change from using separate IDs to using just whether to include or ex…

…clude it from the mask, as we only have one mask, and don't need separate colors for everything

autonav_ws/src/autonav_display/src/display.py

@@ -232,7 +232,7 @@ async def consumer(self, websocket):
             if obj["op"] == "calibrate":
                 msg = CameraCalibration()
                 # there's calibrate ramp, calibrate ground, and maybe a calibrate barrel and/or calibrate line and maybe a calibrate white balance or something (calibrat paper?)
-                msg.id = int(obj["id"]) # and I guess each will have it's own id or something                
+                msg.include_in_mask = int(obj["include"]) # and I guess each will have it's own id or something                
                 self.calibration_p.publish(msg)
 
             if obj["op"] == "get_presets":

autonav_ws/src/autonav_msgs/msg/CameraCalibration.msg

@@ -1,2 +1,2 @@
-#TODO include a list of which ids mean which thing
-int id
+# whether to include the colors in the mask or not
+bool include_in_mask

autonav_ws/src/autonav_vision/src/transformations.py

@@ -94,20 +94,27 @@ def system_state_transition(self, old: SystemState, updated: SystemState):
 
     def onCalibrate(self, msg: CameraCalibration):
         # only allow calibration if it's safe to do so, don't want to accidentally ruin a run or kill a person
-        if self.system_state is not AUTONOMOUS and self.system_state.mobility is False:
+        if self.system_state.state is not AUTONOMOUS and self.system_state.mobility is False:
             # remember that the mask is reversed though, we filter OUT the ground
             # so ground needs to be in the threshold range, but not obstacles
             # include in the mask, so it gets filtered out
-            if msg.id is RAMP or msg.id is GROUND:
-                pass #TODO ensure it's part of the mask
-            # to exclude from the mask, so it shows up for expandification
-            elif msg.id == BARREL or msg.id is LINE or msg.id is PAPER:
-                pass
+            if msg.include_in_mask:
+                pixels = [] #TODO
+                avgHue, avgSat, avgVal = getAverageVal(pixels) #TODO
+
+                # take the lower of the current and calibrated values, so that as much as possible is included in the mask
+                self.config.lower_hue = min(self.config.lower_hue, avgHue)
+                self.config.lower_sat = min(self.config.lower_sat, avgSat)
+                self.config.lower_val = min(self.config.lower_val, avgVal)
+
+                # take the upper of the current and calibrated values, so that as much as possible is included in the mask
+                self.config.upper_hue = max(self.config.upper_hue, avgHue)
+                self.config.upper_sat = max(self.config.upper_sat, avgSat)
+                self.config.upper_val = max(self.config.upper_val, avgVal)
+
+            # exclude from the mask, so it shows up for expandification
             else:
-                #TODO probably throw an error here or something, we should never reach this spot of code
-                pass
-        else:
-            return
+                pass #TODO
 
     def config_updated(self, jsonObject):
         self.config = json.loads(self.jdump(jsonObject), object_hook=lambda d: SimpleNamespace(**d))

display/scripts/main.js

@@ -558,14 +558,14 @@ $(document).ready(function () {
     $("#calibrate_include").on("click", function () {
         send({
             op: "calibrate",
-            id: 0
+            include: true
         });
     });
 
     $("#calibrate_exclude").on("click", function () {
         send({
             op: "calibrate",
-            id: 1
+            include: false
         });
     });