general_settings.py

import cv2
import numpy as np
import math
from enum import Enum, auto


class Team(Enum):
    RED = auto()
    BLUE = auto()


## CHANGE THIS VALUE FOR CHOOSING TEAM ##
TEAM = Team.BLUE


# Frame settings #
FRAME_SIZE_WIDTH = 240  # px
FRAME_SIZE_HEIGHT = 135  # px


# NetworkTables #
ROBO_RIO_ADDRESS = '10.33.24.49'


# camera settings #
# camera used: Microsoft Lifecam HD-3000 #
CAMERA_FOCAL_LENGTH = 456 # px

CAMERA_VIEW_ANGLE_HOR = 60
CAMERA_HEIGTH_ON_GROUND = 0.794
TAPE_CAMERA_ANGLE_ON_GROUND = math.radians(52.8)


# dimensions of field parts 
TAPE_ACTUAL_WIDTH = 0.127 #meters
HUB_ACTUAL_HEIGHT = 2.64 #meters




class BlueTeamBall:
    threshold_hue = [92, 119]
    threshold_saturation = [124, 255]
    threshold_value = [37, 255]


class RedTeamBall:
    threshold_hue = [162, 180]
    threshold_saturation = [83, 255]
    threshold_value = [112, 255]


class Tape:
    threshold_hue = [73, 91]
    threshold_saturation = [177, 255]
    threshold_value = [122, 255]


# CALIBRATION THINGS #
class Calibration:
    is_on = False
    ball_screens = list()
    tape_screens = list()


    @staticmethod
    def display_screens():
        
        # for i in range(len(Calibration.ball_screens)):
        #     try:
        #         Calibration.ball_screens[i] = cv2.cvtColor(Calibration.ball_screens[i], cv2.COLOR_GRAY2BGR)
        #     except:
        #         continue
        
        # ball_line = np.hstack(tuple(screen for screen in Calibration.ball_screens))

        for i in range(len(Calibration.tape_screens)):
            try:
                Calibration.tape_screens[i] = cv2.cvtColor(Calibration.tape_screens[i], cv2.COLOR_GRAY2BGR)
            except:
                continue
        tape_line = np.hstack(tuple(screen for screen in Calibration.tape_screens))

        # cv2.imshow('Ball processing screens', ball_line)
        cv2.imshow('Tape processing screens', tape_line)
        
        cv2.waitKey(5)
        
        # Calibration.ball_screens.clear()
        Calibration.tape_screens.clear()