def loop(): try: camera.loop() cam_id = sys.argv[1] imgs = camera.get_image() data = {'parking': imgs[0], 'background': imgs[1]} print requests.post(config.url + '/api/set/' + cam_id, files=data).text except: print 'error'
def get_photo_data(self): image = camera.get_image() res = rq.post(url=self.address, files={"file": open("opencv.png", "rb").read()}) print(res.text) result = json.loads(res.text) result.sort(key=operator.itemgetter('confidence')) if len(result) == 0: print("No objects found") return None return result[0]
def loop(): try: camera.loop() cam_id = sys.argv[1] imgs = camera.get_image() data = { 'parking' : imgs[0], 'background' : imgs[1] } print requests.post(config.url + '/api/set/' + cam_id, files = data).text except: print 'error'
def handle_msg(socket, msg): msg = msg['robot'] print(msg) # TODO: specify resolution here? if 'get_image' in msg: #width, height = msg['get_image'] image = camera.get_image() server.send_array(socket, image) if 'stop' in msg: drive.stop()
def __init__(self, args): image = camera.get_image() ngrok_data = args[1] if len(args) > 1 else "" self.address = "http://" + str(ngrok_data) + ".ngrok.io/" result = self.get_photo_data() if not result: sys.exit(0) else: self.goal = result.get("name") self.goal_coordinates = { "x": (result.get("start_x") + result.get('end_x')) / 2, "y": (result.get("start_y") + result.get('end_y')) / 2 } self.distance.get_connection() distances = self.distance.get_distance_list() self.initial_distance = distances[4] self.calculate_initial_turn(result.get("image_width"))
def free_mode(): takes_list = [] background = cv2.imread("background2.png", 1) cv2.imshow("window", background) cv2.waitKey(50) while ("true"): mode = GPIO.input(13) # reads the circle switch if (mode == False or len(takes_list) < 3): cv2.imshow("window", background) else: cv2.imshow("window", image.averager(takes_list)) # displays a weighed average of the last 3 pictures taken cv2.waitKey(100) button_value = button.waitpressedbutton("free") if (button_value == "mode"): # The mode is no longer freemode, we have to return to go to the selected mode return if (button_value == "record"): # takes and displays a picture cv2.imshow("window", background) cv2.waitKey(10) takes_list.append(camera.get_image()) cv2.imshow("window", takes_list[len(takes_list) - 1]) cv2.waitKey(200) if (button_value == "delete" and len(takes_list) > 0): # deletes the last picture taken img_supp = cv2.imread("img_supp.png", 1) cv2.imshow("window", img_supp) cv2.waitKey(10) del takes_list[-1] cv2.imshow("window", background) cv2.waitKey(300) if (button_value == "save"): # saves the cartoon and returns if (len(os.listdir("/media")) >= 2): os.system("mount /dev/sdb1 /home/pi/Pas_a_pas/bla") playing.save_other(takes_list) os.system("umount /home/pi/Pas_a_pas/bla") playing.save(takes_list) return if (button_value == "play"): # plays the cartoon playing.play(takes_list)
def free_mode(): takes_list = [] background = cv2.imread("background2.png", 1) cv2.imshow("window", background) cv2.waitKey(50) while ("true"): mode = GPIO.input(13) # reads the circle switch if (mode == False or len(takes_list) < 3): cv2.imshow("window", background) else: cv2.imshow( "window", image.averager(takes_list) ) # displays a weighed average of the last 3 pictures taken cv2.waitKey(100) button_value = button.waitpressedbutton("free") if ( button_value == "mode" ): # The mode is no longer freemode, we have to return to go to the selected mode return if (button_value == "record"): # takes and displays a picture cv2.imshow("window", background) cv2.waitKey(10) takes_list.append(camera.get_image()) cv2.imshow("window", takes_list[len(takes_list) - 1]) cv2.waitKey(200) if (button_value == "delete" and len(takes_list) > 0): # deletes the last picture taken del takes_list[-1] cv2.imshow("window", background) cv2.waitKey(300) if (button_value == "save"): # saves the cartoon and returns playing.save(takes_list) return if (button_value == "play"): # plays the cartoon playing.play(takes_list)
def move_eye_camera(robotID, x, y, z): cam_link_state = p.getLinkState(robotID, linkIndex=7, computeForwardKinematics=1) camera_pos_W = cam_link_state[-2] camera_ort_W = cam_link_state[-1] roll = 0.0 #this will cause end effector to rotate on its axis pitch = 0.0 yaw = 0.0 cameraTargetPos = [x, y, z] cameraTargetOrn = p.getQuaternionFromEuler([roll, pitch, yaw]) new_camera_pos_W, new_camera_ort_W = p.multiplyTransforms( camera_pos_W, camera_ort_W, cameraTargetPos, cameraTargetOrn) # print('new_camera_ort_W',new_camera_ort_W) #following is the new function defined above in this file accurateIK(robotID, 7, new_camera_pos_W, new_camera_ort_W, useNullSpace=False) return get_image(robotID)
# Vc[1] = temp[1] # Vc[2] = -temp[0] # temp = Vc[2] # Vc[2] = -Vc[0] # Vc[0] = temp # temp = Wc[2] # Wc[2] = -Wc[0] # Wc[0] = temp # Qc = p.getQuaternionFromEuler(Wc) # Vc,c = relative_ee_pose_to_ee_world_pose1(roboId,Vc,Qc) V = np.concatenate((Vc,Wc)) # print(pos) return V I,Dbuf,Sbuf = get_image(kukaId) sx,sy,sz = mask_points(Sbuf,Dbuf,appleId) r,cx,cy,cz = sphereFit(sx,sy,sz) pos = np.array((cx,cy,cz))[:,0] ort = np.array((0.0,0.0,0.0)) # pos2,ort2 = relative_ee_pose_to_ee_world_pose1(roboId,pos,cubeStartOrientation) # accurateIK(roboId,7,pos2,ort2,useNullSpace=False) # c = input('press enter to end') Ve = visual_servo_control(pos,ort) error_list = [] target_pos_list = [] ee_pos_list = [] for i in range (100):
def assisted_mode(): # The model is loaded first model_list = selection.select_cartoon("/media/PAP/models/", "assisted") if model_list == None: return takes_list = [] background = cv2.imread("background2.png", 1) model_cursor = 0 takes_cursor = 0 # When this condition is false, the program saves automatically the cartoon and returns while (len(model_list) > len(takes_list)): if ((GPIO.input(6) == False) or (len(takes_list) == 0)): cv2.imshow("window", model_list[model_cursor % len(model_list)]) cv2.waitKey(100) else: cv2.imshow("window", takes_list[takes_cursor % len(takes_list)]) cv2.waitKey(100) # I move the window again because of a window issue, that still occurs the first time model_cursor = 1 cv2.moveWindow("window", 0, -30) button_value = button.waitpressedbutton("assisted") if (button_value == "mode"): return if (button_value == "record"): # take the picture model_cursor += 1 cv2.imshow("window", background) cv2.waitKey(20) takes_list.append(camera.get_image()) if (button_value == "delete" and len(takes_list) > 0): # delete the last picture from takes_list del (takes_list[-1]) cv2.waitKey(300) if (button_value == "save"): # save the cartoon and returns if not os.path.exists("/media/PAP/cartoons"): cv2.imshow("window", cv2.imread("./save_failed")) cv2.waitKey(100) else: playing.save(takes_list) return if (button_value == "play"): # plays the cartoon playing.play(takes_list) if (button_value == "next"): # move to next image if (GPIO.input(6) == False): model_cursor += 1 else: takes_cursor += 1 cv2.waitKey(100) if (button_value == "prev"): # move to previous image if (GPIO.input(6) == False): model_cursor -= 1 else: takes_cursor -= 1 cv2.waitKey(100) # end of while loop, save and return if not os.path.exists("/media/PAP/cartoons"): cv2.imshow("window", cv2.imread("./save_failed")) cv2.waitKey(100) else: playing.save(takes_list) return
def assisted_mode(): # The model is loaded first model_list = selection.select_cartoon("/media/PAP/models/", "assisted") if model_list == None: return takes_list = [] background = cv2.imread("background2.png", 1) model_cursor = 0 takes_cursor = 0 # When this condition is false, the program saves automatically the cartoon and returns while len(model_list) > len(takes_list): if (GPIO.input(6) == False) or (len(takes_list) == 0): cv2.imshow("window", model_list[model_cursor % len(model_list)]) cv2.waitKey(100) else: cv2.imshow("window", takes_list[takes_cursor % len(takes_list)]) cv2.waitKey(100) # I move the window again because of a window issue, that still occurs the first time model_cursor = 1 cv2.moveWindow("window", 0, -30) button_value = button.waitpressedbutton("assisted") if button_value == "mode": return if button_value == "record": # take the picture model_cursor += 1 cv2.imshow("window", background) cv2.waitKey(20) takes_list.append(camera.get_image()) if button_value == "delete" and len(takes_list) > 0: # delete the last picture from takes_list del (takes_list[-1]) cv2.waitKey(300) if button_value == "save": # save the cartoon and returns if not os.path.exists("/media/PAP/cartoons"): cv2.imshow("window", cv2.imread("./save_failed")) cv2.waitKey(100) else: playing.save(takes_list) return if button_value == "play": # plays the cartoon playing.play(takes_list) if button_value == "next": # move to next image if GPIO.input(6) == False: model_cursor += 1 else: takes_cursor += 1 cv2.waitKey(100) if button_value == "prev": # move to previous image if GPIO.input(6) == False: model_cursor -= 1 else: takes_cursor -= 1 cv2.waitKey(100) # end of while loop, save and return if not os.path.exists("/media/PAP/cartoons"): cv2.imshow("window", cv2.imread("./save_failed")) cv2.waitKey(100) else: playing.save(takes_list) return
# load json and create model json_file = open('model1.json', 'r') loaded_model_json = json_file.read() json_file.close() loaded_model = model_from_json(loaded_model_json) # load weights into new model loaded_model.load_weights("model1.h5") print("Loaded model from disk") while True: try: image=np.array([camera.get_image()]) image = image.astype('float32') image = image / 255.0 prediction=loaded_model.predict(image) print(dataset[np.argmax(prediction)]) except KeyboardInterrupt: exit()
os.environ['TF_CPP_MIN_LOG_LEVEL'] = '2' # load model model = load_model('picture_model.h5') # summarize model. model.summary() # load dataset # evaluate the model input("hazırsan bir tuşa bas:") #time.sleep(5) print("Başladı") start=datetime.now() for item in range(1): features,orginal_image=camera.get_image() X =impy.convert_images_to_prediction_dataset(features) Xi=np.array([x[1] for x in X]).astype(np.float32) Xim=[x[0] for x in X] score = model.predict(Xi) scores=[[Xim[x],score[x]] for x in range(len(score))] print("Train edilmemiş tahmin:") for score in scores: print("İmaj: ",score[0],convert_val_to_expression(score[1],"Alper")) end=datetime.now() result=float((end-start).microseconds/1000000)+(end-start).seconds