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ogplab.py
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ogplab.py
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#!/usr/bin/env python2
# ogp5.py
import time
import serial
import os
import ircam
import picamera
from SimpleCV import Camera, Image
mySet = set()
brightpixels = 0
darkpixels = 0
l = int(4)
s = serial.Serial('/dev/ttyUSB0', 9600)
class so(object):
def __init__(self, side, m, js, wsh, wsh2, c2, cam_mode):
self.cam_mode=cam_mode
self.c2=c2
self.ms = m
self.js = js
self.wsh = wsh
self.wsh2 = wsh2
self.m = m
self.l = side
self.x = 0
self.y = 0
self.w = 0
self.p = 1
c2=self.c2
l = self.l
x = -1
y = -1
self.countdownA = int(self.l)
self.countdownB = int(self.l)
self.countdownC = -1
def histo(self):
cam_mode = self.cam_mode
js = self.js
ms = self.ms
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
s.write('s')
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs:
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[0].centroid()),10,color=(255,100,100))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
thumbnail = img1.crop(150,25,250,250)
thumbnail = thumbnail.scale(20,20)
thumb1 = "/var/www/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
self.p = p
mySet.add((p,x,y,w,cent,rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy=int(cent[1])
rcolor=rgb1[0]
gcolor=rgb1[1]
bcolor=rgb1[2]
rcolor=int(rcolor)
gcolor=int(gcolor)
bcolor=int(bcolor)
wsh.write_message(wsh2, "rgb_" + str(rcolor)+"_"+str(gcolor)+"_"+str(bcolor))
wsh.write_message(wsh2, "x_" + str(centroidx)+"_"+str(centroidy))
img1.save(js.framebuffer)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p) )
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
print "dark"
def run(self):
wsh = self.wsh
wsh2 = self.wsh2
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
countdownA = self.countdownA
countdownB = self.countdownB
countdownC = self.countdownC
ms = self.ms
x = self.x
y = self.y
if countdownA > 0:
if countdownC == 1:
countdownB = int(self.l)
countdownC = -1
print "down"
d = 'd'
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
y = y - 1
self.y = y
elf = self.histo()
## time.sleep(1)
countdownA -=1
wsh.write_message(wsh2, "m" )
self.countdownA = countdownA
self.countdownB = countdownB
self.countdownC = countdownC
if countdownC > 1:
print "left"
countdownC -= 1
d = 'l'
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
x = x - 1
self.x = x
## time.sleep(1)
elf = self.histo()
s.write('s')
## time.sleep(1)
wsh.write_message(wsh2, "m" )
self.countdownA = countdownA
self.countdownB = countdownB
self.countdownC = countdownC
if countdownB == 1:
countdownC = int(self.l)
countdownB = -1
print "down"
d = 'd'
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
y = y - 1
self.y = y
time.sleep(1)
elf = self.histo()
## time.sleep(1)
countdownA -=1
wsh.write_message(wsh2, "m" )
self.countdownA = countdownA
self.countdownB = countdownB
self.countdownC = countdownC
print self.l
print countdownC
print self.countdownC
if countdownB > 1:
print "right"
countdownB-=1
d = 'r'
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
s.write('s')
s.write('j')
x = x + 1
self.x = x
## time.sleep(1)
elf = self.histo()
## time.sleep(1)
wsh.write_message(wsh2, "m" )
self.countdownA = countdownA
self.countdownB = countdownB
self.countdownC = countdownC
else:
wsh = self.wsh
wsh2 = self.wsh2
## wsh.write_message(wsh2, str(mySet) )
wsh.write_message(wsh2, "map complete" )
print "done"
class autocal(object):
def __init__(self, js, wsh, wsh2):
self.js = js
self.wsh = wsh
self.wsh2 = wsh2
## self.c = c
def run(self):
wsh = self.wsh
## c = self.c
js = self.js
wsh2 = self.wsh2
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
irpic = pinoir2(js)
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx1 = blobs[-1].x
acy1 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'r'
ms = 50
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx2 = blobs[-1].x
acy2 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'd'
ms = 50
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx3 = blobs[-1].x
acy3 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'l'
ms = 50
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx4 = blobs[-1].x
acy4 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'u'
ms = 50
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx5 = blobs[-1].x
acy5 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx5), 130, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy5), 130, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
cal1 = acx1 - acx2
cal2 = acy2 - acy3
cal3 = acx3 - acx4
cal4 = acy4 = acy5
time.sleep(2)
wsh.write_message(wsh2, "x_" + str(cal1) + "_" + str(cal2) + "_" + str(cal3)+ "_" + str(cal4) )
class hud2(object):
def __init__(self, img1, js, stat, x, y, z):
self.img1 = img1
self.js = js
self.stat = stat
self.x = x
self.y = y
self.z = z
def run(self):
img1 = self.img1
js = self.js
stat = self.stat
x = self.x
y = self.y
z = self.z
cent = 0
rgb1 = 0
blobs = img1.findBlobs()
if blobs:
crop1 = blobs[-1].x
crop2 = blobs[-1].y
crop3 = crop1 - 294
crop4 = crop2 - 144
img1 = img1.crop(crop3,crop4,544,288)
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
img1.drawText(str(stat), 10, 10, fontsize=50)
img1.drawText(str(x), 10, 70, color=(255,255,255), fontsize=25)
img1.drawText(str(y), 10, 100, color=(255,255,255), fontsize=25)
img1.drawText(str(z), 10, 230, color=(255,255,255), fontsize=15)
img1.drawText(str(cent), 10, 250, color=(255,255,255), fontsize=15)
img1.drawText(str(rgb1), 10, 270, color=(255,255,255), fontsize=15)
img1.save(js.framebuffer)
class acx(object):
def __init__(self, s, d, ms, acu, acd, acl, acr):
self.s = s
self.d = d
self.ms = ms
self.acu = acu
self.acd = acd
self.acl = acl
self.acr = acr
def run(self):
s = self.s
d = self.d
ms = self.ms
acu = self.acu
acd = self.acd
acl = self.acl
acr = self.acr
stat = "ogp"
x = 'x'
y = 'y'
z = 'z'
acu1 = ms * acu
acd1 = ms * acd
acl1 = ms * 1.25
acr1 = ms * acr
i = int(0)
if d =='u':
self.countdown = acu1
if d =='d':
self.countdown = acd1
if d =='l':
self.countdown = acl1
if d =='r':
self.countdown = acr1
acms = self.countdown
while i < acms:
i = i + 1
time.sleep(.001)
if d == 'u':
s.write('8')
if d == 'd':
s.write('8')
if d == 'l':
s.write('3')
if d == 'r':
s.write('3')
if __name__ == '__main__' :
foo = so(2)
foo.histo()
foo.run()
else:
pass