usb_vision.py 文件源码

def extra_processing(pipeline):
    """
    Performs extra processing on the pipeline's outputs and publishes data to NetworkTables.
    :param pipeline: the pipeline that just processed an image
    :return: None
    """
    center_x_positions = []
    center_y_positions = []
    widths = []
    heights = []

    # Find the bounding boxes of the contours to get x, y, width, and height
    for contour in pipeline.filter_contours_output:
        x, y, w, h = cv2.boundingRect(contour)
        center_x_positions.append(x + w / 2)  # X and Y are coordinates of the top-left corner of the bounding box
        center_y_positions.append(y + h / 2)
        widths.append(w)
        heights.append(y)
    # Publish to the '/vision' network table
    table = NetworkTable.getTable("/vision")
    table.putValue("centerX", NumberArray.from_list(center_x_positions))
    table.putValue("centerY", NumberArray.from_list(center_y_positions))
    table.putValue("width", NumberArray.from_list(widths))
    table.putValue("height", NumberArray.from_list(heights))