def __init__(self):
if platform.system().lower() == "Linux".lower():
system(
"v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1"
)
system("v4l2-ctl --device=1 -c exposure_absolute=275")
self.camera = cv2.VideoCapture(1)
else:
self.camera = cv2.VideoCapture(0)
self.camera.set(3, 3264)
self.camera.set(4, 2448)
self.worldImage = None
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
self.worldImage.addLabels(frame)
self.worldImage.updateRobotPosition(frame)
def __init__(self):
if platform.system().lower() == "Linux".lower():
system("v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1")
system("v4l2-ctl --device=1 -c exposure_absolute=275")
self.camera = cv2.VideoCapture(1)
else:
self.camera = cv2.VideoCapture(0)
self.camera.set(3, 3264)
self.camera.set(4, 2448)
self.worldImage = None
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
self.worldImage.addLabels(frame)
self.worldImage.updateRobotPosition(frame)
def initializeRound(self):
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
class worldVision:
def __init__(self):
if platform.system().lower() == "Linux".lower():
system(
"v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1"
)
system("v4l2-ctl --device=1 -c exposure_absolute=275")
self.camera = cv2.VideoCapture(1)
else:
self.camera = cv2.VideoCapture(0)
self.camera.set(3, 3264)
self.camera.set(4, 2448)
self.worldImage = None
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
self.worldImage.addLabels(frame)
self.worldImage.updateRobotPosition(frame)
def initializeRound(self):
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
def getCurrentImage(self):
ret = True
frame = None
old_frame = None
for cameraStoredFrame in range(7):
old_frame = frame
ret, frame = self.camera.read()
if not ret:
old_frame = frame
break
frame = old_frame
frame = cv2.resize(frame, (960, 720))
self.worldImage.drawMapOnFrame(frame)
self.worldImage.updateRobotPosition(frame)
self.worldImage.addLabels(frame)
return frame, self.worldImage.getMap()
def setTarget(self, target):
self.worldImage.setTarget(target)
def setTreasures(self, relativeAngles):
self.worldImage.defineTreasures(relativeAngles)
def findBestTresorPosition(self):
return self.worldImage.findBestTresor()
class worldVision:
def __init__(self):
if platform.system().lower() == "Linux".lower():
system("v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1")
system("v4l2-ctl --device=1 -c exposure_absolute=275")
self.camera = cv2.VideoCapture(1)
else:
self.camera = cv2.VideoCapture(0)
self.camera.set(3, 3264)
self.camera.set(4, 2448)
self.worldImage = None
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
self.worldImage.addLabels(frame)
self.worldImage.updateRobotPosition(frame)
def initializeRound(self):
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
def getCurrentImage(self):
ret = True
frame = None
old_frame = None
for cameraStoredFrame in range(7):
old_frame = frame
ret, frame = self.camera.read()
if not ret:
old_frame = frame
break
frame = old_frame
frame = cv2.resize(frame, (960, 720))
self.worldImage.drawMapOnFrame(frame)
self.worldImage.updateRobotPosition(frame)
self.worldImage.addLabels(frame)
return frame, self.worldImage.getMap()
def setTarget(self, target):
self.worldImage.setTarget(target)
def setTreasures(self, relativeAngles):
self.worldImage.defineTreasures(relativeAngles)
def findBestTresorPosition(self):
return self.worldImage.findBestTresor()
def initializeRound(self):
ret, frame = self.camera.read()
frame = cv2.resize(frame, (960, 720))
self.worldImage = WorldImage()
self.worldImage.buildMap(frame)
