def loop():
try:
camera.loop()
cam_id = sys.argv[1]
imgs = camera.get_image()
data = {'parking': imgs[0], 'background': imgs[1]}
print requests.post(config.url + '/api/set/' + cam_id, files=data).text
except:
print 'error'
def get_photo_data(self):
image = camera.get_image()
res = rq.post(url=self.address,
files={"file": open("opencv.png", "rb").read()})
print(res.text)
result = json.loads(res.text)
result.sort(key=operator.itemgetter('confidence'))
if len(result) == 0:
print("No objects found")
return None
return result[0]
def loop():
try:
camera.loop()
cam_id = sys.argv[1]
imgs = camera.get_image()
data = {
'parking' : imgs[0],
'background' : imgs[1]
}
print requests.post(config.url + '/api/set/' + cam_id, files = data).text
except:
print 'error'
def handle_msg(socket, msg):
msg = msg['robot']
print(msg)
# TODO: specify resolution here?
if 'get_image' in msg:
#width, height = msg['get_image']
image = camera.get_image()
server.send_array(socket, image)
if 'stop' in msg:
drive.stop()
def __init__(self, args):
image = camera.get_image()
ngrok_data = args[1] if len(args) > 1 else ""
self.address = "http://" + str(ngrok_data) + ".ngrok.io/"
result = self.get_photo_data()
if not result:
sys.exit(0)
else:
self.goal = result.get("name")
self.goal_coordinates = {
"x": (result.get("start_x") + result.get('end_x')) / 2,
"y": (result.get("start_y") + result.get('end_y')) / 2
}
self.distance.get_connection()
distances = self.distance.get_distance_list()
self.initial_distance = distances[4]
self.calculate_initial_turn(result.get("image_width"))
def free_mode():
takes_list = []
background = cv2.imread("background2.png", 1)
cv2.imshow("window", background)
cv2.waitKey(50)
while ("true"):
mode = GPIO.input(13) # reads the circle switch
if (mode == False or len(takes_list) < 3):
cv2.imshow("window", background)
else:
cv2.imshow("window", image.averager(takes_list)) # displays a weighed average of the last 3 pictures taken
cv2.waitKey(100)
button_value = button.waitpressedbutton("free")
if (button_value == "mode"): # The mode is no longer freemode, we have to return to go to the selected mode
return
if (button_value == "record"): # takes and displays a picture
cv2.imshow("window", background)
cv2.waitKey(10)
takes_list.append(camera.get_image())
cv2.imshow("window", takes_list[len(takes_list) - 1])
cv2.waitKey(200)
if (button_value == "delete" and len(takes_list) > 0): # deletes the last picture taken
img_supp = cv2.imread("img_supp.png", 1)
cv2.imshow("window", img_supp)
cv2.waitKey(10)
del takes_list[-1]
cv2.imshow("window", background)
cv2.waitKey(300)
if (button_value == "save"): # saves the cartoon and returns
if (len(os.listdir("/media")) >= 2):
os.system("mount /dev/sdb1 /home/pi/Pas_a_pas/bla")
playing.save_other(takes_list)
os.system("umount /home/pi/Pas_a_pas/bla")
playing.save(takes_list)
return
if (button_value == "play"): # plays the cartoon
playing.play(takes_list)
def free_mode():
takes_list = []
background = cv2.imread("background2.png", 1)
cv2.imshow("window", background)
cv2.waitKey(50)
while ("true"):
mode = GPIO.input(13) # reads the circle switch
if (mode == False or len(takes_list) < 3):
cv2.imshow("window", background)
else:
cv2.imshow(
"window", image.averager(takes_list)
) # displays a weighed average of the last 3 pictures taken
cv2.waitKey(100)
button_value = button.waitpressedbutton("free")
if (
button_value == "mode"
): # The mode is no longer freemode, we have to return to go to the selected mode
return
if (button_value == "record"): # takes and displays a picture
cv2.imshow("window", background)
cv2.waitKey(10)
takes_list.append(camera.get_image())
cv2.imshow("window", takes_list[len(takes_list) - 1])
cv2.waitKey(200)
if (button_value == "delete"
and len(takes_list) > 0): # deletes the last picture taken
del takes_list[-1]
cv2.imshow("window", background)
cv2.waitKey(300)
if (button_value == "save"): # saves the cartoon and returns
playing.save(takes_list)
return
if (button_value == "play"): # plays the cartoon
playing.play(takes_list)
def move_eye_camera(robotID, x, y, z):
cam_link_state = p.getLinkState(robotID,
linkIndex=7,
computeForwardKinematics=1)
camera_pos_W = cam_link_state[-2]
camera_ort_W = cam_link_state[-1]
roll = 0.0 #this will cause end effector to rotate on its axis
pitch = 0.0
yaw = 0.0
cameraTargetPos = [x, y, z]
cameraTargetOrn = p.getQuaternionFromEuler([roll, pitch, yaw])
new_camera_pos_W, new_camera_ort_W = p.multiplyTransforms(
camera_pos_W, camera_ort_W, cameraTargetPos, cameraTargetOrn)
# print('new_camera_ort_W',new_camera_ort_W)
#following is the new function defined above in this file
accurateIK(robotID,
7,
new_camera_pos_W,
new_camera_ort_W,
useNullSpace=False)
return get_image(robotID)
# Vc[1] = temp[1]
# Vc[2] = -temp[0]
# temp = Vc[2]
# Vc[2] = -Vc[0]
# Vc[0] = temp
# temp = Wc[2]
# Wc[2] = -Wc[0]
# Wc[0] = temp
# Qc = p.getQuaternionFromEuler(Wc)
# Vc,c = relative_ee_pose_to_ee_world_pose1(roboId,Vc,Qc)
V = np.concatenate((Vc,Wc))
# print(pos)
return V
I,Dbuf,Sbuf = get_image(kukaId)
sx,sy,sz = mask_points(Sbuf,Dbuf,appleId)
r,cx,cy,cz = sphereFit(sx,sy,sz)
pos = np.array((cx,cy,cz))[:,0]
ort = np.array((0.0,0.0,0.0))
# pos2,ort2 = relative_ee_pose_to_ee_world_pose1(roboId,pos,cubeStartOrientation)
# accurateIK(roboId,7,pos2,ort2,useNullSpace=False)
# c = input('press enter to end')
Ve = visual_servo_control(pos,ort)
error_list = []
target_pos_list = []
ee_pos_list = []
for i in range (100):
def assisted_mode():
# The model is loaded first
model_list = selection.select_cartoon("/media/PAP/models/", "assisted")
if model_list == None:
return
takes_list = []
background = cv2.imread("background2.png", 1)
model_cursor = 0
takes_cursor = 0
# When this condition is false, the program saves automatically the cartoon and returns
while (len(model_list) > len(takes_list)):
if ((GPIO.input(6) == False) or (len(takes_list) == 0)):
cv2.imshow("window", model_list[model_cursor % len(model_list)])
cv2.waitKey(100)
else:
cv2.imshow("window", takes_list[takes_cursor % len(takes_list)])
cv2.waitKey(100)
# I move the window again because of a window issue, that still occurs the first time model_cursor = 1
cv2.moveWindow("window", 0, -30)
button_value = button.waitpressedbutton("assisted")
if (button_value == "mode"):
return
if (button_value == "record"): # take the picture
model_cursor += 1
cv2.imshow("window", background)
cv2.waitKey(20)
takes_list.append(camera.get_image())
if (button_value == "delete" and len(takes_list) >
0): # delete the last picture from takes_list
del (takes_list[-1])
cv2.waitKey(300)
if (button_value == "save"): # save the cartoon and returns
if not os.path.exists("/media/PAP/cartoons"):
cv2.imshow("window", cv2.imread("./save_failed"))
cv2.waitKey(100)
else:
playing.save(takes_list)
return
if (button_value == "play"): # plays the cartoon
playing.play(takes_list)
if (button_value == "next"): # move to next image
if (GPIO.input(6) == False):
model_cursor += 1
else:
takes_cursor += 1
cv2.waitKey(100)
if (button_value == "prev"): # move to previous image
if (GPIO.input(6) == False):
model_cursor -= 1
else:
takes_cursor -= 1
cv2.waitKey(100)
# end of while loop, save and return
if not os.path.exists("/media/PAP/cartoons"):
cv2.imshow("window", cv2.imread("./save_failed"))
cv2.waitKey(100)
else:
playing.save(takes_list)
return
def assisted_mode():
# The model is loaded first
model_list = selection.select_cartoon("/media/PAP/models/", "assisted")
if model_list == None:
return
takes_list = []
background = cv2.imread("background2.png", 1)
model_cursor = 0
takes_cursor = 0
# When this condition is false, the program saves automatically the cartoon and returns
while len(model_list) > len(takes_list):
if (GPIO.input(6) == False) or (len(takes_list) == 0):
cv2.imshow("window", model_list[model_cursor % len(model_list)])
cv2.waitKey(100)
else:
cv2.imshow("window", takes_list[takes_cursor % len(takes_list)])
cv2.waitKey(100)
# I move the window again because of a window issue, that still occurs the first time model_cursor = 1
cv2.moveWindow("window", 0, -30)
button_value = button.waitpressedbutton("assisted")
if button_value == "mode":
return
if button_value == "record": # take the picture
model_cursor += 1
cv2.imshow("window", background)
cv2.waitKey(20)
takes_list.append(camera.get_image())
if button_value == "delete" and len(takes_list) > 0: # delete the last picture from takes_list
del (takes_list[-1])
cv2.waitKey(300)
if button_value == "save": # save the cartoon and returns
if not os.path.exists("/media/PAP/cartoons"):
cv2.imshow("window", cv2.imread("./save_failed"))
cv2.waitKey(100)
else:
playing.save(takes_list)
return
if button_value == "play": # plays the cartoon
playing.play(takes_list)
if button_value == "next": # move to next image
if GPIO.input(6) == False:
model_cursor += 1
else:
takes_cursor += 1
cv2.waitKey(100)
if button_value == "prev": # move to previous image
if GPIO.input(6) == False:
model_cursor -= 1
else:
takes_cursor -= 1
cv2.waitKey(100)
# end of while loop, save and return
if not os.path.exists("/media/PAP/cartoons"):
cv2.imshow("window", cv2.imread("./save_failed"))
cv2.waitKey(100)
else:
playing.save(takes_list)
return
# load json and create model
json_file = open('model1.json', 'r')
loaded_model_json = json_file.read()
json_file.close()
loaded_model = model_from_json(loaded_model_json)
# load weights into new model
loaded_model.load_weights("model1.h5")
print("Loaded model from disk")
while True:
try:
image=np.array([camera.get_image()])
image = image.astype('float32')
image = image / 255.0
prediction=loaded_model.predict(image)
print(dataset[np.argmax(prediction)])
except KeyboardInterrupt:
exit()
os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2'
# load model
model = load_model('picture_model.h5')
# summarize model.
model.summary()
# load dataset
# evaluate the model
input("hazırsan bir tuşa bas:")
#time.sleep(5)
print("Başladı")
start=datetime.now()
for item in range(1):
features,orginal_image=camera.get_image()
X =impy.convert_images_to_prediction_dataset(features)
Xi=np.array([x[1] for x in X]).astype(np.float32)
Xim=[x[0] for x in X]
score = model.predict(Xi)
scores=[[Xim[x],score[x]] for x in range(len(score))]
print("Train edilmemiş tahmin:")
for score in scores:
print("İmaj: ",score[0],convert_val_to_expression(score[1],"Alper"))
end=datetime.now()
result=float((end-start).microseconds/1000000)+(end-start).seconds
