def init_cam():

    w = 640

    h = 480

global video = cv2.VideoWriter("bbox_"+time.asctime()[4:-5].replace(' ', '')+".avi", cv2.cv.CV_FOURCC('M','J','P','G'), 30.0,(w, h),True)

global camera = PiCamera()

camera.resolution = (w, h)

camera.framerate = 30

camera.contrast = 100

camera.brightness = 20

global rawCapture = PiRGBArray(camera, size=(w, h)) time.sleep(0.1)

return

 

## position and controllers

def init_ctrls():

    global ut_roll = 1500

    global ut_pitch = 1500

    global ut_yaw = 1500

    global ctrl_roll

    globalctrl_pitch

    globalctrl_yaw =

    return True

def init_detector():

= godsPID.PID(2, 0.1, 1, 640/2)

= godsPID.PID(1, 1.05, 1.05, 480/2)

godsPID.PID(0.91, 0.01, 0.01, math.pi)

## params of blopdetector

params = cv2.SimpleBlobDetector_Params() #params.minThreshold = 100; #params.maxThreshold = 2000; params.filterByArea = True

params.minArea = 5

params.maxArea = 10000 params.filterByCircularity = True params.minCircularity = 0.85 """params.filterByConvexity = True params.minConvexity = 0.87 params.filterByInertia = True params.minInertiaRatio = 0.01"""

detector = cv2.SimpleBlobDetector(params) return