def main():
robot = Robot()
eyeball = Posts()
DEBUG = True
nudge_count = 0
MIN_MATCHES = 13
MAX_ITEMS = 8
MAX_FAILS = 40
RUN_FAN = False
GRIP, TRIP = 1, 1
ROBOGO = False
BIN_REVERSE = False
cardlist = []
smile = orientation.Simile(just_faces=False)
pathfront = orientation.peep.__mtgpics__
looker = cv2.AKAZE_create()
matcher = cv2.FlannBasedMatcher(orientation.flann_pms, {})
cam = cv2.VideoCapture(0)
time.sleep(6)
wait = time.time()
print(" -- Loading Hopper --")
robot.load_hopper()
bin_name = robot.bin_lookup(0.0)
old_window = ""
id_failure_cnt = 0
while True:
__, frame = cam.read()
showimg = eyeball.draw_guides(frame.copy())
warp = eyeball.get_warp(frame)
cv2.imshow("warp", warp)
cv2.imshow("cam", showimg)
ch = cv2.waitKey(1) & 0xff
eyeball.check_key(ch)
if ch == 27:
robot.dothis("stop")
robot.dothis("fan_off")
cv2.destroyAllWindows()
break
if ch == ord('q'):
print robot.sensor_stats(min_ret=100)
if ch == ord('w'):
print robot.xyz_pos()
if ch == ord('e'):
print("i'm [e] pressed!")
ee = smile.updown(warp)
print("DIST: vs UP: vs DOWN:")
for q in sorted(ee.keys()):
print("{:6} - {:6} - {:6}".format(q, ee[q][0], ee[q][1]))
if ch == ord('r'):
print("[r] cards in matcher: {}".format(len(cardlist)))
for n, card in enumerate(cardlist):
print("{:3}: {:4} - {} #kp={}".format(n, card.code, card.name,
len(card.kp)))
if ch == ord('f'):
RUN_FAN = not RUN_FAN
if RUN_FAN:
wait = robot.dothis('fan_on') + time.time()
else:
wait = robot.dothis('fan_off') + time.time()
if ch == ord('g'):
ROBOGO = not ROBOGO
print("ROBOGO = {}".format(ROBOGO))
if ROBOGO and not robot.ID_DONE:
old_cardlist_len = len(cardlist)
matcher, cardlist = card_adder(smile.fistfull(warp,
trips=TRIP,
grip=GRIP),
matcher,
orientation.orient_db,
cardlist,
maxitems=MAX_ITEMS)
current_kp, matchdict = card_compare(warp, looker, matcher)
texture = len(current_kp)
if texture < (MIN_MATCHES * 3):
print("WARNING, not enough texture in input image (kp={})".
format(texture))
bestmatch = sorted([(i, matches)
for i, matches in matchdict.viewitems()
if len(matches) > (MIN_MATCHES + texture) / 6],
key=lambda x: len(x[1]),
reverse=True)
if not bestmatch:
id_failure_cnt += 1
msg = ""
if (len(cardlist) == old_cardlist_len):
GRIP += 1
TRIP += np.random.randint(-1, 3)
if (TRIP > 4) or (TRIP < 0):
TRIP = 1
msg = ", and nothing new added to matcher(len={}) GRIP={}, TRIP={}"\
.format(old_cardlist_len, GRIP, TRIP)
if DEBUG:
print("No luck: {} fails{}".format(id_failure_cnt, msg))
if len(bestmatch) > 1:
GRIP = 1
if DEBUG: print("Has {} candidates".format(len(bestmatch)))
if (id_failure_cnt > MAX_FAILS) and not bestmatch:
# send the card to the unidentified group/bin
cardlist, GRIP, TRIP = [], 1, 1
matcher.clear()
robot.ID_DONE = True
bin_name = robot.bin_lookup(10000.1)
print("Couldn't match this in {} tries".format(id_failure_cnt))
id_failure_cnt = 0
for indx, matches in bestmatch:
one_card = cardlist[indx]
pricestr = 'None'
pricetag = 0
priceline = pricer.single_price(one_card.id)[0]
if priceline:
pricetag = priceline[1]
pricestr = "$" + " ,$".join(map(str, priceline)[1:3])
bin_name = robot.bin_lookup(pricetag)
new_window = "{} {} | {}".format(one_card.name, one_card.code,
pricestr)
warp = eyeball.show_card_info(new_window.split(" | "),
warp,
max_expansion=2.6,
topleft=(5, 5))
cv2.imshow(
new_window,
cv2.drawMatchesKnn(
warp,
current_kp,
cv2.imread(os.path.join(pathfront, one_card.pic_path)),
one_card.kp,
matches,
outImg=np.zeros((eyeball.yc, eyeball.xc * 2, 3),
dtype=np.uint8),
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS))
if old_window:
cv2.destroyWindow(old_window)
old_window = new_window
id_failure_cnt = 0
robot.ID_DONE = True
# only do all this for the first card on the 'bestmatch' list!
break
# with card identified, begin moving the robot
current_time = time.time()
if robot.ID_DONE and (not robot.PICKING_UP) and (
not robot.NEED_DROP) and (current_time > wait):
if DEBUG: print("moving arm over hopper")
wait = robot.dothis("pickup_pos") + time.time()
wait += (robot.dothis("servo_up") * 0.5)
robot.PICKING_UP = True
sens = robot.sensor_stats()
# if DEBUG: print("{}".format(sens))
if robot.PICKING_UP and (current_time > wait):
if DEBUG: print("checking that hopper is high enough")
if "op" in sens['y_max']:
if DEBUG: print("raising hopper by default amount")
wait = robot.hopper_up() + time.time()
if "op" in sens['x_max'] and nudge_count < 12:
if DEBUG:
print("raising hopper by a nudge {}".format(nudge_count))
robot.hopper_up(0.1)
if DEBUG: print("sensor indicates card on board")
robot.CARD_CARRIED = True
robot.PICKING_UP = False
if robot.CARD_CARRIED and (current_time > wait):
if DEBUG: print("card is moving out for bin drop")
wait = robot.go_xz(bin_name) + time.time()
robot.CARD_CARRIED = False
robot.PICKING_UP = False
robot.NEED_DROP = True
if robot.NEED_DROP and (current_time > wait):
if DEBUG: print("checking that card made it to drop zone")
sens = robot.sensor_stats()
if "op" in sens['x_max']:
if DEBUG:
print(
"*** arrived at drop zone empty! *** going back to get card"
)
wait = robot.hopper_up(0.1) + time.time() + robot.go_xz(
bin_name, reverse=True)
robot.NEED_DROP = False
else:
if DEBUG: print("Dropping card into bin")
wait = robot.dothis('servo_drop') + time.time()
robot.NEED_DROP = False
robot.ID_DONE = False
def main():
camx, camy = 640, 480 # typical web-cam dimensions
yc, xc = (445, 312) # typical pixels for a card
cdx1, cdy1, cdx2, cdy2 = card_corners(camx, camy, yc, xc)
MIN_MATCHES = 5
DRAW_MATCHES, RUN_FREE, PRINT_GOOD = True, False, True
MAX_ITEMS = 500
cardlist = []
user_given_name = None
M2 = cv2.getRotationMatrix2D((xc / 2, xc / 2), -90, 1)
smile = orientation.Simile(just_faces=False)
pathfront = orientation.peep.__mtgpics__
looker = cv2.AKAZE_create()
matcher = cv2.FlannBasedMatcher(orientation.flann_pms, {})
cam = cv2.VideoCapture(0)
undertaker(img_code='USER')
ui = dict(
g="[g]ive the new pics a base-name. Currently: '{}' ",
p=
"[p]rint verbose news about the matcher: {}{}bonus info! matcher has {} objects.",
t="[t]ake a picture: {} with {} errors",
k="[k]ompare the area in the green box with database items",
r="[r]un comparisons continuously, ie. on every frame: {}",
e="[e]rasing {} items from cardlist and matcher",
c="[c]lean up the windows",
d="[d]rawing Matches set to: {}",
esc="[esc]ape (exit) the program loop",
h="[h]elp - show these options")
for vals in ui.viewvalues():
print(vals)
while True:
__, frame = cam.read()
showimg = frame.copy()
cv2.rectangle(showimg, (cdx1, cdy1), (cdx2, cdy2), (0, 255, 0))
cv2.imshow("cam", showimg)
ch = cv2.waitKey(1) & 0xff
if ch != 255:
print ch
if ch == ord('r'):
RUN_FREE = not RUN_FREE
print(ui['r'].format(RUN_FREE))
if ch == ord('g'):
print(ui['g'].format(user_given_name))
user_given_name = str(
raw_input("type in the new pic base-name >>> ")).strip()
if ch == ord('p'):
PRINT_GOOD = not PRINT_GOOD
print(ui['p'].format(PRINT_GOOD, os.linesep, len(cardlist)))
if ch == ord('t'):
samp_img = cv2.warpAffine(frame[cdy1:cdy2, cdx1:cdx2], M2,
(xc, yc))
quant, errors = seemore.pic_adder(samp_img,
img_name=user_given_name)
print(ui['t'].format(quant + 1, errors))
if RUN_FREE or (ch == ord('k')):
samp_img = cv2.warpAffine(frame[cdy1:cdy2, cdx1:cdx2], M2,
(xc, yc))
matcher, cardlist = card_adder(smile.handful(samp_img),
matcher,
orientation.orient_db,
cardlist,
maxitems=MAX_ITEMS)
cv2.imshow("sample", samp_img)
current_kp, matchdict = card_compare(samp_img, looker, matcher)
for indx, matches in matchdict.viewitems():
if len(matches) > MIN_MATCHES:
one_card = cardlist[indx]
pricestr = pricer.single_price(one_card.id)[0]
if pricestr:
pricestr = ", ".join(map(str, pricestr)[1:3])
if not DRAW_MATCHES:
cv2.imshow(
"{} {}".format(one_card.name, one_card.code),
cv2.imread(
os.path.join(pathfront, one_card.pic_path)))
if PRINT_GOOD:
print("good match: {} {} (pnts:{}) prices: {}".
format(cardlist[indx].name,
cardlist[indx].code, len(matches),
pricestr))
else:
cv2.imshow(
"{} {}".format(one_card.name, one_card.code),
cv2.drawMatchesKnn(
samp_img,
current_kp,
cv2.imread(
os.path.join(pathfront,
one_card.pic_path)),
one_card.kp,
matches,
outImg=np.zeros((yc, xc * 2, 3),
dtype=np.uint8),
flags=cv2.
DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS))
if PRINT_GOOD:
print("good match: {} {} (pnts:{}) prices: {}".
format(one_card.name, one_card.code,
len(matches), pricestr))
if ch == ord('e'):
print(ui['e'].format(len(cardlist)))
matcher.clear()
cardlist = []
ch = ord('c')
if ch == ord('c'):
print(ui['c'])
cv2.destroyAllWindows()
if ch == ord('d'):
DRAW_MATCHES = not DRAW_MATCHES
print(ui['d'].format(DRAW_MATCHES))
if ch == ord('h'):
print("")
for vals in ui.viewvalues():
print(vals)
if ch == 27:
print(ui['esc'])
cv2.destroyAllWindows()
break
def main():
robot = Robot()
eyeball = Posts()
DEBUG = True
nudge_count = 0
MIN_MATCHES = 13
MAX_ITEMS = 8
MAX_FAILS = 40
RUN_FAN = False
GRIP, TRIP = 1, 1
ROBOGO = False
BIN_REVERSE = False
cardlist = []
smile = orientation.Simile(just_faces=False)
pathfront = orientation.peep.__mtgpics__
looker = cv2.AKAZE_create()
matcher = cv2.FlannBasedMatcher(orientation.flann_pms, {})
cam = cv2.VideoCapture(0)
time.sleep(6)
wait = time.time()
print(" -- Loading Hopper --")
robot.load_hopper()
bin_name = robot.bin_lookup(0.0)
old_window = ""
id_failure_cnt = 0
while True:
__, frame = cam.read()
showimg = eyeball.draw_guides(frame.copy())
warp = eyeball.get_warp(frame)
cv2.imshow("warp", warp)
cv2.imshow("cam", showimg)
ch = cv2.waitKey(1) & 0xff
eyeball.check_key(ch)
if ch == 27:
robot.dothis("stop")
robot.dothis("fan_off")
cv2.destroyAllWindows()
break
if ch == ord('q'):
print robot.sensor_stats(min_ret=100)
if ch == ord('w'):
print robot.xyz_pos()
if ch == ord('e'):
print("i'm [e] pressed!")
ee = smile.updown(warp)
print("DIST: vs UP: vs DOWN:")
for q in sorted(ee.keys()):
print("{:6} - {:6} - {:6}".format(q, ee[q][0], ee[q][1]))
if ch == ord('r'):
print("[r] cards in matcher: {}".format(len(cardlist)))
for n, card in enumerate(cardlist):
print("{:3}: {:4} - {} #kp={}".format(n, card.code, card.name, len(card.kp)))
if ch == ord('f'):
RUN_FAN = not RUN_FAN
if RUN_FAN:
wait = robot.dothis('fan_on') + time.time()
else:
wait = robot.dothis('fan_off') + time.time()
if ch == ord('g'):
ROBOGO = not ROBOGO
print("ROBOGO = {}".format(ROBOGO))
if ROBOGO and not robot.ID_DONE:
old_cardlist_len = len(cardlist)
matcher, cardlist = card_adder(smile.fistfull(warp, trips=TRIP, grip=GRIP), matcher, orientation.orient_db,
cardlist, maxitems=MAX_ITEMS)
current_kp, matchdict = card_compare(warp, looker, matcher)
texture = len(current_kp)
if texture < (MIN_MATCHES * 3):
print("WARNING, not enough texture in input image (kp={})".format(texture))
bestmatch = sorted([(i, matches) for i, matches in matchdict.viewitems()
if len(matches) > (MIN_MATCHES + texture) / 6],
key=lambda x: len(x[1]), reverse=True)
if not bestmatch:
id_failure_cnt += 1
msg = ""
if (len(cardlist) == old_cardlist_len):
GRIP += 1
TRIP += np.random.randint(-1, 3)
if (TRIP > 4) or (TRIP < 0):
TRIP = 1
msg = ", and nothing new added to matcher(len={}) GRIP={}, TRIP={}"\
.format(old_cardlist_len, GRIP, TRIP)
if DEBUG: print("No luck: {} fails{}".format(id_failure_cnt, msg))
if len(bestmatch) > 1:
GRIP = 1
if DEBUG: print("Has {} candidates".format(len(bestmatch)))
if (id_failure_cnt > MAX_FAILS) and not bestmatch:
# send the card to the unidentified group/bin
cardlist, GRIP, TRIP = [], 1, 1
matcher.clear()
robot.ID_DONE = True
bin_name = robot.bin_lookup(10000.1)
print("Couldn't match this in {} tries".format(id_failure_cnt))
id_failure_cnt = 0
for indx, matches in bestmatch:
one_card = cardlist[indx]
pricestr = 'None'
pricetag = 0
priceline = pricer.single_price(one_card.id)[0]
if priceline:
pricetag = priceline[1]
pricestr = "$" + " ,$".join(map(str, priceline)[1:3])
bin_name = robot.bin_lookup(pricetag)
new_window = "{} {} | {}".format(one_card.name, one_card.code, pricestr)
warp = eyeball.show_card_info(new_window.split(" | "), warp, max_expansion=2.6, topleft=(5, 5))
cv2.imshow(new_window, cv2.drawMatchesKnn(warp, current_kp,
cv2.imread(os.path.join(pathfront, one_card.pic_path)),
one_card.kp, matches,
outImg=np.zeros((eyeball.yc, eyeball.xc * 2, 3), dtype=np.uint8),
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS))
if old_window:
cv2.destroyWindow(old_window)
old_window = new_window
id_failure_cnt = 0
robot.ID_DONE = True
# only do all this for the first card on the 'bestmatch' list!
break
# with card identified, begin moving the robot
current_time = time.time()
if robot.ID_DONE and (not robot.PICKING_UP) and (not robot.NEED_DROP) and (current_time > wait):
if DEBUG: print("moving arm over hopper")
wait = robot.dothis("pickup_pos") + time.time()
wait += (robot.dothis("servo_up") * 0.5)
robot.PICKING_UP = True
sens = robot.sensor_stats()
# if DEBUG: print("{}".format(sens))
if robot.PICKING_UP and (current_time > wait):
if DEBUG: print("checking that hopper is high enough")
if "op" in sens['y_max']:
if DEBUG: print("raising hopper by default amount")
wait = robot.hopper_up() + time.time()
if "op" in sens['x_max'] and nudge_count < 12:
if DEBUG: print("raising hopper by a nudge {}".format(nudge_count))
robot.hopper_up(0.1)
if DEBUG: print("sensor indicates card on board")
robot.CARD_CARRIED = True
robot.PICKING_UP = False
if robot.CARD_CARRIED and (current_time > wait):
if DEBUG: print("card is moving out for bin drop")
wait = robot.go_xz(bin_name) + time.time()
robot.CARD_CARRIED = False
robot.PICKING_UP = False
robot.NEED_DROP = True
if robot.NEED_DROP and (current_time > wait):
if DEBUG: print("checking that card made it to drop zone")
sens = robot.sensor_stats()
if "op" in sens['x_max']:
if DEBUG: print("*** arrived at drop zone empty! *** going back to get card")
wait = robot.hopper_up(0.1) + time.time() + robot.go_xz(bin_name, reverse=True)
robot.NEED_DROP = False
else:
if DEBUG: print("Dropping card into bin")
wait = robot.dothis('servo_drop') + time.time()
robot.NEED_DROP = False
robot.ID_DONE = False
def main():
camx, camy = 640, 480 # typical web-cam dimensions
yc, xc = (445, 312) # typical pixels for a card
cdx1, cdy1, cdx2, cdy2 = card_corners(camx, camy, yc, xc)
MIN_MATCHES = 5
DRAW_MATCHES, RUN_FREE, PRINT_GOOD = True, False, True
MAX_ITEMS = 500
cardlist = []
user_given_name = None
M2 = cv2.getRotationMatrix2D((xc/2, xc/2), -90, 1)
smile = orientation.Simile(just_faces=False)
pathfront = orientation.peep.__mtgpics__
looker = cv2.AKAZE_create()
matcher = cv2.FlannBasedMatcher(orientation.flann_pms, {})
cam = cv2.VideoCapture(0)
undertaker(img_code='USER')
ui = dict(g="[g]ive the new pics a base-name. Currently: '{}' ",
p="[p]rint verbose news about the matcher: {}{}bonus info! matcher has {} objects.",
t="[t]ake a picture: {} with {} errors",
k="[k]ompare the area in the green box with database items",
r="[r]un comparisons continuously, ie. on every frame: {}",
e="[e]rasing {} items from cardlist and matcher",
c="[c]lean up the windows",
d="[d]rawing Matches set to: {}",
esc="[esc]ape (exit) the program loop",
h="[h]elp - show these options")
for vals in ui.viewvalues():
print(vals)
while True:
__, frame = cam.read()
showimg = frame.copy()
cv2.rectangle(showimg, (cdx1, cdy1), (cdx2, cdy2), (0, 255, 0))
cv2.imshow("cam", showimg)
ch = cv2.waitKey(1) & 0xff
if ch != 255:
print ch
if ch == ord('r'):
RUN_FREE = not RUN_FREE
print(ui['r'].format(RUN_FREE))
if ch == ord('g'):
print(ui['g'].format(user_given_name))
user_given_name = str(raw_input("type in the new pic base-name >>> ")).strip()
if ch == ord('p'):
PRINT_GOOD = not PRINT_GOOD
print(ui['p'].format(PRINT_GOOD, os.linesep, len(cardlist)))
if ch == ord('t'):
samp_img = cv2.warpAffine(frame[cdy1:cdy2, cdx1:cdx2], M2, (xc, yc))
quant, errors = seemore.pic_adder(samp_img, img_name=user_given_name)
print(ui['t'].format(quant+1, errors))
if RUN_FREE or (ch == ord('k')):
samp_img = cv2.warpAffine(frame[cdy1:cdy2, cdx1:cdx2], M2, (xc, yc))
matcher, cardlist = card_adder(smile.handful(samp_img), matcher, orientation.orient_db, cardlist,
maxitems=MAX_ITEMS)
cv2.imshow("sample", samp_img)
current_kp, matchdict = card_compare(samp_img, looker, matcher)
for indx, matches in matchdict.viewitems():
if len(matches) > MIN_MATCHES:
one_card = cardlist[indx]
pricestr = pricer.single_price(one_card.id)[0]
if pricestr:
pricestr = ", ".join(map(str, pricestr)[1:3])
if not DRAW_MATCHES:
cv2.imshow("{} {}".format(one_card.name, one_card.code),
cv2.imread(os.path.join(pathfront, one_card.pic_path)))
if PRINT_GOOD: print("good match: {} {} (pnts:{}) prices: {}"
.format(cardlist[indx].name, cardlist[indx].code, len(matches), pricestr))
else:
cv2.imshow("{} {}".format(one_card.name, one_card.code),
cv2.drawMatchesKnn(samp_img, current_kp,
cv2.imread(os.path.join(pathfront, one_card.pic_path)),
one_card.kp, matches, outImg=np.zeros((yc, xc*2, 3),
dtype=np.uint8),
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS))
if PRINT_GOOD: print("good match: {} {} (pnts:{}) prices: {}"
.format(one_card.name, one_card.code, len(matches), pricestr))
if ch == ord('e'):
print(ui['e'].format(len(cardlist)))
matcher.clear()
cardlist = []
ch = ord('c')
if ch == ord('c'):
print(ui['c'])
cv2.destroyAllWindows()
if ch == ord('d'):
DRAW_MATCHES = not DRAW_MATCHES
print(ui['d'].format(DRAW_MATCHES))
if ch == ord('h'):
print("")
for vals in ui.viewvalues():
print(vals)
if ch == 27:
print(ui['esc'])
cv2.destroyAllWindows()
break
