def run(self):
self.running = True
while self.running:
# read framebuffer
# rospy.loginfo("try to read fb...")
fb = pyopenmv.fb_dump()
if fb is None:
continue
w, h, data = fb
# create Image message
img = Image()
img.header.stamp = rospy.Time.now()
img.header.frame_id = "openmv_cam"
img.width = w
img.height = h
img.data = list(data.flat[0:])
img.step = w * 3
img.encoding = "rgb8"
# publish it
self.pub_image.publish(img)
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
while running:
Clock.tick(100)
# read framebuffer
fb = pyopenmv.fb_dump()
if fb != None:
# create image from RGB888
image = pygame.image.frombuffer(fb[2].flat[0:], (fb[0], fb[1]), 'RGB')
# TODO check if res changed
screen = pygame.display.set_mode((fb[0], fb[1]), pygame.DOUBLEBUF, 32)
fps = Clock.get_fps()
# blit stuff
screen.blit(image, (0, 0))
screen.blit(font.render("FPS %.2f"%(fps), 1, (255, 0, 0)), (0, 0))
# update display
pygame.display.flip()
for event in pygame.event.get():
# Set higher timeout after connecting for lengthy transfers.
pyopenmv.set_timeout(1*2) # SD Cards can cause big hicups.
pyopenmv.stop_script()
pyopenmv.enable_fb(True)
pyopenmv.exec_script(script)
# init screen
running = True
Clock = pygame.time.Clock()
font = pygame.font.SysFont("monospace", 15)
while running:
Clock.tick(100)
# read framebuffer
fb = pyopenmv.fb_dump()
if fb != None:
# create image from RGB888
image = pygame.image.frombuffer(fb[2].flat[0:], (fb[0], fb[1]), 'RGB')
# TODO check if res changed
screen = pygame.display.set_mode((fb[0], fb[1]), pygame.DOUBLEBUF, 32)
fps = Clock.get_fps()
# blit stuff
screen.blit(image, (0, 0))
screen.blit(font.render("FPS %.2f"%(fps), 1, (255, 0, 0)), (0, 0))
# update display
pygame.display.flip()
for event in pygame.event.get():
def camera_exec():
"""
Main camera execution loop that runs until program is aborted.
1. Camera tries to connect continuously until successful
2. Camera outputs frame buffer -> video stream
3. Camera outputs text buffer -> data about target object
- Data is passed to robot for evaluation
"""
pygame.init()
locals()
plot_num = 0
running, Clock, font = camera_connect()
while running:
Clock.tick(100)
# read framebuffer
fb = None
while (True):
try:
fb = pyopenmv.fb_dump()
break
except Exception as e:
# try and reconnect on failure
camera_connect()
# signal to UArm that camera has connected
camera_started.set()
if fb is not None:
# create image from RGB888
image = pygame.image.frombuffer(fb[2].flat[0:], (fb[0], fb[1]),
'RGB')
screen = pygame.display.set_mode((fb[0], fb[1]), pygame.DOUBLEBUF,
32)
fps = Clock.get_fps()
# blit stuff
screen.blit(image, (0, 0))
screen.blit(font.render("FPS %.2f" % (fps), 1, (255, 0, 0)),
(0, 0))
# update display
pygame.display.flip()
# get output from text buffer
tx_len = pyopenmv.tx_buf_len()
# object was found by camera if there is outputted text
if tx_len:
'''
if UArm has signaled to the camera to identify the object and the camera has not already
assigned values to the global variables associated with the object's location
'''
if camera_event.is_set() and (data_ready.is_set() is False):
# read the most recent data at index 0 from the text buffer
buff = pyopenmv.tx_buf(tx_len).decode()
split_buff = str(buff).splitlines()
if h_angle_key in split_buff[0]:
# Most recent line in buff contains needed information
global h_angle, v_angle, is_centered
tok = split_buff[0].split()
# set angles to corresponding values determined by camera
h_angle, v_angle = float(tok[1]), float(tok[3])
if tok[5] == "True":
is_centered = True
else:
is_centered = False
# signal that global variables have been set
data_ready.set()
if plot_ready.is_set():
print("success_rate: ", success_history)
plot_distance(distance_history, plot_num)
plot_success(success_history, plot_num)
plot_num += 1
plot_ready.clear()
print("success rate for ", len(success_history), " tests: ",
success_history.count(True) / len(success_history))
for event in pygame.event.get():
if event.type == pygame.QUIT:
running = False
elif event.type == pygame.KEYDOWN:
if event.key == pygame.K_ESCAPE:
running = False
if event.key == pygame.K_c:
pygame.image.save(image, "capture.png")
pygame.quit()
pyopenmv.stop_script()