import cv2 as cv import numpy as np import grip from GRIPget import WebcamVideoStream import time vid1 = WebcamVideoStream(src=0).start() another = grip.GripPipeline() counter = 0 start = time.time() try: while True: img1 = vid1.read() another.process(img1) counter += 1 k = cv.waitKey(5) & 0xFF if k == 27: break except KeyboardInterrupt: print(counter / (time.time() - start)) vid1.release()
# import the necessary packages print("beginning execution") import grip import time import cv2 as cv import pyrealsense2 as rs import numpy as np import altusi.visualizer as vis import robot import ikpy print("libraries imported") gp = grip.GripPipeline() print("grip instantiated") SEARCH_LR = 0 ALIGN_UD = 1 IK = 2 GRAB = 3 HOME = 4 stage = 0 tracking = 0 my_chain = ikpy.chain.Chain.from_urdf_file("./niryo_one.urdf") #object_detector = ObjectDetector() home_pin = 13 #GPIO pin connected to set home switch delay = 1.2 # seconds angle = 2 #degrees
ntinst.startServer() else: print("Setting up NetworkTables client for team {}".format(team)) ntinst.startClientTeam(team) # start cameras cameras = [] for cameraConfig in cameraConfigs: cameras.append(startCamera(cameraConfig)) tapeSink = CameraServer.getInstance().getVideo(name="Tape Camera") img = np.zeros(shape=(320, 240, 3), dtype=np.uint8) # GRIP pipeline pipe = grip.GripPipeline() cameraWidth = 320 / 2 # NetworkTable table = ntinst.getTable("TapeFinder") # Run forever while True: time, img = tapeSink.grabFrame(img) if time == 0: continue # Process pipe.process(img)
from picamera import PiCamera from picamera.array import PiRGBArray from networktables import NetworkTables from time import clock import grip NetworkTables.initialize(server='roborio-167-frc.local') table = NetworkTables.getTable('myContoursReport') camera = PiCamera() camera.resolution = (416, 320) camera.framerate = 24 camera.exposure_compensation = 0 rawCapture = PiRGBArray(camera, size=(416, 320)) processor = grip.GripPipeline() for frame in camera.capture_continuous(rawCapture, format='bgr', use_video_port=True): contours = processor.process(frame.array) datax, datay, dataw, datah = [], [], [], [] for contour in contours: data = cv2.boundingRect(contour) datax.append(data[0]) datay.append(data[1]) dataw.append(data[2]) datah.append(data[3]) table.putNumberArray('x', datax) table.putNumberArray('y', datay) table.putNumberArray('w', dataw) table.putNumberArray('h', datah)
import cv2 import numpy as np import grip vc = cv2.VideoCapture(1) imagePipeline = grip.GripPipeline() if vc.isOpened(): # try to get the first frame rval, frame = vc.read() else: rval = False #prosses image while rval: cv2.imshow("image", frame) cv2.imshow("hull", imagePipeline.process(frame)) #Get next image rval, frame = vc.read() #break on ESC key = cv2.waitKey(20) if key == 27: break cv2.destroyWindow("image") cv2.destroyWindow("color") cv2.destroyWindow("hull")
import cv2 import numpy as np from matplotlib import pyplot as plt import grip as gp img = cv2.imread('0.jpg', 0) # f = np.fft.fft2(img) # ff = np.fft.fftshift(f) # res = (20*np.log(np.abs(ff))).astype(np.uint8) a = gp.GripPipeline() a.process(img) a.cv_threshold_output cv2.imshow('1', a.cv_laplacian_output) cv2.waitKey() # plt.subplot(121), plt.imshow(img, 'gray'), plt.title('Original Image') # plt.axis('off') # plt.subplot(122), plt.imshow(res, 'gray'), plt.title('Fourier Image') # plt.axis('off') # plt.show()