Print markers using j5

j5_vision.py

from pathlib import Path
from typing import Set

from j5 import BaseRobot, BoardGroup
from j5.boards import Board

from j5.boards.zoloto import ZolotoCameraBoard
from j5.backends.hardware.zoloto.camera_board import ZolotoCameraBoardHardwareBackend

from zoloto.cameras import Camera
from zoloto.marker_dict import MarkerDict


class SbotCamera(Camera):
    """Camera definition for SourceBots kit."""

    marker_dict = MarkerDict.DICT_APRILTAG_36H11

    def __init__(self, camera_id: int):

        super().__init__(
            camera_id,
            calibration_file=Path(__file__).parent.joinpath('C270.xml'),
        )

    def get_marker_size(self, marker_id: int) -> int:
        """Get the size of a marker, given it's ID."""
        if marker_id in range(0, 40):
            # WALL_MARKER
            return 250
        else:
            return 100


class SbotCameraBackend(ZolotoCameraBoardHardwareBackend):
    """Camera Backend to override the settings."""

    @classmethod
    def discover(cls) -> Set[Board]:  # type: ignore
        """Discover boards, overriding the parent classes method."""
        return ZolotoCameraBoardHardwareBackend.discover(SbotCamera)


class Robot(BaseRobot):

    def __init__(self) -> None:
        self._cameras = BoardGroup.get_board_group(ZolotoCameraBoard, SbotCameraBackend)
        self.camera = self._cameras.singular()


r = Robot()

while True:
    ml = r.camera.camera.see()

    for m in ml:
        print(m)