def fetchImage(self, location): dataa = self.server.getImage() if dataa == "FAILED": return with open(location, "wb") as handle: handle.write(dataa.data) self.gui.debugPrint(str(sd.detectShapes(location)))
def test(self): output = sh.detectShapes("/home/lars/Pictures/Demo/Works1.jpg") print output matrix = m.Matrix2(output[0], output[1]) posAndCorner = matrix.updatePositionAndOrientations(output[2], output[3]) print posAndCorner print str((posAndCorner[1] * 180) / math.pi)
def testFindCoordinates(self): shapeDetection = shapeDet.detectShapes("/home/lars/Pictures/Demo/FUCKOFFS/fuckoff20.jpg") print shapeDetection matrix = Matrix2(864, 648, "grid.csv") output = matrix.updatePosAndAngle(shapeDetection[2], shapeDetection[3]) print output print "in graden " + str(output[3])
def updateInformation(self): def updateInformationMQ(): if self.location != None: mq.sendLocation(self.location[0],self.location[1]) if self.realHeight != None: mq.sendHeight(int(self.realHeight)*10)#in mm if self.angle != None: mq.sendAngle(int(self.angle)) if cvresult != None: mq.sendCvResults(cvresult) print "updating info" cam.makePhoto("/dev/shm/autopic.jpg") cvresult = sd.detectShapes("/dev/shm/autopic.jpg") print "CvResult " + str(cvresult) pA = PhotoAnalysis(zip(cvresult[2], cvresult[3]), grid, (864, 648)) if pA.locationCm != None and pA.angle != None: self.setLocation(pA.locationCm, pA.angle) print "Location " + str(self.location) print "Angle " + str(self.angle) print "GoalLocation " + str(self.goalLocation) print "Height " + str(self.realHeight) updateInformationMQ() if self.goalLocation != None and nearGoal(self.location, self.goalLocation): print "NEAR THE GOAL" self.moving = False if self.goalTablet != None: #zeg tegen iPad: "Ik ben er" askTablet(self.goalTablet) time.sleep(1) #PROBEER DRIE KEER for i in range(3): #trek een foto en lees de QR code decodedQR = cam.makePhotoAndDecodeQRCode("iPad"+str(i)+".jpg") time.sleep(0.23) if not decodedQR: continue #QR code kon niet gedecodeerd worden #zet nieuw goal self.parseQRCommand(decrypt(decodedQR)) break else: #DOEN WAT GE MOET DOEN BIJ AANKOMEN OP LOCATIE. self.pid.setPoint(0) self.heightCorrectionFlag = False self.stopAllMotors() else: print "No Location found"
from positioning.photoanalysis import PhotoAnalysis import randapparatuur.shapeDetection as sd import positioning.grid as grid cvresult = sd.detectShapes("fuckoff5.jpg") grid = grid.CSVToGrid("../positioning/grid.csv") print "cvresult: " + str(cvresult) fl = zip(cvresult[2], cvresult[3]) print "1" pA1 = PhotoAnalysis(fl, grid, (400, 300)) print pA1.location print "" print "2" pA2 = PhotoAnalysis(fl[1:] + fl[:1], grid, (400, 300)) print pA2.location print "" print "3" pA3 = PhotoAnalysis(fl[2:] + fl[:2], grid, (400, 300)) print pA3.location print "" print "4" pA4 = PhotoAnalysis(fl[3:] + fl[:3], grid, (400, 300)) print pA4.location print pA1.locationCm, pA1.angle, pA1.triangleSideInPixels() print pA2.locationCm, pA2.angle, pA2.triangleSideInPixels() print pA3.locationCm, pA3.angle, pA3.triangleSideInPixels() print pA4.locationCm, pA4.angle, pA4.triangleSideInPixels()
import time import randapparatuur.camera as cam import randapparatuur.shapeDetection as sd starttime = time.time() cam.makePhoto("autopic.jpg") camtime = time.time() camelapsed = camtime - starttime cvresult = sd.detectShapes("autopic.jpg") elapsed = time.time()-camtime total = time.time()-starttime print "cvresult: " + str(cvresult) print "cam time elapsed: " + str(camelapsed) print "cv time elapsed: " + str(elapsed) print "total time elapsed: " + str(total)