def __init__(self, yaw_p, yaw_d, depth_p, depth_d):
self.end = False
self.final = False
self.auv = mur.mur_init()
self.yaw_pd = PD(yaw_p, yaw_d)
self.depth_pd = PD(depth_p, depth_d)
self.bottom_cam = CameraBottom()
self.front_cam = CameraFront()
self.state = 0
self.yaw = 0
self.depth = 2
self.speed = 0
self.hsv_mask_min_orange = (15, 50, 50)
self.hsv_mask_max_orange = (30, 255, 255)
self.hsv_mask_min_yellow = (20, 50, 50)
self.hsv_mask_max_yellow = (30, 255, 255)
self.hsv_mask_min_green = (40, 40, 20)
self.hsv_mask_max_green = (80, 255, 255)
self.hsv_mask_min_blue = (130, 40, 20)
self.hsv_mask_max_blue = (150, 255, 255)
self.hsv_mask_min_red = (0, 40, 0)
self.hsv_mask_max_red = (15, 255, 255)
class Data(metaclass=Solide):
__yaw = 0
__depth = 0
__mur = mur.mur_init()
__filters = {}
def get_yaw(self):
return self.__yaw
def get_depth(self):
return self.__depth
def set_yaw(self, i):
self.__yaw = i
def set_depth(self, i):
self.__depth = i
def get_img_bottom(self):
return self.__mur.get_image_bottom()
def get_img_front(self):
return self.__mur.get_image_front()
def get_filter(self, key):
return self.__filters[key]
def set_filters(self, key, val):
self.__filters[key] = val
def __init__(self, view):
if view != "Bottom" and view != "Front":
raise ValueError("Wrong camera view.")
self.auv = mur.mur_init()
self.img = np.array([])
self.mask = np.array([])
self.original = np.array([])
self.box = None
self.view = view
def __init__(self, yaw_p, yaw_d, depth_p, depth_d):
self.auv = mur.mur_init()
self.yaw_pd = PD(yaw_p, yaw_d)
self.depth_pd = PD(depth_p, depth_d)
self.end = False
self.bottom_cam = CameraBottom()
self.state = 0
self.yaw = 0
self.depth = 2
self.speed = 0
self.circles = 0
self.is_tr = False
import pymurapi as mur
import cv2
import numpy as np
import math
import time
auv = mur.mur_init()
def wait(t):
ntt = time.time()
while time.time() - ntt < t/10:
auv.set_motor_power(0, 0)
auv.set_motor_power(1, 0)
auv.set_motor_power(2, 0)
auv.set_motor_power(3, 0)
auv.set_motor_power(4, 0)
if time.time() - ntt > t/1000:
break
# Перевод угла >< 360 в 0 <=> 360
def clamp_to_360(angle):
if angle < 0.0:
return angle + 360.0
if angle > 360.0:
return angle - 360.0
return angle
# Перевод угла из 0 <=> 360 в -180 <=> 180
def to_180(angle):
if angle > 180.0:
return angle - 360.0
import cv2
import pymurapi as mur
import numpy as np
from Class.Classificate import ColorClassif
from time import time
mr = mur.mur_init()
def nothing(x):
pass
def test(img):
cv2.namedWindow("Tracking")
cv2.createTrackbar("LowH", "Tracking", 0, 255, nothing)
cv2.createTrackbar("LowS", "Tracking", 0, 255, nothing)
cv2.createTrackbar("LowV", "Tracking", 0, 255, nothing)
cv2.createTrackbar("UnH", "Tracking", 255, 255, nothing)
cv2.createTrackbar("UnS", "Tracking", 255, 255, nothing)
cv2.createTrackbar("UnV", "Tracking", 255, 255, nothing)
while True:
frame = mr.get_image_front()
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
l_h = cv2.getTrackbarPos("LowH", "Tracking")
l_s = cv2.getTrackbarPos("LowS", "Tracking")
l_v = cv2.getTrackbarPos("LowV", "Tracking")
h_h = cv2.getTrackbarPos("UnH", "Tracking")
h_s = cv2.getTrackbarPos("UnS", "Tracking")
h_v = cv2.getTrackbarPos("UnV", "Tracking")
return yellow
if __name__ == '__main__':
start_time = time.time()
from time import sleep
from sys import exit
import numpy as np
import time
catch_time = 1 #delay to catch obj
ret_time = 9 #delay to move without detecting
a_height = -3
t_speed = 55 #travel speed
mur = pymurapi.mur_init()
f = function(mur)
v = vision(cv)
ang = 0
#track(mur,f)
#while True:
# v.detect_object(mur.get_image_bottom(), green)
while True:
timer = time.time()
while time.time() - timer <= 0.5:
f.keep_depth(a_height)
while f.set_arrow(v, a_height, orange) == -1:
continue
ang = mur.get_yaw()
timer = time.time()
def __init__(self, koof):
self.__avi = mur.mur_init()
self.__pd_list = koof
self.__timestemp = Run(7, 50)
from Class.Motor import Motor
from Class.Math import PD
import pymurapi as mur
from Class.Data import Data
from Class.Classificate import ColorClassif
from time import sleep
avi = mur.mur_init()
motor = Motor({"depth": PD(30, 5), "yaw": PD(0.5, 0.8), "x_y": PD(0.1, 0.6)})
Data().set_filters("red", ColorClassif((0, 139, 0), (16, 255, 255)))
Data().set_filters("green", ColorClassif((62, 229, 93), (98, 255, 255)))
Data().set_filters("blue", ColorClassif((30, 185, 211), (255, 255, 255)))
Data().set_filters("yellow", ColorClassif((19, 193, 95), (33, 255, 255)))
Data().set_filters("white", ColorClassif((0, 0, 0), (255, 4, 255)))
Data().set_filters("black", ColorClassif((0, 0, 0), (123, 255, 36)))
motor.depth_to_time(14, 2.3)
motor.keep_front_cycle()