1,5 +1,5 @@
 JdeRobotKids:
-    Robot: gazebo  #pibot, mbot or gazebo
+    Robot: pibot  #pibot, mbot or gazebo
 
     Real:
         Port: /dev/ttyUSB0
@@ -30,4 +30,4 @@ JdeRobotKids:
             Server: 1 # 0 -> Deactivate, 1 -> Ice , 2 -> ROS
             Proxy: "irRight:default -h localhost -p 8992"
             Format: RGB8
-
+

src/drivers/PiBot/gazebo/piBot.py

@@ -6,6 +6,20 @@
 import comm
 import config
 import cv2
+import imutils
+
+GREEN_MIN = numpy.array([20, 50, 100],numpy.uint8)#numpy.array([48, 138, 138],numpy.uint8)
+GREEN_MAX = numpy.array([90, 235, 210],numpy.uint8)#numpy.array([67, 177, 192],numpy.uint8)
+
+BLUE_MIN = numpy.array([0, 255, 85],numpy.uint8)#numpy.array([104, 200, 42],numpy.uint8)
+BLUE_MAX = numpy.array([179, 255, 255],numpy.uint8)#numpy.array([179, 255, 255],numpy.uint8)
+
+RED_MIN = numpy.array([163, 209, 30],numpy.uint8)#numpy.array([48, 138, 138],numpy.uint8)
+RED_MAX = numpy.array([179, 255, 255],numpy.uint8)#numpy.array([67, 177, 192],numpy.uint8)
+
+ORANGE_MIN = numpy.array([0, 123, 165],numpy.uint8)#numpy.array([48, 138, 138],numpy.uint8)
+ORANGE_MAX = numpy.array([179, 255, 255],numpy.uint8)#numpy.array([67, 177, 192],numpy.uint8)
+
 
 class PiBot:
 
@@ -95,8 +109,11 @@ def dameImagen(self):
         Función que muestra la imagen percibida por la camara
         '''
         img = self.camera.getImage().data
-        cv2.imshow("img", img)
-        cv2.waitKey(0)
+        img = imutils.resize(img, width=400)
+
+        return img
+        #cv2.imshow("img", img)
+        #cv2.waitKey(0)
 
     def leerIRSigueLineas(self):
         '''
@@ -127,6 +144,50 @@ def leerUltrasonido(self):
         value = self.us.getSonarData().range
         return value
 
+    def dameObjeto(self, lower=ORANGE_MIN, upper=ORANGE_MAX, showImageFiltered=False):
+
+        image = self.dameImagen()
+         # convert to the HSV color space
+        hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
+
+        # construct a mask for the color specified
+        # then perform a series of dilations and erosions
+        # to remove any small blobs left in the mask
+        mask = cv2.inRange(hsv, lower, upper)
+        mask = cv2.erode(mask, None, iterations=2)
+        mask = cv2.dilate(mask, None, iterations=2)
+
+        # find contours in the mask and
+        # initialize the current center
+        cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
+        center = None
+        area = None
+
+        # only proceed if at least one contour was found
+        if len(cnts) > 0:
+        # find the largest contour in the mask, then use
+        # it to compute the minimum enclosing circle and
+        # centroid
+            c = max(cnts, key=cv2.contourArea)
+            ((x, y), radius) = cv2.minEnclosingCircle(c)
+            M = cv2.moments(c)
+            center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
+            area = M["m00"]
+
+            # only proceed if the radius meets a minimum size
+            if radius > 10:
+                # draw the circle border
+                cv2.circle(image, (int(x), int(y)), int(radius), (0, 255, 0), 2)
+
+                # and the centroid
+                cv2.circle(image, center, 5, (0, 255, 255), -1)
+
+        if showImageFiltered:
+            # Control waitKey from outside, only for local executions, not jupyter.
+            cv2.imshow("image_filtered", image)
+
+        return center, area
+
     def quienSoy(self):
         print ("Yo soy un robot simulado PiBot")
 

src/drivers/PiBot/real/piBot.py

@@ -1,13 +1,14 @@
 # -*- coding: utf-8 -*-
-from JdeRobotKids import JdeRobotKids
-import Ice
+from jderobot_interfaces import JdeRobotKids
 import numpy
 import threading
 import sys
-import comm
-import config
+import jderobot_config
 import progeo
 
+from imutils.video import VideoStream
+import imutils
+
 class PiBot:
 
 	'''
@@ -26,9 +27,9 @@ def __init__(self, camara):
 		self._tipo = "PiBot"
 		self._dit = pigpio.pi()
 		self._frame = None
-		if camara == "PiCam"
+		if camara == "PiCam":
 			self._videostream = VideoStream(usePiCamera=True).start()
-		else
+		else:
 			self._videostream = VideoStream(usePiCamera=False).start()
 		'''
 		props = Ice.createProperties()
@@ -251,14 +252,15 @@ def leerUltrasonido(self): #devuelve la distancia a un objeto en metros
 		elapsed = stop - start
 
 		return (elapsed * 343) / 2
-
-    def dameImagen (self):
-        self._frame = self._videostream.read()
-        self._frame = imutils.resize(self._frame, width=400)
-        return self._frame
-
-    def mostrarImagen (self):
-        cv2.imshow("Imagen", self._frame)
+
+	def dameImagen (self):
+		self._frame = self._videostream.read()
+		self._frame = imutils.resize(self._frame, width=400)
+
+		return self._frame
+
+	def mostrarImagen (self):
+		cv2.imshow("Imagen", self._frame)
 
 	def damePosicionDeObjetoDeColor():
 		'''
@@ -291,6 +293,7 @@ def damePosicionDeObjetoDeColor():
 			((x, y), radius) = cv2.minEnclosingCircle(c)
 			M = cv2.moments(c)
 			center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
+			area = M["m00"]
 
 			# only proceed if the radius meets a minimum size
 			if radius > 10:
@@ -300,7 +303,7 @@ def damePosicionDeObjetoDeColor():
 				# and the centroid
 				cv2.circle(image, center, 5, (0, 255, 255), -1)
 
-		return center
+		return center, area
 
 	def dameSonarVisual ():
 		'''

src/drivers/PiBot/real/progeo.py

@@ -1,3 +1,4 @@
+# -*- coding: utf-8 -*-
 import numpy
 
 DEBUG = 1