def main():
#wvs.stop()
#wvs.release()
#TODO detect the count of forms
# 1) Create a webcam video stream
# Note: src=0 links to the USB Webcam of the computers provided for the project
webcam = True
if webcam:
#wvs =
images = get_images()
im_names = ["Analysis image"]
else:
ic = skimage.io.imread_collection("data/test1_1.png")
images = skimage.io.concatenate_images(ic)
xmin = 85
xmax = 570
ymin = 60
ymax = 425
images = np.copy(images[:, ymin:ymax, xmin:xmax, :])
im_names = ["Test image"]
# 2) first image analysis
print("Doing first image analysis")
global imageAnalysis
imageAnalysis = ImageAnalysis(images,
im_names,
result_dir=RESULT_DIR,
print_local=print_local,
save_to_file=SAVE_TO_FILE,
savefig=SAVE_FIG)
imageAnalysis.image_analysis()
figures_info = imageAnalysis.figures_info[
0] # (center, number, matching_pair, bbox)
circle_info = imageAnalysis.circle_info[0] # (index, bbox_center)
arrow_info = imageAnalysis.arrow_info[
0] # (bbox_center, orientation, direction_x)
# 3) get target list and store it
print("Getting target list")
target_list = get_target_list(figures_info, circle_info)
if len(target_list) < NUMBER_OF_FIG:
print("WARNING: not enough figures have been detected")
print("Saving gameplan")
plt.imshow(images[0])
for index in range(len(target_list) - 1):
x0 = target_list[index][1][0]
x1 = target_list[index + 1][1][0]
y0 = target_list[index][1][1]
y1 = target_list[index + 1][1][1]
plt.plot([y0, y1], [x0, x1], 'ro-')
plt.savefig("gameplan.png")
plt.close()
print("Calibrating robot")
# 4) calibrate robot
global robotController
robotController = RobotController()
robot_info_cal = get_robot_info()
robotController.calibration()
robot_info = get_robot_info()
robotController.calcFactorCalibr(
robot_info_cal[0], robot_info_cal[1], robot_info_cal[2], robot_info[0],
robot_info[1], robot_info[2]) # (x_i, y_i, theta_i, x_f, y_f, theta_f)
# Target are stored as : (key, center, is_number)
print("Executing task")
# 5) Execute task
for index, target in enumerate(target_list):
target_point = target[1]
print("Target:", target_point)
x_t = target_point[1]
y_t = target_point[0]
is_number = target[2]
if target_point[0] is "circle":
finish = True
else:
finish = False
print("New target: ", target_point)
print("Finish")
on_shape = False
while not on_shape:
robotController.GoTo(robot_info[0], robot_info[1], robot_info[2],
x_t, y_t)
robot_info = get_robot_info()
if CORR_FACTORS:
robotController.corrFactors(robot_info[0], robot_info[1],
robot_info[2])
on_shape = robotController.checkOnTheShape(robot_info[0],
robot_info[1],
is_number,
finish=finish,
dist_min=DIST_MIN)
