release

robotory · Jul 31, 2018 · 5ffbd3e · 5ffbd3e
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diff --git a/doc/guide.html b/doc/guide.html
@@ -8,8 +8,8 @@
 
 <details class="doc_details"><summary>About</summary>
     This is <a href="http://hdrobotic.com/" target="_blank">Dexter</a> Development Environment<br/>
-    version: <span id="dde_version_id">2.4.4</span><br/>
-    released: <span id="dde_release_date_id">July 27, 2018</span>
+    version: <span id="dde_version_id">2.4.5</span><br/>
+    released: <span id="dde_release_date_id">July 31, 2018</span>
     <p></p>
     DDE helps you create, debug, and send software to a Dexter robot.
     You can use any JavaScript augmented with DDE-specific functions to help find out about,

diff --git a/doc/known_issues.html b/doc/known_issues.html
@@ -10,6 +10,9 @@
 with this DDE release. All of them are on our "do list".
 <p></p>
 <ul>
+   <li>Picture.detect_blobs: the data about each blob is inconsistent with
+       itself. detect_blobs <i>appears</i> to work but actual x, y locations
+       for each blob are wrong.</li>
    <li>Picture.show_video() sometimes comes up with a blank video, not showing the
        output of your webcam. Often just closing the show_window that is attempting
        to display the video and starting over will work.

diff --git a/doc/release_notes.html b/doc/release_notes.html
@@ -6,13 +6,23 @@
     .doc_details summary { font-weight: 600; }
 </style>
 
+<details class="doc_details"><summary>v 2.4.5, July 31, 2018</summary>
+<ul>
+<li> Fixed bug in display of Evaled source code in the Output pane header.
+This bug was also responsible for breaking the Insert menu/Machine Vision/ demos,
+and probably a bunch of other things, especially when evaling a large
+amount of source code (that would likely include single quotes).
+</li>
+</ul>
+</details>
+
 <details class="doc_details"><summary>v 2.4.4, July 27, 2018</summary>
 Highlights: Serial port robot improved greatly.<br/>
             new OpenCV classifier interface for detecting objects in images.<br/>
             Click help for built-in JS constructs improved.<br/>
             Eval&Start button can run a robot instruction.<br/>
             patch_until helps manage software patches.<br/>
-            Improvements to the Vector library<br/>
+            Improvements to the Vector library.<br/>
 <ul>
     <li> Removed console printouts when evaling a Job,
         related to: inspect_set_new_object_onclick,

diff --git a/index.html b/index.html
@@ -2,7 +2,7 @@
 <!-- good html validtor: https://www.onlinewebcheck.com/check.php?adv=1  -->
 <html lang="en">
 <head>
-    <title>Dexter Development Environment 2.4.4</title>
+    <title>Dexter Development Environment 2.4.5</title>
     <link rel="stylesheet" href="jqwidgets/styles/jqx.base.css" type="text/css" />
     <!-- <script type="text/javascript" src="jquery-1.11.3.min.js"></script> -->
     <script>window.$ = window.jQuery = require('jquery');</script>

diff --git a/output.js b/output.js
@@ -860,6 +860,8 @@ window.out_eval_result = function(text, color="#000000", src){
                 src_formatted = src_formatted.substring(0, 55)
                 src_formatted_suffix = "..."
                 }
+            src_formatted = replace_substrings(src_formatted, ">", "&lt;")
+            src = replace_substrings(src, "'", "&apos;")
             src_formatted = " of <code title='" + src + "'>&nbsp;" + src_formatted + src_formatted_suffix + "&nbsp;</code>"
         }
         text = "<fieldset><legend><i>Eval result</i>" + src_formatted + "</legend>" +  text + "</fieldset>"

diff --git a/package.json b/package.json
@@ -1,8 +1,8 @@
 {
   "name": "dexter_dev_env",
   "productName": "dexter_dev_env",
-  "version": "2.4.4",
-  "release_date": "July 27, 2018",
+  "version": "2.4.5",
+  "release_date": "July 31, 2018",
   "description": "Dexter Development Environment",
   "author": "Fry",
   "license": "GPL-3.0",

diff --git a/picture1.js b/picture1.js
@@ -387,6 +387,16 @@ var Picture = class Picture{
         let mat                = cv.imread(offScreenCanvas)
         return mat
     }
+    // pixel operators, accept either a number or an array of 4 as input
+    static pixel_to_gray(pixel){
+       if (typeof(pixel) == "number") { return pixel }
+       else { return Math.round((pixel[0] + pixel[1] + pixel[2]) / 3) }
+    }
+
+    static pixel_to_color(pixel){
+       if (typeof(pixel) == "number") { return [pixel, pixel, pixel, 255]}
+       else { return pixel }
+    }
     //____________Low level mat methods__________
     // see https://docs.opencv.org/3.4.1/df/d24/tutorial_js_image_display.html
     //mat.channels() => 1 if gray mat, 3 if rgb, 4 if rgba. For picture from a normal webcam, this will be 4
@@ -820,19 +830,30 @@ var Picture = class Picture{
         let keypoints = new cv.KeyPointVector();
         //var image = cv.Mat.ones(5, 5, cv.CV_8UC3);
         detector.detect(mat_out, keypoints);
+        let key_pt_reasonable_array = Picture.keypoints_to_reasonable_array(keypoints, sort_by)
         if(show_picture) {
             let dst_mat2  = Picture.make_similar_mat(mat_in)
             cv.drawKeypoints(mat_out, keypoints, dst_mat2,
                 cv.Scalar.all(-1), //draw each point in a different color
                 cv.DrawMatchesFlags_DRAW_RICH_KEYPOINTS //draw points at size of found point
             )
+            for (let pt of key_pt_reasonable_array){
+                cv.putText(dst_mat2, "" + pt.i, new cv.Point(pt.x, pt.y),
+                          cv.FONT_HERSHEY_PLAIN, 2.0, new cv.Scalar(255, 0, 0, 255))
+                //cv.addText(mat_out, "" + pt.i, new cv.Point(pt.x, pt.y), cv.FONT_HERSHEY_PLAIN)
+            }
             Picture.show_picture({content: dst_mat2})
         }
-        let key_pt_reasonable_array = Picture.keypoints_to_reasonable_array(keypoints, sort_by)
+        for (let kp of key_pt_reasonable_array){
+            let pix  = Picture.mat_pixel(mat_in, kp.x, kp.y)
+            kp.gray  = Picture.pixel_to_gray(pix)
+            kp.color = Picture.pixel_to_color(pix)
+        }
         if(show_keypoints) {
             Picture.display_keypoint_data(key_pt_reasonable_array)
         }
-        return (opencv_result_format ? keypoints : key_pt_reasonable_array)
+        if (opencv_result_format) { return keypoints}
+        else { return key_pt_reasonable_array }
     }
 
     static detect_blobs_fill_in_args(obj){
@@ -908,14 +929,23 @@ var Picture = class Picture{
                                     "<th><input type='button' name='sort_by_x'    value=' x ' style='width:54px;'/></th>\n" +
                                     "<th><input type='button' name='sort_by_y'    value=' y ' style='width:62px;'/></th>\n" +
                                     "<th><input type='button' id='sort_by_size_id' value=' size ' style='width:62px;'/></th>\n" +
-                                "</tr>"
+                                    "<th><input type='button' id='sort_by_gray_id' value=' gray ' style='width:62px;'/></th>\n" +
+                                    "<th><input type='button'                      value=' color ' style='width:62px;'/></th>\n" +
+
+            "</tr>"
         for(let i = 0; i < key_pt_reasonable_array.length; i++){
             let kp = key_pt_reasonable_array[i]
+            let rgb_string = "rgb(" + kp.color[0] + ", " +
+                                      kp.color[1] + ", " +
+                                      kp.color[2] + ");"
             data_html += "<tr><td>"  + i +
                 "</td><td>" + ("" + kp.x).substring(0, 6)  +
                 "</td><td>" + ("" + kp.y).substring(0, 6)  +
                 //"</td><td>" + ("" + kp.angle).substring(0, 6) +
                 "</td><td>" + ("" + kp.size).substring(0, 6)  +
+                "</td><td>" + ("" + kp.gray).substring(0, 6)  +
+                "</td><td>" + "<div title='" + rgb_string + "' style='display:inline-block; width:50px; height:20px; border:1px solid #000 !important; background-color:" +
+                               rgb_string + "'/>" +
                 "</td></tr>"
         }
         data_html += "</table>"