def __init__(self):
pyrs.start()
self.dev = pyrs.Device()
self.dev.apply_ivcam_preset(0)
self.dev.set_device_option(rs_option.RS_OPTION_F200_LASER_POWER, 15.0)
self.worker = FrameWorker(self)
self.worker.start()
def __init__(self):
# Using OpenCV to capture from device 0. If you have trouble capturing
# from a webcam, comment the line below out and use a video file
# instead.
pyrs.start()
caffe.set_mode_gpu()
self.dev = pyrs.Device()
self.dev.set_device_option(
pyrs.constants.rs_option.RS_OPTION_COLOR_ENABLE_AUTO_EXPOSURE, 1)
self.dev.set_device_option(
pyrs.constants.rs_option.RS_OPTION_R200_LR_AUTO_EXPOSURE_ENABLED,
1)
print 'start net init'
self.net = caffe.Net(
'/home/rafi/test_fcn/fcn.berkeleyvision.org-master/voc-fcn32s/deploy.prototxt',
'/home/rafi/test_fcn/fcn.berkeleyvision.org-master/voc-fcn32s/fcn32s-heavy-pascal.caffemodel',
caffe.TEST)
print 'finished net init'
import time
import matplotlib.pyplot as plt
import pyrealsense as pyrs
pyrs.start()
time.sleep(2)
# cm = pyrs.get_colour()
# plt.imshow(cm)
# plt.show()
import cv2
import numpy as np
import time
cnt = 0
last = time.time()
smoothing = 0.9
fps_smooth = 30
while True:
cnt += 1
if (cnt % 10) == 0:
now = time.time()
dt = now - last
fps = 10 / dt
fps_smooth = (fps_smooth * smoothing) + (fps * (1.0 - smoothing))
last = now
c = pyrs.get_colour()
d = pyrs.get_depth() >> 3
def __enter__(self):
pyrs.start()
return self
class RobotInitHandler(tornado.web.RequestHandler):
def get(self):
global serial_pos
return serial_pos.initialize_robot()
def make_app():
return tornado.web.Application([
(r"/camera", CameraHandler),
(r"/robot/(\d+)/(\d+)/(\d+)/(\d+)/(\d+)/(\d+)/", RobotMoveHandler),
(r"/robot/init", RobotInitHandler),
])
global camera
global serial_pos
if __name__ == "__main__":
pyrs.start()
dev = pyrs.Device()
camera = Cameras(dev)
serial_pos = SerialMotorPostitions()
app = make_app()
app.listen(8888)
print("Starting server on 8888")
try:
tornado.ioloop.IOLoop.current().start()
finally:
camera.stop()
except:
print "Error: Could not find the RealSense. Exiting."
exit(-1)
if( webcamDevNum == 0):
camDevNum = 1
else:
camDevNum = 2
print "Using RealSense on device {}...".format( camDevNum)
# set the camera brightness way down
os.system( "/usr/bin/v4l2-ctl -d " + str( camDevNum) + " --set-ctrl brightness={}".format( RS_brightness))
# start RealSense
pyrs.start( c_height=realsenseHeight, c_width=realsenseWidth, c_fps=realsenseFPS,
d_height=realsenseDepthHeight, d_width=realsenseDepthWidth, d_fps=realsenseFPS)
print "\nSleeping 2..."
time.sleep(2)
elif( useAxisCam == True):
print "Using Axis Camera..."
vc = cv2.VideoCapture()
print vc.open( "http://10.59.33.48/mjpg/video.mjpg") # ("http:axis-00408c9dccca.local/mjpg/video.mjpg") # 'http://192.168.1.26/mjpg/video.mjpg')
elif( useWebCam == True):
print "Identifying Microsoft LifeCam web cam device number..."
try:
f = os.popen( 'ls -l /dev/v4l/by-id/*LifeCam*')
a = f.read()
a = re.search( '\/video(\d+)\n', a)
webcamDevNum = int( a.group(1))
except:
print "Error: Could not find the Microsoft LifeCam. Exiting."
def init_device():
pyrs.start()
dev = pyrs.Device()
return dev
def test_is_started(self):
try:
pyrs.start()
except RealsenseError as e:
self.assertTrue(e.function == 'rs_create_context')
def test_is_started(self):
ret = pyrs.start()
self.assertTrue(ret == 1)
def start(self):
pyrs.start()
self.device = pyrs.Device(device_id=0)
