Documentation
To access the new documentation, visit this link. Visual Circuit 3.x Block Documentation
Definition
Version: 3.0.
Package: Project Information.
Design: Graph and circuit design.
Dependencies: All used dependencies in one level.
Extension: .vc3
Block Instances
{
"version": "1.0",
"package": {
"name": "",
"version": "",
"description": "",
"author": "",
"image": ""
},
"design": {
"board": "",
"graph": {
"blocks": [],
"wires": []
}
},
"dependencies": {}
}
Wire Instances
{
"source": {
"block": "",
"port": ""
},
"target": {
"block": "",
"port": ""
},
"vertices": [
{
"x": 0,
"y": 0
}
]
}
Project Information
Name
Version
Description
Author
Image (SVG)
Block Library
Camera
- Description: Captures Video Stream from Camera
- Input: None
- Output: BGR Image
- Parameters: None
Color Filter
- Description: Filters a Color in an Image
- Input: BGR Image
- Output: BGR Image Filtered
- Parameters: Lower Color Range, Upper Color Range
Contour Detector
- Description: Draws Contours in an Image
- Input: BGR Image
- Output: Contour Info(x,y,width,height,angle of rotation), BGR Image.
- Parameters: None
Blur
- Description: Blurs an Image
- Input: BGR Image
- Output: BGR Image Blurred
- Parameters: Type (Averaging, Median, Gaussian), Kernel
Cropper
- Description: Crops an Image.
- Input: BGR Image.
- Output: BGR Image Resized.
- Parameters: x,y,width,height
Edge Detector
- Description: Performs Edge Detection on an Image.
- Input: BGR Image
- Output: BGR Image
- Parameters: Lower Thresh, Upper Thresh
Face Detector
- Description: Detects Faces in an Image.
- Input: BGR Image
- Output: BGR Image with Detections.
- Parameters: Bounding Box Info (‘box’) / Image with Detections (‘image’)
Object Detector
- Description: Detects objects in an Image using YOLOv3.
- Input: BGR Image
- Output: BGR Image with Detections.
- Parameters: Bounding Box Info (‘box’) / Image with Detections (‘image’)
Image Read
- Description: Reads an image from a Path.
- Input: None
- Output: BGR Image
- Parameters: Image Path
Screen
- Description: Displays an Image.
- Input: BGR Image
- Output: None
- Parameters: None
Threshold
- Description: Thresholds an Image.
- Input: BGR Image
- Output: BGR Image Threshed
- Parameters: Thresh Value
CameraROS
- Description: Captures Video Stream from Simulated ROS Camera
- Input: None
- Output: BGR Image
- Parameters: ROS Topic Name
LaserROS
- Description: Outputs Laser Data from Simulated ROS Laser Sensor
- Input: None
- Output: Laser Data
- Parameters: ROS Topic Name
Odometer
- Description: Gets Robot’s Position
- Input: None
- Output: Robot Odometry Information
- Parameters: ROS Topic Name
Teleoperator
- Description: Teleoperation using center offset
- Input: Bounding Box (x,y,width,height)
- Output: cmd_vel (linear velocity, angular velocity)
- Parameters: Linear Velocity
Motor Driver
- Description: Controls Robot’s Movement.
- Input: cmd_vel (linear velocity, angular velocity)
- Output: None
- Parameters: ROS Topic Name
PID
- Description: Navigation using PID
- Input: Contour Info (x, y, width, height, angle of rotation)
- Output: cmd_vel (linear velocity, angular velocity)
- Parameters: Kp, Ki, Kd
Samples
Note that these are the version 1.0.0 implementations of these blocks. The current versions (2.0.0) being used are quite similar, with minor changes in the template code itself.
Camera
{
"version": "1.0",
"package": {
"name": "Camera",
"version": "1.0.0",
"description": "Captures Video Stream from Camera",
"author": "Muhammad Taha Suhail",
"image": ""
},
"design": {
"board": "Python3-Noetic",
"graph": {
"blocks": [
{
"id": "200",
"type": "basic.output",
"data": {
"name": "",
"pins": [
{
"index": "0",
"name": "",
"value": "0"
}
],
"virtual": true
},
"position": {
"x": 752,
"y": 144
}
},
{
"id": "300",
"type": "basic.code",
"data": {
"code": "import cv2\r\nimport numpy as np\r\nfrom time import sleep\r\nfrom wires.wire_img import Wire_Write\r\n\r\ndef Camera(input_wires, output_wires, parameters):\r\n\r\n cap = cv2.VideoCapture(0)\r\n\r\n shm_w = Wire_Write(output_wires[0])\r\n\r\n try:\r\n while True:\r\n ret, frame = cap.read()\r\n shm_w.add(frame)\r\n except KeyboardInterrupt:\r\n pass\r\n\r\n shm_w.release()",
"params": [],
"ports": {
"out": [
{
"name": "200"
}
]
}
},
"position": {
"x": 248,
"y": 88
},
"size": {
"width": 384,
"height": 256
}
}
],
"wires": [
{
"source": {
"block": "",
"port": ""
},
"target": {
"block": "200",
"port": "out"
}
}
]
}
},
"dependencies": {}
}
Screen
{
"version": "1.0",
"package": {
"name": "Screen",
"version": "1.0.0",
"description": "Displays Image or Video",
"author": "Muhammad Taha Suhail",
"image": ""
},
"design": {
"board": "Python3-Noetic",
"graph": {
"blocks":
[
{
"id": "100",
"type": "basic.input",
"data": {
"name": "",
"pins": [
{
"index": "0",
"name": "",
"value": "0"
}
],
"virtual": true
},
"position": {
"x": 64,
"y": 144
}
},
{
"id": "300",
"type": "basic.code",
"data": {
"code": "import cv2\nimport numpy as np\nfrom time import sleep\nfrom wires.wire_img import Wire_Read\n\ndef Screen(input_wires, output_wires, parameters):\n\n shm_r = Wire_Read(input_wires[0])\n\n while True:\n sleep(0.03)\n f = shm_r.get()\n cv2.imshow('Screen', f)\n if cv2.waitKey(1) & 0xFF == ord('q'):\n break\n\n shm_r.release()",
"params": [],
"ports": {
"in": [
{
"name": "100"
}
]
}
},
"position": {
"x": 248,
"y": 88
},
"size": {
"width": 384,
"height": 256
}
}
],
"wires":
[
{
"source": {
"block": "100",
"port": "in"
},
"target": {
"block": "",
"port": ""
}
}
]
}
},
"dependencies": {}
}
Edge Detector
{
"version": "1.0",
"package": {
"name": "EdgeDetector",
"version": "1.0.0",
"description": "Performs Edge Detection on Image",
"author": "Muhammad Taha Suhail",
"image": ""
},
"design": {
"board": "Python3-Noetic",
"graph": {
"blocks": [
{
"id": "100",
"type": "basic.input",
"data": {
"name": "",
"pins": [
{
"index": "0",
"name": "",
"value": "0"
}
],
"virtual": true
},
"position": {
"x": 64,
"y": 144
}
},
{
"id": "200",
"type": "basic.output",
"data": {
"name": "",
"pins": [
{
"index": "0",
"name": "",
"value": "0"
}
],
"virtual": true
},
"position": {
"x": 752,
"y": 144
}
},
{
"id": "300",
"type": "basic.code",
"data": {
"code": "import cv2 as cv\nimport numpy as np\nfrom time import sleep\nfrom wires.wire_img import Wire_Read, Wire_Write\n\ndef EdgeDetector(input_wires, output_wires, parameters):\n\n shm_r = Wire_Read(input_wires[0])\n shm_w = Wire_Write(output_wires[0])\n #aperture = float(parameters[0])\n\n while True:\n\n sleep(0.03)\n\n frame = shm_r.get()\n frame = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)\n edge_img = cv.Canny(frame, 100, 200)\n edge_img = cv.cvtColor(edge_img, cv.COLOR_GRAY2BGR)\n\n shm_w.add(edge_img)\n\n shm_r.release()\n shm_w.release()",
"params": [],
"ports": {
"in": [
{
"name": "100"
}
],
"out": [
{
"name": "200"
}
]
}
},
"position": {
"x": 248,
"y": 88
},
"size": {
"width": 384,
"height": 256
}
},
{
"id": "400",
"type": "basic.constant",
"data": {
"name": "Lower Thresh",
"value": "100",
"local": true
},
"position": {
"x": 192,
"y": 112
}
},
{
"id": "401",
"type": "basic.constant",
"data": {
"name": "Upper Thresh",
"value": "200",
"local": true
},
"position": {
"x": 328,
"y": 112
}
}
],
"wires": [
{
"source": {
"block": "",
"port": ""
},
"target": {
"block": "",
"port": ""
}
},
{
"source": {
"block": "",
"port": ""
},
"target": {
"block": "",
"port": ""
}
}
]
}
},
"dependencies": {}
}
Templates
For more information about how to create your own blocks from scratch, head over to this link