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()
