def test(IP='127.0.0.1', PORT=9559):
# init a Motion instance
motion = Motion(IP, PORT)
# test code
imgs = motion.lookAround()
cnt = 0
for key in imgs:
print 'left: ', key.left, '; down: ', key.down
cv2.imwrite('img' + str(cnt) + '.jpg', imgs[key])
cnt += 1
motion.turn(0.2)
imgs = motion.lookAround()
for key in imgs:
print 'left: ', key.left, '; down: ', key.down
cv2.imwrite('img' + str(cnt) + '.jpg', imgs[key])
cnt += 1
del motion
#现在只是伪代码，基本不能跑
ip = "127.0.0.1"
test = False
if len(sys.argv) >= 2:
ip = sys.argv[1]
if len(sys.argv) >= 3:
test = True
wallthreshold = 500
floorthreshold = 50
headheight = 44.7
topcarmeraheight = 6.364
topcarmeadown = 1.2 /180 * pi
motion = Motion(ip = ip)
movedetermine = MoveDetermine()
target = (0, 0)
while True:
vote = {}
points = list()
if test:
with open('pics.txt', "r") as ff:
pics = pickle.load(ff)
else:
pics = motion.lookAround()
(x, y, toward) = motion.getPosition()
(realx, realy) = movedetermine.mymap.maptorobot(x, y)
myposition = (x, y)
movedetermine.mymap.moveto(x, y)
PORT = 9559 def str2array(string, shape): assert len(string) == shape[0] * shape[1] * shape[2], len(shape) == 3 image = numpy.zeros(shape, numpy.uint8) for i in range(0, shape[0]): p1 = i * shape[1] * shape[2] for j in range(0, shape[1]): p2 = j * shape[2] for c in range(0, shape[2]): p3 = shape[2] - c - 1 image[i, j, c] = ord(string[p1 + p2 + p3]) return image # init a Motion instance motion = Motion(IP, PORT) # init window windowName = "Chessboard" cv2.namedWindow(windowName, 1) delay = 1000 / motion.fps # capture images while cv2.waitKey(delay) < 0: imgstr, shape = motion.takePicture() image = str2array(imgstr, shape) cv2.imshow(windowName, image) cv2.destroyAllWindows() del motion
#现在只是伪代码，基本不能跑
ip = "127.0.0.1"
test = False
if len(sys.argv) >= 2:
ip = sys.argv[1]
if len(sys.argv) >= 3:
test = True
wallthreshold = 500
floorthreshold = 50
headheight = 44.7
topcarmeraheight = 6.364
topcarmeadown = 1.2 / 180 * pi
motion = Motion(ip=ip)
movedetermine = MoveDetermine()
target = (0, 0)
while True:
vote = {}
points = list()
if test:
with open('pics.txt', "r") as ff:
pics = pickle.load(ff)
else:
pics = motion.lookAround()
(x, y, toward) = motion.getPosition()
(realx, realy) = movedetermine.mymap.maptorobot(x, y)
myposition = (x, y)
movedetermine.mymap.moveto(x, y)
