def rec_control(key):
global rec_flag, vname
# start,pause
if key == 'q':
key = None
if rec_flag == 'stop':
rec_flag = 'start'
# set name
vname = strftime("%Y-%m-%d-%H.%M.%S", localtime())
Vilib.rec_video_set["name"] = vname
# start record
Vilib.rec_video_run()
Vilib.rec_video_start()
print('rec start ...')
elif rec_flag == 'start':
rec_flag = 'pause'
Vilib.rec_video_pause()
print('pause')
elif rec_flag == 'pause':
rec_flag = 'start'
Vilib.rec_video_start()
print('continue')
# stop
elif key == 'e' and rec_flag != 'stop':
key = None
rec_flag = 'stop'
Vilib.rec_video_stop()
print("The video saved as %s%s.avi" %
(Vilib.rec_video_set["path"], vname),
end='\n')
def color_detect(color):
if color == 'close':
print("Color detect off!")
Vilib.color_detect_switch(False)
else:
print("detecting color :" + color)
Vilib.color_detect(color)
def main():
global color_flag
path = "/home/pi/Pictures/vilib/color_detection/"
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
time.sleep(2)
print(manual)
while True:
try:
key = input().lower()
if key in ['0', '1', '2', '3', '4', '5', '6']:
color_flag = color_list[int(key)]
color_detect(color_flag)
elif key == "s":
show_info()
elif key == 'q':
_time = time.strftime("%y-%m-%d_%H-%M-%S", time.localtime())
Vilib.take_photo(photo_name=str(_time), path=path)
print("The photo save as %s%s.jpg" % (path, _time))
elif key == "g":
Vilib.camera_close()
break
except KeyboardInterrupt:
Vilib.camera_close()
break
def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
Vilib.image_classify_set_model(
path='/home/pi/pan-tilt-hat/models/mobilenet_v1_0.25_224_quant.tflite')
Vilib.image_classify_set_labels(
path='/home/pi/pan-tilt-hat/models/labels_mobilenet_quant_v1_224.txt')
Vilib.image_classify_switch(True)
def continuous_shooting(path, interval_ms: int = 50, number=10):
print("continuous_shooting .. ")
path = path + '/' + strftime("%Y-%m-%d-%H.%M.%S", localtime())
for i in range(number):
Vilib.take_photo(photo_name='%03d' % i, path=path)
print("take_photo: %s" % i)
sleep(interval_ms / 1000)
print("continuous_shooting done,the pictures save as %s" % path)
sleep(0.2)
def frames():
camera = cv2.VideoCapture(Camera.video_source)
camera.set(3,320)
camera.set(4,240)
width = int(camera.get(3))
height = int(camera.get(4))
M = cv2.getRotationMatrix2D((width / 2, height / 2), 180, 1)
camera.set(cv2.CAP_PROP_BUFFERSIZE,1)
# camera.rotation = 180
# rawCapture = PiRGBArray(camera, size=(320, 240))
# if not camera.isOpened():
# raise RuntimeError('Could not start camera.')
start_time = time.time()
fpscount = 0
# print(cv2.useOptimized())
cv2.setUseOptimized(True)
# print(cv2.useOptimized())
while True:
# read current frame
# img = cv2.warpAffine(img, M, (640, 480))
# print(time.time()- start_time)
_, img = camera.read()
img = cv2.warpAffine(img, M, (320, 240))
img = Vilib.human_detect_func(img)
img = Vilib.color_detect_func(img)
## FPS
# fpscount += 1
# if (time.time()- start_time) >= 1:
# print(fpscount)
# start_time = time.time()
# fpscount = 0
## FPS
# start_time = time.time()
# t1 = cv2.getTickCount()
# img = Vilib.human_detect_func(img)
# t2 = cv2.getTickCount()
# print(int(1/round((t2-t1)/cv2.getTickFrequency(),2)))
# img = cv2.resize(img, (320,240), interpolation=cv2.INTER_LINEAR)
# img = Vilib.color_detect_func(img)
# encode as a jpeg image and return it
yield cv2.imencode('.jpg', img)[1].tobytes()
def panorama_shooting(path):
global panAngle, tiltAngle
temp_path = "/home/pi/Pictures/vilib/panorama/.temp/"
imgs = []
# check path
check_dir(path)
check_dir(temp_path)
# take photo
for a in range(panAngle, -81, -5):
panAngle = a
pan.set_angle(panAngle)
sleep(0.1)
num = 0
for angle in range(-80, 81, 20):
for a in range(panAngle, angle, 1):
panAngle = a
pan.set_angle(a)
sleep(0.1)
sleep(0.5)
# sleep(0.5)
print(num, angle)
Vilib.take_photo(photo_name='%s' % num, path=temp_path)
sleep(0.2)
num += 1
# stitch image
stitcher = cv2.Stitcher_create(cv2.Stitcher_SCANS)
for index in range(num):
imgs.append(cv2.imread('%s/%s.jpg' % (temp_path, index)))
print('imgs num: %s, ' % len(imgs))
status, pano = stitcher.stitch(imgs)
# imwrite and imshow
print('status: %s , %s' % (status, Status_info[status]))
if status == 0:
cv2.imwrite(
'%s/%s.jpg' % (path, strftime("%Y-%m-%d-%H.%M.%S", localtime())),
pano)
cv2.imshow('panorama', pano)
# remove cache
os.system('sudo rm -r %s' % temp_path)
def continuous_shooting(path, interval_s=3, duration_s=3600):
print('\nStart time-lapse photography, press the "e" key to stop')
start_time = time()
node_time = start_time
while True:
if time() - node_time > interval_s:
node_time = time()
Vilib.take_photo(photo_name=strftime("%Y-%m-%d-%H-%M-%S",
localtime()),
path=path)
if key == 'e' or time() - start_time > duration_s:
break
sleep(0.01) # second
def human_follow():
global pan_angle_human, tilt_angle_human
Vilib.human_detect_switch(True)
status = [Vilib.human_detect_object('x'), Vilib.human_detect_object('y')]
time.sleep(0.005)
#on left -1 on right 1
if status[0] == -1:
pan_angle_human = pan_angle_human + 1
set_camera_servo1_angle(min(90, pan_angle_human))
elif status[0] == 1:
pan_angle_human = pan_angle_human - 1
set_camera_servo1_angle(max(-90, pan_angle_human))
if status[1] == -1:
tilt_angle_human = tilt_angle_human + 1
set_camera_servo2_angle(min(45, tilt_angle_human))
elif status[1] == 1:
tilt_angle_human = tilt_angle_human - 1
set_camera_servo2_angle(max(-45, tilt_angle_human))
def forever():
if (Vilib.human_detect_object(('number'))) >= 1:
set_camera_servo1_angle(30)
delay(150)
set_camera_servo1_angle((-30))
delay(150)
set_camera_servo2_angle(0)
delay(150)
__tts__.say('Hello,nice to meet projesh!')
def main():
path = "/home/pi/Pictures/vilib/"
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
time.sleep(2)
print(manual)
while True:
try:
key = input().lower()
if key == "q":
_time = time.strftime("%y-%m-%d_%H-%M-%S", time.localtime())
Vilib.take_photo(photo_name=str(_time), path=path)
print("The photo save as %s%s.jpg" % (path, _time))
elif key == "g":
Vilib.camera_close()
break
except KeyboardInterrupt:
Vilib.camera_close()
break
def forever():
global x_axis, width, pan_angle
x_axis = Vilib.color_detect_object('x')
width = Vilib.color_detect_object('width')
delay(5)
if x_axis == -1:
pan_angle = pan_angle - 1
pan_angle = constrain(pan_angle, -90, 90)
set_camera_servo1_angle(pan_angle)
pan_angle = constrain(pan_angle, -45, 45)
set_dir_servo_angle(pan_angle)
elif x_axis == 1:
pan_angle = pan_angle + 1
pan_angle = constrain(pan_angle, -90, 90)
set_camera_servo1_angle(pan_angle)
pan_angle = constrain(pan_angle, -45, 45)
set_dir_servo_angle(pan_angle)
if width > 50:
forward(50)
else:
stop()
async def recv_server_func(self, websocket):
while 1:
tmp = await websocket.recv()
print(tmp)
tmp = json.loads(tmp)
for key in tmp:
self.recv_dict[key] = tmp[key]
print("recv_dict: %s"%self.recv_dict)
self.remote_control(self.recv_dict['JA'])
self.camera_contrl(self.recv_dict['JB'])
# print(recv_dict)
if self.recv_dict['MS'][0] =='on':
car.set_motor_speed(int(self.recv_dict['MS'][1]), int(self.recv_dict['MS'][2]))
if self.recv_dict['DO'][0] =='on':
car.dir_servo_angle_calibration(int(self.recv_dict['DO'][1]))
if self.recv_dict['PO'][0] =='on':
car.camera_servo1_angle_calibration(-int(self.recv_dict['PO'][1]))
if self.recv_dict['TO'][0] =='on':
car.camera_servo2_angle_calibration(-int(self.recv_dict['TO'][1]))
Vilib.detect_color_name(str(self.recv_dict['CC']))
def color_follow():
global pan_angle_color, tilt_angle_color
Vilib.color_detect_switch(True)
status = [Vilib.color_detect_object('x'), Vilib.color_detect_object('y')]
size = [
Vilib.color_detect_object('width'),
Vilib.color_detect_object('height')
]
time.sleep(0.005)
#on left -1 on right 1
if status[0] == -1:
pan_angle_color = pan_angle_color + 1
set_camera_servo1_angle(min(90, pan_angle_color))
set_dir_servo_angle(max(-45, -pan_angle_color))
elif status[0] == 1:
pan_angle_color = pan_angle_color - 1
set_camera_servo1_angle(max(-90, pan_angle_color))
set_dir_servo_angle(min(45, -pan_angle_color))
if status[1] == -1:
tilt_angle_color = tilt_angle_color + 1
set_camera_servo2_angle(min(45, tilt_angle_color))
elif status[1] == 1:
tilt_angle_color = tilt_angle_color - 1
set_camera_servo2_angle(max(-45, tilt_angle_color))
elif 0 < size[0] < 100 or 0 < size[1] < 100:
forward(50)
else:
stop()
def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
Vilib.human_detect_switch(True)
while True:
object_show()
sleep(0.2)
def frames():
with picamera.PiCamera() as camera:
# let camera warm up
# camera = PiCamera()
camera.resolution = (320, 240)
camera.framerate = 32
camera.rotation = 180
# rawCapture = PiRGBArray(camera, size=(320, 240))
# time.sleep(2)
# stream = io.BytesIO()
rawCapture = PiRGBArray(camera, size=(320, 240))
start_time = time.time()
fpscount = 0
Vilib.cdf_flag = True
Vilib.hdf_flag = True
Vilib.color_change('blue')
print(cv2.useOptimized())
cv2.setUseOptimized(True)
print(cv2.useOptimized())
for _ in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
# return current frame
# stream.seek(0)
img = _.array
# img = frame.array
t1 = cv2.getTickCount()
img = Vilib.color_detect_func(img)
img = Vilib.human_detect_func(img)
t2 = cv2.getTickCount()
print(round((t2 - t1) / cv2.getTickFrequency(), 3))
# yield stream.read()
yield cv2.imencode('.jpg', img)[1].tobytes()
rawCapture.truncate(0)
def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
Vilib.hands_detect_switch(True)
joints = []
while True:
joints = Vilib.detect_obj_parameter['hands_joints']
if isinstance(joints, list) and len(joints) == 21:
print(joints[8])
sleep(1)
def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
path = "/home/pi/Pictures/vilib/continuous_shooting"
print(manual)
while True:
key = readchar().lower()
servo_control(key)
if key == 'q':
continuous_shooting(path, interval_ms=50, number=10)
elif key == 'g':
Vilib.camera_close()
break
sleep(0.01)
def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
sleep(2)
print(manual)
while True:
key = readchar().lower()
# rec control
rec_control(key)
# servo control
servo_control(key)
# esc
if key == 'g':
Vilib.camera_close()
break
sleep(0.1)
def main():
global key
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
sleep(2)
print(manual)
sleep(0.2)
t = threading.Thread(target=keyboard_scan)
t.setDaemon(True)
t.start()
path = "/home/pi/Videos/vilib/time_lapse"
check_dir(path)
while True:
servo_control(key)
# time-lapse photography
if key == 'q':
# check path
output = path + '/' + strftime("%Y-%m-%d-%H-%M-%S", localtime())
check_dir(output)
# take a picture every 3 seconds for 3600 seconds
continuous_shooting(output, interval_s=3, duration_s=3600)
# video_synthesis
name = strftime("%Y-%m-%d-%H-%M-%S", localtime())
video_synthesis(name=name,
output=output,
path=path,
fps=30,
format='.jpg',
datetime=True)
# esc
if key == 'g':
Vilib.camera_close()
global breakout_flag
breakout_flag = True
sleep(0.1)
print('The program ends, please press CTRL+C to exit.')
break
sleep(0.01)
def main():
path = "/home/pi/Pictures/vilib/panorama"
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
sleep(2)
print(manual)
while True:
key = readchar()
# take photo
if key == 'q':
print("panorama shooting ...")
panorama_shooting(path)
# esc
if key == 'g':
print('Quit')
Vilib.camera_close()
break
sleep(0.01)
def main():
Vilib.camera_start(vflip=True, hflip=True)
Vilib.display(local=True, web=True)
Vilib.object_detect_set_model(path='/opt/vilib/detect.tflite')
Vilib.object_detect_set_labels(path='/opt/vilib/coco_labels.txt')
Vilib.object_detect_switch(True)
def __init__(self):
Vilib.camera_start(True)
self.sensitivity = sensitivity
self.capture = cv2.VideoCapture(0)
from ezblock import __reset_mcu__
import time
__reset_mcu__()
time.sleep(0.01)
from vilib import Vilib
from picarmini import dir_servo_angle_calibration
from picarmini import set_camera_servo2_angle
from ezblock import delay
from ezblock import TTS
from picarmini import camera_servo1_angle_calibration
from picarmini import camera_servo2_angle_calibration
from ezblock import WiFi
__tts__ = TTS()
Vilib.camera_start(True)
Vilib.human_detect_switch(True)
dir_servo_angle_calibration(0)
camera_servo1_angle_calibration(0)
camera_servo2_angle_calibration(0)
WiFi().write('DE', 'Projesh', 'Syepto17')
def forever():
if (Vilib.human_detect_object(('number'))) >= 1:
set_camera_servo1_angle(30)
delay(150)
set_camera_servo1_angle((-30))
delay(150)
set_camera_servo2_angle(0)
delay(150)
from ezblock import *
from ezblock import __reset_mcu__
__reset_mcu__()
time.sleep(0.01)
except ImportError:
print(
"This computer does not appear to be a PiCar -X system(/opt/ezblock is not present). Shadowing hardware calls with substitute functions "
)
from sim_ezblock import *
from picarx_w3 import picar_thing
from picar_opencv import *
import sys
sys.path.append(r'/opt/ezblock')
from vilib import Vilib
Vilib.camera_start(True)
#Vilib.color_detect_switch(True)
#Vilib.detect_color_name('red')
cap = cv2.VideoCapture(0)
class sensor():
def __init__(self):
self.S0 = ADC('A0')
self.S1 = ADC('A1')
self.S2 = ADC('A2')
def get_adc_value(self): # finds the values going to the ADC pins
adc_value_list = []
adc_value_list.append(self.S0.read())
adc_value_list.append(self.S1.read())
def forever():
print("%s"%(''.join([str(x) for x in ['There are ', Vilib.human_detect_object('number'), ' people']])))
import time
from vilib import Vilib
# from ezblock import Servo,PWM
# from robothat import *
import numpy as np
# from th_test import task_start
Vilib.camera_start(web_func=True)
# Vilib.human_detect_switch(True)
Vilib.color_detect_switch(True)
Vilib.detect_color_name('blue')
while True:
# print(Vilib.human_detect_object('number'))
# print(Vilib.human_detect_object('y'))
start_time = time.time()
time.sleep(10)
Vilib.detect_color_name('blue')
time.sleep(10)
Vilib.detect_color_name('red')
# print(" ")
# count+=1
# for i in range(1000):
# pass
# # print("end")
# # pass
# this_time = time.time() - start_time
# print(round(this_time,3))
# all_time += this_time
# avge_time = round(all_time/float(count),3)
from flask_camera import web_camera_start
from camera import Camera
import time
import threading
from vilib import Vilib
Vilib.cdf_flag = True
# Vilib.hdf_flag = True
Vilib.color_change('red')
# def forever_threading():
# while True:
# forever()
def forever():
last_time = time.time()
time.sleep(1)
sub_time = time.time() - last_time
print(sub_time)
if __name__ == '__main__':
Vilib.threading_start_with(web_camera_start,forever)
while True:
print('end')
# t1 = threading.Thread(target=web_camera_start) #Thread是一个类，实例化产生t1对象，这里就是创建了一个线程对象t1
# t1.start() #线程执行
# t2 = threading.Thread(target=forever_threading) #这里就是创建了一个线程对象t2
# t2.start()
from picarmini import dir_servo_angle_calibration
from picarmini import camera_servo1_angle_calibration
from picarmini import camera_servo2_angle_calibration
from ezblock import delay
from ezblock import constrain
from picarmini import set_camera_servo1_angle
from picarmini import set_dir_servo_angle
from picarmini import forward
from picarmini import stop
from ezblock import WiFi
x_axis = None
width = None
pan_angle = None
Vilib.detect_color_name('red')
Vilib.color_detect_switch(True)
Vilib.camera_start(True)
pan_angle = 0
dir_servo_angle_calibration(0)
camera_servo1_angle_calibration(0)
camera_servo2_angle_calibration(0)
WiFi().write('CN', 'MakerStarsHall', 'sunfounder')
def forever():
global x_axis, width, pan_angle
x_axis = Vilib.color_detect_object('x')
width = Vilib.color_detect_object('width')
delay(5)
if x_axis == -1:
from vilib import Vilib
# initialize the camera and grab a reference to the raw camera capture
camera = PiCamera()
camera.resolution = (320, 240)
camera.framerate = 32
camera.rotation = 180
rawCapture = PiRGBArray(camera, size=(320, 240))
# allow the camera to warmup
time.sleep(0.1)
start_time = time.time()
fpscount = 0
# capture frames from the camera
Vilib.cdf_flag = True
Vilib.hdf_flag = True
Vilib.color_change('blue')
print(cv2.useOptimized())
cv2.setUseOptimized(True)
print(cv2.useOptimized())
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
img = frame.array
t1 = cv2.getTickCount()
img = Vilib.color_detect_func(img)
img = Vilib.human_detect_func(img)
t2 = cv2.getTickCount()
print(round((t2 - t1) / cv2.getTickFrequency(), 3))
# cv2.imshow("Frame", image)