def _init_vision(self):
udev = pyudev.Context()
cams = list(
udev.list_devices(
subsystem="video4linux",
# For now, find devices that use this driver
ID_USB_DRIVER="uvcvideo"))
if len(cams) == 0:
"Camera isn't connected."
return
camdev = cams[0].device_node
# Find libkoki.so:
libpath = None
if "LD_LIBRARY_PATH" in os.environ:
for d in os.environ["LD_LIBRARY_PATH"].split(":"):
l = glob.glob("%s/libkoki.so*" % os.path.abspath(d))
if len(l):
libpath = os.path.abspath(d)
break
if libpath == None:
v = vision.Vision(camdev, "/usr/lib")
else:
v = vision.Vision(camdev, libpath)
self.vision = v
def main():
r_instance.R = Robot()
set_debug_mode(True)
dump_battery()
# Initialise modules
task.pool = task.TaskPool()
control.control = control.Control()
vision.vision = vision.Vision()
arduino_interface.arduino = arduino_interface.Arduino()
game_map.game_map = game_map.Map()
# Move initial token
task.pool.execute(control.MoveTask(1.2))
task.pool.execute(control.MoveTask(-0.6))
tokens = vision.vision.capture()[0]
our_marker_id = 0
if len(tokens) > 0:
our_marker_id = tokens[0].info.code
log("Robot", "our_marker_id = {0}".format(our_marker_id))
task.pool.execute(control.MoveTask(-0.7))
# Look at remaining tokens and move into them
task.pool.execute(control.RotateTask(-math.pi * 0.35))
# Attempt to correct itself
task.pool.execute(TokenCorrection(our_marker_id))
task.pool.execute(control.MoveTask(0.775))
for i in xrange(2):
task.pool.execute(control.RotateTask(math.pi * 0.4, 3.0))
task.pool.execute(control.MoveTask_Stepper(2.0, 3.0, 8))
"""
# Move away, turn 180 degrees then calibrate
task.pool.add( control.MoveTask( -1.5 ) )
task.pool.add( control.RotateTask( -math.pi * 0.5 ) )
task.pool.add( control.MoveTask( 2, 0.75 ) )
# Now we know where we are, move to where our tokens reside and grab one
target_point = game_map.game_map.starting_position
target_point.x = 8 - target_point.x
task.pool.add( FigureOutPosition() )
task.pool.add( MoveToNextPoint( target_point ) )
task.pool.add( SearchForToken() )
task.pool.add( control.RotateTask( -math.pi * 0.5 ) )
task.pool.add( control.MoveTask( 2 ) )
task.pool.add( control.MoveTask( -1 ) )
# Move to the middle square
task.pool.add( FigureOutPosition() )
task.pool.add( MoveToNextPoint( Position( 5, 5 ) ) )
"""
# Enter the main loop
task.pool.execute(task.ExitLoop())
task.pool.run()
# Final words..
log("Robot", "Task queue finished executing, exiting...")
dump_battery()
def robotInit(self):
# when the robot code starts (only once, not each time it's enabled)
# Declare Gamepads and CANTalons here.
# Don't access encoder values here; do that in teleopInit or
# autonomousInit.
self.visionary = vision.Vision()
self.xCenterDist = 0
pass
def __init__(self, width_x, height_y): super().__init__() #---------------------canvas--------------------------------- with self.canvas: #paint playing field Color(1, 1, 1) #white color (init_x, init_y) = (Window.size[0] / 2 - width_x * 10, Window.size[1] / 2 - height_y * 10) Rectangle(pos = (init_x, init_y), size=(width_x * 20, height_y * 20)) #adaptive playing field with fix cell (20 px) Color(0, 0, 0) #black color for i in range(height_y): Line(points=[init_x, init_y + i*20, init_x + width_x * 20, init_y + i*20]) for i in range(width_x): Line(points=[init_x + i*20, init_y, init_x + i*20, init_y + height_y * 20]) #---------------------------------------------------------------- self.width_x = width_x #width_x of playing field self.height_y = height_y #height_y of playing field self.sourceX = int(Window.size[0] / 2) - width_x * 10 #left edge point (x axes) self.sourceY = int(Window.size[1] / 2) - height_y * 10 #left edge point (y axes) self.worm = None #instance of the snake self.fruit = None #instance of the fruit self.count_start = -1 #count of game start self.population = 250 #number of snakes in population self.vision_dir = [(-1, 0), (-1, 1), (0, 1), (1, 1), (1, 0), (1, -1), (0, -1), (-1, -1)] #set of the vision directions self.vision = vision.Vision(self.vision_dir, self.sourceX, self.sourceY, self.width_x, self.height_y) #instance for vision self.dir = (1, 0) #start direction self.ff = neural.FeedForward(self.population) #instance for neural network t = self.ff.load_snakes() #load all snakes from file self.snakes = t[0] self.random_seed = t[1] self.snakes_offspring = None #instance for offspring snakes self.mutation_rank = 0.1 #rank of mutation self.cur_snake = None #instance for current playing snake self.matrices = None #instance of matrix for current snake self.count_moves = 0 #count of the snake moves self.count_fruit = 0 #count of fruit that was eatten by snake self.fitness_source = [0 for i in range(self.population)] #var for save fitness score every snake in source population self.fitness_offspring = [0 for i in range(self.population)] #var for save fitness score every snake in offspring population self.count_try = 2 #number of attemps to play the game of the population self.current_try = 1 #current try self.queue_population = False #queue population (if false - queue of source population, true - offspring) self.generation = 0 #count generation self.sum_fruit = 0 #----------------------------------------------------------------- self.text1 = Label(pos=(self.sourceX + 70, self.sourceY - 100), text='Count start:') self.text2 = Label(pos=(self.sourceX + 240, self.sourceY - 100), text='0') self.add_widget(self.text1) self.add_widget(self.text2) #labels for display count start self.text3 = Label(pos=(self.sourceX + 70, self.sourceY + self.height_y*20 + 30), text="Generation:") self.text4 = Label(pos=(self.sourceX + 240, self.sourceY + self.height_y*20 + 30), text="0") self.add_widget(self.text3) self.add_widget(self.text4) #labels for display generation self.text5 = Label(pos=(self.sourceX + 70, self.sourceY - 250), text='0') self.add_widget(self.text5) self.text6 = Label(pos=(self.sourceX + 70, self.sourceY - 175), text='0') self.add_widget(self.text6) self.text7 = Label(pos=(self.sourceX + 240, self.sourceY - 250), text='0') self.add_widget(self.text7)
def __init__(self, cv2):
self.db = db.Database()
self.stm = short_term_memory.StmUnit(self.db)
self.vision = vision.Vision(cv2, self.db, self.stm)
self.upei = upei.Upei(cv2)
self.cv2 = cv2
self.debug = True
self.show_upei = True
self.framerate = 2 # number of frames per second
self.prev_users_in_room = {}
self.users_in_room = {}
def autonomousInit(self):
self.vision = vision.Vision()
self.turnAlignLog = LogState("Turn align")
self.targetWidthLog = LogState("Target width")
self.currentSpeed = 0
if dashboard.getSwitch("Drive voltage mode", False):
self.holoDrive.setDriveMode(DriveInterface.DriveMode.VOLTAGE)
else:
self.holoDrive.setDriveMode(DriveInterface.DriveMode.POSITION)
def _init_vision(self, camdev = "/dev/video0"):
if not os.path.exists(camdev):
"Camera isn't connected."
return
# Find libsric.so:
libpath = None
if "LD_LIBRARY_PATH" in os.environ:
for d in os.environ["LD_LIBRARY_PATH"].split(":"):
l = glob.glob( "%s/libkoki.so*" % os.path.abspath( d ) )
if len(l):
libpath = os.path.abspath(d)
break
if libpath == None:
v = vision.Vision(camdev)
else:
v = vision.Vision(camdev, libpath)
self.vision = v
def __init__(self, ip="127.0.0.1", port=9559):
connection_url = "tcp://" + ip + ":" + str(port)
print("Connecting to nao-qi at {0} ...".format(connection_url))
self.app = qi.Application(["--qi-url=" + connection_url])
self.app.start()
self.session = self.app.session
self.audio = audio.Audio(self.session)
self.vision = vision.Vision(self.session)
self.touch = touch.Touch(self.session)
self.motion = motion.Motion(self.session)
self.behavior = behavior.Behavior(self.session)
self.tablet = tablet.Tablet(self.session)
self.audio.set_callback(self.send) # Set send fallback
self.vision.set_callback(self.send) # Set send fallback
self.touch.set_callback(self.send) # Set send fallback
self.motion.set_callback(self.send) # Set send fallback
self.behavior.set_callback(self.send) # Set send fallback
def create_vision(self, args):
if args.img_source == 'rt':
img_provider = image_provider.RCVisionProvider(args.location)
elif args.img_source == 'img':
img_provider = image_provider.StorageVisionProvider(
os.path.join(args.location))
elif args.img_source == 'dir':
img_provider = image_provider.DirectoryVisionProvider(
os.path.join(args.location))
self.vision = vision.Vision(
img_provider,
os.path.join(self._project_path,
'training-coding/models/roboheads-ssd_mobilenet_v1',
'frozen_inference_graph.pb'))
self.vision.updated.connect(self.on_vision_updated)
self.vision_thread = threading.Thread(target=self.vision.run)
self.vision_thread.start()
def main():
try:
arm = Arm('/dev/ttyACM0')
except Exception as e:
arm = Arm('/dev/ttyACM1')
if len(sys.argv) > 1 and sys.argv[1] == 'shell':
interactive_shell(arm)
if len(sys.argv) > 1 and sys.argv[1] == 'height':
import collections
import vision
v = vision.Vision()
q = collections.deque(maxlen=4)
while True:
h = v.get_pen_height()
q.append(h if h else 0)
print(sum(q) / 4)
def interactive_shell(arm):
import vision
v = None
while True:
command = input('arm shell >> ')
name, *args = command.split(' ')
try:
if name == "":
print('Please enter a command')
elif name == "move":
if len(args) == 2:
target = np.array([float(args[0]), float(args[1])])
arm.move_to(target, speed=3, auto_height=True)
elif len(args) == 3:
target = np.array(
[float(args[0]),
float(args[1]),
float(args[2])])
arm.move_to(target, speed=3, auto_height=False)
elif name == "up":
arm.up()
elif name == "down":
arm.down()
elif name == "height":
if not v:
v = vision.Vision()
avg_amount = 10
h_list = (v.get_pen_height() for _ in range(avg_amount))
h = sum(h_list) / avg_amount
print('Height:', round(h, 2), 'mm')
except Exception as e:
print("Error while processing command")
import motor_interface
import vision
import image_preperation
img = image_preperation.prepare_image("bbb_logo.jpeg")
app = vision.Vision(motor_interface.MotorInterface(0, 0),
100,
5,
150,
spray_point_offset=(0, -25),
image_to_print=img)
app.run()
import vision
import camera
import cv2
vis = vision.Vision()
cam = camera.Camera()
while (1):
img = cam.getFrame()
cv2.imshow('img', img)
cv2.waitKey(1)
# lines are green
lines = vis.detect_lines(img)
# car is blue
#car_pos = vis.detect_car(img)
# other cars are red
#other_cars = vis.detect_other_cars(img)
# and so are you
def main():
# Setup all modules
vision = v.Vision()
speech = s.Speech()
motor = m.Motor()
motion_detector = md.Motion_Detector()
def setup(self):
self.vision = vision.Vision()
import io
# FILE IMPORTS
import vision
##### FLASK SERVER
app = Flask("API's")
cors = CORS(app)
app.config["CORS_HEADERS"] = "Content-Type"
######## CONFIGS FOR PROGRAMS #########
####### SETUP
Vision = vision.Vision()
GratingPhases = vision.GratingPhases()
# headers for sending
headers = {"Content-Type": "Application/json"}
###########################
#### FOR FLASK FUNCTIONS ####
def getIp():
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
s.connect(("10.255.255.255", 1))
IP = s.getsockname()[0]
except:
difficulty_input = ""
easy_inputs = {"e", "easy"}
medium_inputs = {"m", "med", "medium"}
hard_inputs = {"h", "hard"}
while difficulty_input not in easy_inputs.union(medium_inputs).union(
hard_inputs):
difficulty_input = input(
"Select difficulty level: EASY (E), MEDIUM (M), HARD (H)").lower()
if difficulty_input in easy_inputs:
difficulty = Difficulty.EASY
elif difficulty_input in medium_inputs:
difficulty = Difficulty.MEDIUM
elif difficulty_input in hard_inputs:
difficulty = Difficulty.HARD
v = vision.Vision()
td_agent = TDAgent(WHITE, model, v, difficulty)
human_agent = HumanAgent(BLACK, v)
agents_list = [td_agent, human_agent]
game = Game(agents_list)
set_start_state = False
if set_start_state:
start_points = [[
3, 3, 3, 3, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0
],
[
0, 0, 3, 3, 2, 2, 0, 3, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0
]]
import vision as v
import fortnite_api as fa
import output_screen as os
import weapons_screen as ws
import letters_classifier as lc
import time
import configparser
def log(text):
print('[%s] %s' % (time.strftime('%H:%M:%S'), text))
config = configparser.ConfigParser()
config.read('config.ini')
vision = v.Vision()
classifier = lc.LettersClassifier()
gamescreen = gs.GameScreen(vision, classifier)
api = fa.FortniteApi(config)
# screen = os.OutputScreen(enabled = False)
weapons_screen = ws.WeaponsScreen(enabled=False)
kdas = {}
frame_number = 1
max_frame = 266
vision.frame_number = frame_number
while (True):
start = time.perf_counter()
def __init__(self):
super(SearchStateMachine, self).__init__()
self.__vision = vision.Vision()
self.__laser = laser.Laser()
self.__objectLoc = []
self.__start = time.time()
