import numpy as np import cv2 import PID import server import usb import cubeFinder import stereo cameraR = usb.USBCamera(0) cameraL = usb.USBCamera(1) cubeR = cubeFinder.CubeFinder(cameraR) cubeL = cubeFinder.CubeFinder(cameraL) stereo = stereo.Stereo(cubeR, cubeL, 8) while 1: stereo.track() print "r"+str(stereo.finders[0].angle) print "l"+str(stereo.finders[1].angle) print "d"+str(stereo.distanceToTarget) cv2.imshow("r", stereo.finders[0].frame) cv2.imshow("l", stereo.finders[1].frame) cv2.waitKey(1) #print stereo.distanceToTarget()
def send(data): s.sendto(data, address) def sendErrorValues(found, x, y, angle): status = 1 if found else 0 data = '%3.1f %3.1f %3.1f %d \n' % (x, y, angle, status) print(data) send(data) subprocess.check_call( ["uvcdynctrl", "-s", "White Balance Temperature, Auto", "0"]) subprocess.check_call(["uvcdynctrl", "-s", "Brightness", "30"]) subprocess.check_call(["uvcdynctrl", "-s", "Exposure, Auto", "1"]) subprocess.check_call(["uvcdynctrl", "-s", "Exposure (Absolute)", "5"]) camera = usb.USBCamera(1, 800, 448) finder = targetFinder2019.targetFinder(camera) #finder = HatchFinder2019.hatchFinder(camera) while 1: start = datetime.now() result = finder.find() end = datetime.now() timeElapsed = end - start #print timeElapsed.total_seconds() #print result sendErrorValues(*result)
import numpy as np import cv2 import PID import server import usb import LEDFinder #p = PID.PID(0.0033,0,0,0,0,500,-500) #p.setPoint(0) camera = usb.USBCamera(0) #camera.setExposure(9) led = LEDFinder.LEDFinder(camera) led.setRed() #led.setBlue() #server.startServer() while 1: led.find() led.calculateConfidence() cv2.imshow("frame", led.frame) cv2.waitKey(1) #print led.confidence #print led.err #if(led.err != -1000):