def testTresorAvecCameraTable(): camera = CameraFixe() photo = camera.prendrePhoto() cv2.imwrite("photo.jpg",photo) localisateurTresor = LocalisationTresor() listeTresor = localisateurTresor.trouverTresorParTable(photo,True) print listeTresor
def prendrePhoto(): camera = CameraFixe() photo = camera.prendrePhoto() cv2.imwrite("situationTable6.jpg",photo)
def testDeLaDetectionDuRepere(): localisationRepere = LocalisationRepere() camera = CameraFixe() photo = camera.prendrePhoto() (x, y), ratio = localisationRepere.trouverRepere(photo, True) print (x, y), ratio
def testDeLaDetectionDuRobot(): localisationRobot = LocalisationRobot() camera = CameraFixe() photo = camera.prendrePhoto() (x, y), angle = localisationRobot.trouverRobot(photo, True) print (x, y), angle
def testJustePourTrouverLesIles(): localisationIle = LocalisationIle() camera = CameraFixe() photo = camera.prendrePhoto() listForme, listCouleur, listPosition = localisationIle.trouverIles(photo, True) print listForme, listCouleur, listPosition
def testConnectionRobot(): camera = CameraFixe() photo = camera.prendrePhoto() localisateurRepere = LocalisationRepere() localisateurRobot = LocalisationRobot() repere, ratioCMPixel = localisateurRepere.trouverRepere(photo) positionRobot,orientationRobot = localisateurRobot.trouverRobot(photo,ratioCMPixel) positionXTresorText = "" positionYTresorText = "" host = "192.168.0.48" # set to IP address of target computer port = 50007 buf = 1024 addr = (host, port) UDPSock = socket(AF_INET, SOCK_STREAM) UDPSock.connect(addr) orientationRobotText = str(int(orientationRobot)) while len(orientationRobotText) < 3: orientationRobotText = '0' + orientationRobotText print orientationRobotText positionRobotXText = str(int(positionRobot[0])) while len(positionRobotXText) < 4: positionRobotXText = '0'+positionRobotXText print positionRobotXText positionRobotYText = str(int(positionRobot[1])) while len(positionRobotYText) < 4: positionRobotYText = '0'+positionRobotYText print positionRobotYText repereXText = str(int(repere[0])) while len(repereXText) < 4: repereXText = '0' + repereXText print repereXText repereYText = str(int(repere[1])) while len(repereYText) < 4: repereYText = '0' + repereYText print repereYText ratioText = "%.2f" % round(ratioCMPixel,2) while ratioText < 4: ratioText = '0' + ratioText print ratioText demande = '2' + orientationRobotText + positionRobotXText + positionRobotYText + repereXText + repereYText + ratioText print demande UDPSock.sendto(demande,addr) retour = UDPSock.recv(buf) index = 0 while retour[index] != " ": positionXTresorText = positionXTresorText + retour[index] index += 1 index += 1 while index < len(retour) - 3: positionYTresorText = positionYTresorText + retour[index] index += 1 print positionRobotXText, positionRobotYText print positionXTresorText, positionYTresorText cv2.circle(photo,(int(positionRobotXText),int(positionRobotYText)),5,(255,0,0),5) cv2.circle(photo,(int(positionXTresorText),int(positionYTresorText)),5,(255,255,0),5) cv2.imshow("photo",photo) cv2.waitKey(0) UDPSock.close()