diff options
Diffstat (limited to 'virtual-programs')
| -rw-r--r-- | virtual-programs/camera.folk | 41 | ||||
| -rw-r--r-- | virtual-programs/tags-and-calibration.folk | 5 |
2 files changed, 25 insertions, 21 deletions
diff --git a/virtual-programs/camera.folk b/virtual-programs/camera.folk index 40950eb9..4075162c 100644 --- a/virtual-programs/camera.folk +++ b/virtual-programs/camera.folk @@ -1,33 +1,32 @@ if {$::isLaptop} return +namespace eval ::Camera { + variable WIDTH 1280 + variable HEIGHT 720 +} + On process { source pi/Camera.tcl # FIXME: do these in outer scope Camera::init 1280 720 puts "Camera tid: [getTid]" - set grayFrames [list] - while true { - # Hack: we free old images. Really this should be done on - # the main thread when it's actually done with them. - if {[llength $grayFrames] > 10} { - Camera::freeImage [lindex $grayFrames 0] - set grayFrames [lreplace $grayFrames 0 0] - } - set cameraTime [time { set grayFrame [Camera::grayFrame] }] - lappend grayFrames $grayFrame +} - Commit camera { - Claim the camera time is $cameraTime - Claim the camera frame is $grayFrame +On process { + Wish $::nodename receives statements like [list /someone/ claims the camera frame is /frame/] + + source pi/AprilTags.tcl + AprilTags::init + + When the camera frame is /frame/ { + set aprilTime [time { set tags [AprilTags::detect $frame] }] + Commit { + Claim the AprilTag time is $aprilTime + foreach tag $tags { + Claim tag [dict get $tag id] has center [dict get $tag center] size [dict get $tag size] + Claim tag [dict get $tag id] has corners [dict get $tag corners] + } } - Step } } - -# AprilTags::init - # foreach tag $tags { - # Claim tag [dict get $tag id] has center [dict get $tag center] size [dict get $tag size] - # Claim tag [dict get $tag id] has corners [dict get $tag corners] - # } - diff --git a/virtual-programs/tags-and-calibration.folk b/virtual-programs/tags-and-calibration.folk index d6c4fad7..36086099 100644 --- a/virtual-programs/tags-and-calibration.folk +++ b/virtual-programs/tags-and-calibration.folk @@ -2,6 +2,11 @@ Wish $this has filename "tags-and-calibration.folk" if {$::isLaptop} { return } +namespace eval ::Camera { + variable WIDTH 1280 + variable HEIGHT 720 +} + package require math::linearalgebra namespace import ::math::linearalgebra::add \ ::math::linearalgebra::sub \ |