@asyncio.coroutine
def main(r):
task = asyncio.ensure_future(find_cubes(r))
try:
yield From(asyncio.wait_for(task, SILO_TIME))
except asyncio.TimeoutError:
pass
yield From(clean_up(r))
if __name__ == "__main__":
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer, map=Arena.load('sw/mapping/red_map.txt'))
cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
v = Vision(cam)
c = ControlPanel(r)
w = Window(500, [m, CameraPanel(v), c])
while not c.started:
pass
log.debug("started")
loop = asyncio.get_event_loop()
loop.set_debug(True)
loop.run_until_complete(main(r))
loop.close()
@asyncio.coroutine
def main(r):
task = asyncio.ensure_future(wall_fondle(r))
try:
yield From(asyncio.wait_for(task, SILO_TIME))
except asyncio.TimeoutError:
pass
yield From(clean_up(r))
if __name__ == "__main__":
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer,
map=Arena.load('../sw/mapping/red_map.txt'))
cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
v = Vision(cam)
w = Window(500, [m, CameraPanel(v), ControlPanel(r)])
while w.get_key() != ' ':
pass
log.debug("started")
loop = asyncio.get_event_loop()
loop.set_debug(True)
loop.run_until_complete(main(r))
loop.close()
import time
import numpy as np
import cv2
import scipy.ndimage as ndimage
import sw.vision as vision
from sw.vision.colorselector import ColorSelector
from sw.vision.window import Window
from sw.vision.colors import Colors
from sw.util import Profiler
cam = vision.Camera(w=320, h=240, debug=False, id=1)
selector = ColorSelector(cam.shape)
result_win = Window('result')
fRec = 0
lastCap = 0
try:
while True:
# Capture frame-by-frame
try:
frame = cam.read()
except IOError:
#print('No frame')
continue
Profiler.ENABLED = False
import time
import numpy as np
import cv2
import scipy.ndimage as ndimage
import sw.vision as vision
from sw.vision.colorselector import ColorSelector
from sw.vision.window import Window
from sw.vision.colors import Colors
from sw.util import Profiler
cam = vision.Camera(w=320, h=240, debug=False, id=1)
selector = ColorSelector(cam.shape)
result_win = Window('result')
fRec = 0
lastCap = 0
try:
while True:
# Capture frame-by-frame
try:
frame = cam.read()
except IOError:
#print('No frame')
continue
Profiler.ENABLED = False
with Profiler('all') as profiler:
with profiler('detect') as p:
@asyncio.coroutine
def main(r):
task = asyncio.ensure_future(wall_fondle(r))
try:
yield From(asyncio.wait_for(task, SILO_TIME))
except asyncio.TimeoutError:
pass
yield From(clean_up(r))
if __name__ == "__main__":
with TAMProxy() as tamproxy:
r = Robot(tamproxy)
m = Mapper(r.drive.odometer, map=Arena.load('../sw/mapping/red_map.txt'))
cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
v = Vision(cam)
w = Window(500, [m, CameraPanel(v), ControlPanel(r)])
while w.get_key() != ' ':
pass
log.debug("started")
loop = asyncio.get_event_loop()
loop.set_debug(True)
loop.run_until_complete(main(r))
loop.close()