def launcher(motionProxy, postureProxy, markProxy):
init_robot.stiffness_on(motionProxy)
init_robot.init_pos(postureProxy)
videoDeviceProxy = camera.init_camera()
camera.up_camera(videoDeviceProxy)
period = 500 # ms
markProxy.subscribe('goal_pos', period, 0.0)
def camp():
# send 3d set to compute - without display
#num = request.args.get('number')
send_start()
camera = init_camera()
camera.resolution =(160,160)
#camera.framerate_range =(10,10)
cam_settings = CameraSettings(camera)
init_3d_camera(cam_settings)
size = request.args.get('size', None)
if size:
camera.resolution =(int(size),int(size))
set_dias(False)
set_flash(FLASH_LEVEL)
warm_up()
fd1 = BytesIO()
camera.capture(fd1, format='jpeg', use_video_port=True, quality=JPEG_QUALITY)
fd1.truncate()
fd1.seek(0)
(fd2, fd3) = get_picture_set(camera)
send_picture([fd1,fd2,fd3], 1)
camera.close()
led_off()
send_stop()
res = { "device": DEVICEID }
return res
def p_picture():
arg = "?" + get_set_led()
camera = init_camera()
warm_up()
exposure = get_exposure_info(camera)
camera.close()
return render_template('picture.html', name="", exposure=exposure, arg=arg)
def u_picture():
#?quality=85&dias=0&type=jpeg/png
if False:
camera = init_camera()
camera.resolution = (2592, 1944)
pic_format = 'jpeg'
pic_mime = 'image/jpeg'
img_type = request.args.get('type', None)
if img_type == 'png':
pic_format = 'png'
pic_mime = 'image/png'
pic_quality = 85
quality = request.args.get('quality', None)
if quality:
pic_quality = int(quality)
size = request.args.get('size', None)
if size:
camera.resolution = (int(size), int(size))
compensation = request.args.get('compensation', None)
if compensation:
camera.exposure_compensation = int(compensation)
get_set_led()
#warm_up()
# if _DEBUG:
# print(get_exposure_info(camera))
return send_file(get_picture(camera,
format=pic_format,
quality=pic_quality),
mimetype=pic_mime)
def info():
camera = init_camera()
get_set_led()
warm_up()
camera_info = get_picture_info(camera)
#pprint.pprint(camera_info)
camera.close()
led_off()
return Response(
pprint.pformat(camera_info).replace('\n', '<br />') +
'<br><a href="/">Back</a>')
def cam():
set_flash(FLASH_LEVEL)
send_api_request("start2d", url=COMPUTE_SERVER)
camera = init_camera()
camera.resolution = (640, 480)
#camera.framerate_range =(10,25)
size = request.args.get('size', None)
if size:
camera.resolution = (int(size), int(size))
warm_up()
return Response(get_pictures(camera),
mimetype='multipart/x-mixed-replace; boundary=frame')
def test():
mycamera = init_camera()
mycamera.resolution = (640, 480)
warm_up()
settings = CameraSettings(mycamera)
dias = None
flash = None
if request.method == 'POST':
print(request.form)
settings.contrast = int(request.form['contrast'])
settings.brightness = int(request.form['brightness'])
settings.saturation = int(request.form['saturation'])
settings.iso = int(request.form['iso'])
settings.exposure_compensation = int(
request.form['exposure_compensation'])
settings.exposure_mode = request.form['exposure_mode']
settings.awb_mode = request.form['awb_mode']
settings.sharpness = int(request.form['sharpness'])
settings.meter_mode = request.form['meter_mode']
settings.drc_strength = request.form['drc_strength']
settings.resolution = request.form['resolution']
settings.shutter_speed = int(request.form['shutter_speed']) * 1000
dias = request.form.get('dias')
flash = request.form.get('flash')
#print ("Flash", flash)
#print ("Dias", dias)
fd = capture_picture(mycamera)
exposure1 = Markup(
get_exposure_info(mycamera) + "<br>" + get_white_balance(mycamera))
img1 = base64.b64encode(fd.getvalue()).decode()
settings.set()
mysettings = "Camera: " + settings.str()
if flash:
set_flash(True)
if dias:
set_dias(True)
warm_up()
fd2 = capture_picture(mycamera)
exposure2 = Markup(
get_exposure_info(mycamera) + "<br>" + get_white_balance(mycamera) +
" " + mysettings)
img2 = base64.b64encode(fd2.getvalue()).decode()
mycamera.close()
set_flash(False)
set_dias(False)
return render_template('calibrate.html',
header="Calibrate",
img1=img1,
img2=img2,
exposure1=exposure1,
exposure2=exposure2)
def main():
motionProxy = init_robot.start_motion()
rospy.init_node('set_position', anonymous=True)
while not rospy.get_param('lower'):
time.sleep(0.5)
# Cuando otro módulo hace lower True...
videoDeviceProxy = camera.init_camera()
camera.low_camera(videoDeviceProxy)
ball = rospy.wait_for_message('pos', Point)
while not inrange(ball.x, TARGET_X-ERROR_X, TARGET_X+ERROR_X) or \
not inrange(ball.y, TARGET_Y-ERROR_Y, TARGET_Y+ERROR_Y):
set_position(motionProxy, ball)
ball = rospy.wait_for_message('pos', Point)
rospy.set_param('kick_now', True)
def test():
server_up = send_start()
if not server_up:
return '{"result": 0, "reason": "no connection to compute server"}'
camera = init_camera()
camera.resolution =(160,160)
camera.framerate_range =(10,10)
cam_settings = CameraSettings(camera)
mode = ''
mode = request.args.get('mode', None)
init_3d_camera(cam_settings)
# start
set_dias(False)
set_flash(FLASH_LEVEL)
warm_up()
return Response(get_test_pictures(camera, mode=mode),mimetype='multipart/x-mixed-replace; boundary=frame')
def cam():
get_set_led()
camera = init_camera()
warm_up()
if _DEBUG:
print(get_exposure_info(camera))
size = request.args.get('size', None)
if size:
camera.resolution = (int(size), int(size))
max_frame = request.args.get('maxframerate', None)
if max_frame:
myrange = camera.framerate_range
camera.framerate_range = (myrange.low, int(max_frame))
quality = request.args.get('quality', None)
if quality:
quality = int(quality)
return Response(scan_cont_pictures(camera, quality=quality),
mimetype='multipart/x-mixed-replace; boundary=frame')
def picture():
# send one picture to API server
camera = init_camera()
camera.resolution = (640, 480)
#camera.framerate_range =(10,25)
size = request.args.get('size', None)
if size:
camera.resolution = (int(size), int(size))
warm_up()
fd = capture_picture(camera)
expinfo = get_exposure_info(camera)
camera.close()
res = send_file_object(fd,
"2d.jpg",
data={
'folder': "testfolder",
'exposure': expinfo
})
print(res)
return Response(res)
def cam():
# send 3d set to compute
no_pictures = request.args.get('no_pictures', NUMBER_PICTURES, type=int)
picture_interval = request.args.get('picture_interval', PICTURE_INTERVAL, type=float)
server_up = send_start()
if not server_up:
return '{"result": 0, "reason": "no connection to compute server"}'
camera = init_camera()
camera.resolution =(160,160)
camera.framerate_range =(10,10)
cam_settings = CameraSettings(camera)
init_3d_camera(cam_settings)
size = request.args.get('size', None)
if size:
camera.resolution =(int(size),int(size))
# start
set_dias(False)
set_flash(FLASH_LEVEL)
warm_up()
return Response(get_pictures(camera, no_pictures=no_pictures, picture_interval=picture_interval),mimetype='multipart/x-mixed-replace; boundary=frame')
def cam3dias():
# send a serie of pictures
send_start()
camera = init_camera()
camera.resolution =(160,160)
camera.framerate_range =(10,10)
cam_settings = CameraSettings(camera)
init_3d_camera(cam_settings)
size = request.args.get('size', None)
if size:
camera.resolution =(int(size),int(size))
print (get_exposure_info(camera))
set_dias(False)
set_flash(True)
print (get_exposure_info(camera))
warm_up()
print (get_exposure_info(camera))
warm_up()
print (get_exposure_info(camera))
warm_up()
print (get_exposure_info(camera))
return Response(get_dias(camera, 10),mimetype='multipart/x-mixed-replace; boundary=frame')
#stream.truncate()
#stream.seek(0)
return stream
def print_settings(camera):
strg = "ExposureSpeed: {:5.3f} sec(max {:5.1f} pic/sec)<br>".format(
camera.exposure_speed / 1000000, 1000000 / camera.exposure_speed)
strg += "FrameRate: " + str(camera.framerate) + "<br>"
strg += "FrameRateRange: " + str(camera.framerate_range) + "<br>"
strg += "PictureSize: " + str(camera.resolution) + "<br>"
return strg
#camera = PiCamera()
camera = init_camera()
camera.iso = 800
camera.framerate_range = (5, 50)
camera.framerate = 80
settings = CameraSettings(camera)
print(get_camera_settings(camera))
sleep(5)
antal = 200
start = datetime.now()
scan_cont_mem_set(camera, antal=antal)
s**t = datetime.now()
print("Billeder pr sek", antal / (s**t - start).total_seconds())
strg = "ExposureSpeed: {:5.3f} sec(max {:5.1f} pic/sec)\r\n".format(
import camera
import sys
import os
import time
PREPATH = 'dataset/'
path = sys.argv[1]
now = str(int(time.time()))
try:
os.makedirs(PREPATH + str(path))
except FileExistsError:
print('appending to existing folder!')
webcam = camera.init_camera()
i = 0
while True:
camera.save_ss(webcam, PREPATH + path + '/' + now + '_' + str(i) + '.jpg')
i += 1
def dummyServerWithCamera():
import camera
camera_pipeline = camera.init_camera()
remote_control(None, None, camera_pipeline=camera_pipeline, dummy=True)
left = int(left)
if left >= -100 and left <= 100:
cfg.left_motor = left
hw.motor_two_speed(cfg.left_motor)
if right:
right = int(right)
if right >= -100 and right <= 100:
cfg.right_motor = right
hw.motor_one_speed(cfg.right_motor)
return 'record_ok'
else:
return 'no video'
if __name__ == '__main__':
cfg.camera_detected, cfg.camera_handle = cam.init_camera()
#gen(cam.Camera())
#cfg.frame = gen(cam.Camera())
#cv2.imwrite(cfg.outputDir+cfg.currentDir+'/'+ 'test.jpg', cfg.frame)
#cam.Camera()
#print('camera started')
#app.run(host='0.0.0.0', debug=False, threaded=True)
http_server = WSGIServer(('', 5000), app)
http_server.serve_forever()
hw.motor_clean()
cv2.destroyAllWindows()
key, val = ln.strip().split('=', 1)
if val[0] == '\'' and val[-1] == '\'':
val = val[1:-2]
glparams[key.lower()] = val
# define servr properties
#host = '192.168.1.201'
#host = '192.168.242.1'
host = glparams['server']
port = int(glparams['port'])
size = int(glparams['buf_size'])
# configure server socket
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))
print "server started %s:%s" % (host, port)
cm = camera.init_camera(glparams['tmp_image_file'])
print "camera initialized"
ser = initserial()
# wait for connections
# terminate with
try:
while True:
print "recving..."
data, address = sock.recvfrom(size)
message = data + "\0"
print "datagram from %s:\t%s" % (address, message)
if message.startswith("sensor"):
# print "sensor:",data
reply = "ack:sensor data received"
def process_message(message, fromid, remotejids):
global bot, glparams
resp = ""
talkonly = -1
if fromid == remotejids['master_id']:
if message.find("hello") >= 0 or message.find("hi") >= 0:
resp = u'marvel，欢迎您'
talkonly = 1
elif message.find(u"温度") >= 0 or message.find(
u"多热") >= 0 or message.find(u"多冷") >= 0:
code, temp = sensor.read_temperature()
if code < 0:
resp = temp
talkonly = 1
else:
resp = u'marvel，您家里当前温度是%s摄氏度' % temp
elif message.find(u"亮度") >= 0 or message.find(u"多亮") >= 0:
code, brightness = sensor.read_brightness()
if code < 0:
resp = brightness
talkonly = 1
else:
desc = sensor.get_brightness_description(brightness)
resp = u'marvel，您家里当前亮度是%s，%s' % (brightness, desc)
elif message.find(u"图片") >= 0:
cm = camera.init_camera(glparams['tmp_image_file'])
if camera.capture_camera(bot.cm) > 0:
resp = u'已经照完'
else:
resp = u'照相失败'
camera.release_camera(bot.cm)
talkonly = 1
else:
talkonly = 1
resp = u'marvel，我看不懂您的话，blush'
if message.find(u"谢谢") >= 0:
resp = resp + u'，不客气//%s' % message
else:
resp = resp + "//%s" % message
if message.find("talkonly") >= 0:
talkonly = 1
sys.stdout.write("I said:%s\n" % resp)
if glparams['rep_gtalk'] == 'true':
bot.send_master_message(resp)
sys.stdout.write("gtalk message sent\n")
if talkonly < 0 and (glparams['rep_twitter'] == 'true'
or message.find(u'推一下') >= 0):
send_twitter_message(resp)
sys.stdout.write("twitter message sent\n")
if talkonly < 0 and glparams['rep_weibo'] == 'true':
bot.send_weibo_message(resp)
sys.stdout.write("weibo message sent\n")
#os.write(sys.stdin.fileno(), resp)
elif fromid == remotejids['weibo_id']:
if message.find(u'[评论]') >= 0:
print "new comment received"
elif message.find(u'[私信]') >= 0:
print "new mail received"
return
def manual_control_loop(self):
# Create robot object.
if self.config.norobot:
robot_command_client = None
robot_state_client = None
else:
sdk = bosdyn.client.create_standard_sdk('RobotCommandMaster')
sdk.load_app_token(self.config.app_token)
robot = sdk.create_robot(self.config.hostname)
robot.authenticate(self.config.username, self.config.password)
# Check that an estop is connected with the robot so that the robot commands can be executed.
verify_estop(robot)
# Create the lease client.
lease_client = robot.ensure_client(
LeaseClient.default_service_name)
lease = lease_client.acquire()
robot.time_sync.wait_for_sync()
lk = bosdyn.client.lease.LeaseKeepAlive(lease_client)
# Setup clients for the robot state and robot command services.
robot_state_client = robot.ensure_client(
RobotStateClient.default_service_name)
robot_command_client = robot.ensure_client(
RobotCommandClient.default_service_name)
# Power on the robot and stand it up.
if not self.config.nopower:
robot.power_on()
blocking_stand(robot_command_client)
# Initialize camera
camera_pipeline = camera.init_camera()
# Print pose
self.get_pose(robot_state_client)
is_server_on = False
# Control loop
while True:
cmd = input('Command (wasd/qe/c/r):')
if cmd == 'c':
break
elif cmd == 'r':
print("Remote control..")
try:
self.reset_last_frame()
if is_server_on:
asyncio.get_event_loop().run_forever()
else:
is_server_on = True
self.remote_control_loop(
robot_command_client,
robot_state_client,
camera_pipeline=camera_pipeline,
dummy=(robot_command_client is None))
except KeyboardInterrupt:
print("ending remote control")
pass
else:
self.reset_last_frame()
pos = self.execute_command(robot_command_client,
robot_state_client,
cmd,
wait_to_stabilize=False)
# move_relative(robot_command_client, robot_state_client, timeout=5.0)
robot_cmd = RobotCommandBuilder.safe_power_off_command()
robot_command_client.robot_command(lease=None,
command=robot_cmd,
end_time_secs=time.time() + 2.)
time.sleep(2.)
return True
def process_message(message, fromid, remotejids):
global bot,glparams
resp=""
talkonly = -1
if fromid == remotejids['master_id']:
if message.find("hello")>=0 or message.find("hi")>=0:
resp = u'marvel，欢迎您'
talkonly = 1
elif message.find(u"温度")>=0 or message.find(u"多热")>=0 or message.find(u"多冷")>=0 :
code, temp = sensor.read_temperature()
if code < 0:
resp = temp
talkonly = 1
else:
resp = u'marvel，您家里当前温度是%s摄氏度'%temp
elif message.find(u"亮度")>=0 or message.find(u"多亮")>=0:
code, brightness = sensor.read_brightness()
if code < 0:
resp = brightness
talkonly = 1
else:
desc = sensor.get_brightness_description(brightness)
resp = u'marvel，您家里当前亮度是%s，%s'%(brightness, desc)
elif message.find(u"图片")>=0:
cm = camera.init_camera(glparams['tmp_image_file'])
if camera.capture_camera(bot.cm) > 0:
resp = u'已经照完'
else:
resp = u'照相失败'
camera.release_camera(bot.cm)
talkonly = 1
else:
talkonly = 1
resp = u'marvel，我看不懂您的话，blush'
if message.find(u"谢谢")>=0:
resp = resp+u'，不客气//%s'%message
else:
resp = resp+"//%s"%message
if message.find("talkonly")>=0:
talkonly = 1
sys.stdout.write("I said:%s\n"%resp)
if glparams['rep_gtalk']=='true':
bot.send_master_message(resp)
sys.stdout.write("gtalk message sent\n")
if talkonly < 0 and ( glparams['rep_twitter']=='true' or message.find(u'推一下')>=0):
send_twitter_message(resp)
sys.stdout.write("twitter message sent\n")
if talkonly < 0 and glparams['rep_weibo']=='true':
bot.send_weibo_message(resp)
sys.stdout.write("weibo message sent\n")
#os.write(sys.stdin.fileno(), resp)
elif fromid == remotejids['weibo_id']:
if message.find(u'[评论]')>=0:
print "new comment received"
elif message.find(u'[私信]')>=0:
print "new mail received"
return
def camera():
sleeptime = 1.5
os.makedirs("/tmp/calib", mode=0o777, exist_ok=True)
mycamera = init_camera()
#mycamera.resolution =(2592,1944)
set_dias(0)
set_flash(0)
warm_up()
if _DEBUG:
print(get_camera_settings(mycamera))
#normal
mycamera.capture('/tmp/calib/color.png', use_video_port=False)
if _DEBUG:
print("Color", get_exposure_info(mycamera))
mycamera.capture('/tmp/calib/color.jpg', use_video_port=False)
write_picture_info("/tmp/calib/color.json",
get_picture_info_json(mycamera))
#dias
set_dias(1)
sleep(sleeptime)
mycamera.capture('/tmp/calib/dias.png', use_video_port=False)
if _DEBUG:
print("Dias:", get_exposure_info(mycamera))
mycamera.capture('/tmp/calib/dias.jpg', use_video_port=False)
write_picture_info("/tmp/calib/dias.json", get_picture_info_json(mycamera))
#full flash
set_dias(0)
set_flash(1)
sleep(sleeptime)
mycamera.capture('/tmp/calib/flash.png', use_video_port=False)
if _DEBUG:
print("Flash", get_exposure_info(mycamera))
mycamera.capture('/tmp/calib/flash.jpg', use_video_port=False)
write_picture_info("/tmp/calib/flash.json",
get_picture_info_json(mycamera))
fix_exposure(mycamera)
#dark
set_flash(0)
sleep(sleeptime)
mycamera.capture('/tmp/calib/nolight.png', use_video_port=False)
if _DEBUG:
print("NoLight", get_exposure_info(mycamera))
mycamera.capture('/tmp/calib/nolight.jpg', use_video_port=False)
write_picture_info("/tmp/calib/nolight.json",
get_picture_info_json(mycamera))
auto_exposure(mycamera)
#low flash
set_dias(0)
set_flash(0.1)
sleep(sleeptime)
mycamera.capture('/tmp/calib/flash01.png', use_video_port=False)
if _DEBUG:
print("Flash01", get_exposure_info(mycamera))
mycamera.capture('/tmp/calib/flash01.jpg', use_video_port=False)
write_picture_info("/tmp/calib/flash01.json",
get_picture_info_json(mycamera))
fix_exposure(mycamera)
set_flash(0)
sleep(sleeptime)
mycamera.capture('/tmp/calib/nolight01.png', use_video_port=False)
mycamera.close()
filelist = [
'/tmp/calib/color.png',
'/tmp/calib/color.jpg',
'/tmp/calib/color.json',
'/tmp/calib/dias.png',
'/tmp/calib/dias.jpg',
'/tmp/calib/dias.json',
'/tmp/calib/flash.png',
'/tmp/calib/flash.jpg',
'/tmp/calib/flash.json',
'/tmp/calib/nolight.png',
'/tmp/calib/nolight.jpg',
'/tmp/calib/nolight.json',
'/tmp/calib/flash01.png',
'/tmp/calib/flash01.jpg',
'/tmp/calib/flash01.json',
#'/tmp/calib/nolight01.png', '/tmp/calib/nolight01.jpg', '/tmp/calib/nolight01.json'
]
res = send_files(filelist,
post_data={
"cmd": "calcamera",
"sice": 160,
"zoom": ZOOM
})
if res:
return res
print("det gik skidt", res)
return '{ "result": "false"}'
key,val=ln.strip().split('=',1)
if val[0]=='\'' and val[-1]=='\'':
val = val[1:-2]
glparams[key.lower()]=val
# define servr properties
#host = '192.168.1.201'
#host = '192.168.242.1'
host = glparams['server']
port = int(glparams['port'])
size = int(glparams['buf_size'])
# configure server socket
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind((host, port))
print "server started %s:%s"%(host, port)
cm = camera.init_camera(glparams['tmp_image_file'])
print "camera initialized"
ser=initserial()
# wait for connections
# terminate with
try:
while True:
print "recving..."
data, address = sock.recvfrom(size)
message = data + "\0"
print "datagram from %s:\t%s"% (address, message)
if message.startswith("sensor"):
# print "sensor:",data
reply = "ack:sensor data received"
