def __init__(self): if platform.system().lower() == "Linux".lower(): system( "v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1" ) system("v4l2-ctl --device=1 -c exposure_absolute=275") self.camera = cv2.VideoCapture(1) else: self.camera = cv2.VideoCapture(0) self.camera.set(3, 3264) self.camera.set(4, 2448) self.worldImage = None ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame) self.worldImage.addLabels(frame) self.worldImage.updateRobotPosition(frame)
def __init__(self): if platform.system().lower() == "Linux".lower(): system("v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1") system("v4l2-ctl --device=1 -c exposure_absolute=275") self.camera = cv2.VideoCapture(1) else: self.camera = cv2.VideoCapture(0) self.camera.set(3, 3264) self.camera.set(4, 2448) self.worldImage = None ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame) self.worldImage.addLabels(frame) self.worldImage.updateRobotPosition(frame)
def initializeRound(self): ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame)
class worldVision: def __init__(self): if platform.system().lower() == "Linux".lower(): system( "v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1" ) system("v4l2-ctl --device=1 -c exposure_absolute=275") self.camera = cv2.VideoCapture(1) else: self.camera = cv2.VideoCapture(0) self.camera.set(3, 3264) self.camera.set(4, 2448) self.worldImage = None ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame) self.worldImage.addLabels(frame) self.worldImage.updateRobotPosition(frame) def initializeRound(self): ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame) def getCurrentImage(self): ret = True frame = None old_frame = None for cameraStoredFrame in range(7): old_frame = frame ret, frame = self.camera.read() if not ret: old_frame = frame break frame = old_frame frame = cv2.resize(frame, (960, 720)) self.worldImage.drawMapOnFrame(frame) self.worldImage.updateRobotPosition(frame) self.worldImage.addLabels(frame) return frame, self.worldImage.getMap() def setTarget(self, target): self.worldImage.setTarget(target) def setTreasures(self, relativeAngles): self.worldImage.defineTreasures(relativeAngles) def findBestTresorPosition(self): return self.worldImage.findBestTresor()
class worldVision: def __init__(self): if platform.system().lower() == "Linux".lower(): system("v4l2-ctl --device=1 -c brightness=115 -c gain=56 -c exposure_auto=1") system("v4l2-ctl --device=1 -c exposure_absolute=275") self.camera = cv2.VideoCapture(1) else: self.camera = cv2.VideoCapture(0) self.camera.set(3, 3264) self.camera.set(4, 2448) self.worldImage = None ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame) self.worldImage.addLabels(frame) self.worldImage.updateRobotPosition(frame) def initializeRound(self): ret, frame = self.camera.read() frame = cv2.resize(frame, (960, 720)) self.worldImage = WorldImage() self.worldImage.buildMap(frame) def getCurrentImage(self): ret = True frame = None old_frame = None for cameraStoredFrame in range(7): old_frame = frame ret, frame = self.camera.read() if not ret: old_frame = frame break frame = old_frame frame = cv2.resize(frame, (960, 720)) self.worldImage.drawMapOnFrame(frame) self.worldImage.updateRobotPosition(frame) self.worldImage.addLabels(frame) return frame, self.worldImage.getMap() def setTarget(self, target): self.worldImage.setTarget(target) def setTreasures(self, relativeAngles): self.worldImage.defineTreasures(relativeAngles) def findBestTresorPosition(self): return self.worldImage.findBestTresor()