def grab(fname):
print "Getting pyfly2 context ..."
context = pyfly2.Context()
print "Done."
if context.num_cameras:
print "Getting camera ...",
camera = context.get_camera(0)
print "Done."
print "Connecting to camera ...",
camera.Connect()
print "Done."
print "Querying camera information ..."
for k, v in camera.info.iteritems():
print k, v
print "Done."
print "Starting capture mode ...",
camera.StartCapture()
print "Done."
print "Grabbing single image ...",
camera.GrabImageToDisk(fname)
print "Done."
print "Stopping capture mode ...",
camera.StopCapture()
print "Done."
print "Image saved as", fname
else:
raise ValueError("No cameras found\n")
def grab(fname):
print("Getting pyfly2 context ...")
context = pyfly2.Context()
print("Done.")
if context.num_cameras:
print("Getting camera ...", end=' ')
camera = context.get_camera(0)
print("Done.")
print("Connecting to camera ...", end=' ')
camera.connect()
print("Done.")
print("Querying camera information ...")
for k, v in camera.info.items():
print(k, v)
print("Done.")
print("Starting capture mode ...", end=' ')
camera.start_capture()
print("Done.")
print("Grabbing single image ...", end=' ')
camera.grab_image_to_disk(fname)
print("Done.")
print("Stopping capture mode ...", end=' ')
camera.stop_capture()
print("Done.")
print("Image saved as", fname)
else:
raise ValueError("No cameras found\n")
def main(cameraIndex=0, format='bgr', scale=1.0, windowName='Live Video'):
context = pyfly2.Context()
if context.num_cameras < 1:
raise ValueError('No cameras found')
camera = context.get_camera(cameraIndex)
camera.connect()
camera.start_capture()
while cv2.waitKey(1) == -1:
image = camera.grab_numpy_image(format)
if scale != 1.0:
image = cv2.resize(image, (0, 0), fx=scale, fy=scale)
cv2.imshow(windowName, image)
camera.stop_capture()
def main():
print "Getting pyfly2 context ..."
context = pyfly2.Context()
print "Done."
# assert(not (context.num_cameras == 0))
print "Getting camera ...",
camera = context.get_camera(0)
print "Done."
print "Connecting to camera ...",
camera.Connect()
print "Done."
print "Querying camera information ..."
for k, v in camera.info.iteritems():
print k, v
print "Done."
print "Starting capture mode ...",
camera.StartCapture()
print "Done."
counter = 0
N = 40
while (True):
if (counter % N == 0):
frame = camera.GrabNumPyImage('bgr')
imagename = './obstacle-detection/floor-video/images/' + str(
counter / N).zfill(4)
cv2.imwrite(imagename + ".jpg", frame)
counter += 1
print "Stopping capture mode ...",
camera.StopCapture()
print "Done."
caffe.set_mode_gpu()
caffe.set_device(args.gpu_id)
cfg.GPU_ID = args.gpu_id
prototxt = '/home/goring/Documents/py-faster-rcnn/models/pascal_voc/VGG16/faster_rcnn_end2end/25/test.prototxt'
caffemodel = '/home/goring/Documents/py-faster-rcnn/output/faster_rcnn_end2end/voc_2007_trainval/vgg16_faster_rcnn_iter_100000.caffemodel'
if not os.path.isfile(caffemodel):
raise IOError(('{:s} not found.\nDid you run ./data/script/'
'fetch_faster_rcnn_models.sh?').format(caffemodel))
net = caffe.Net(prototxt, caffemodel, caffe.TEST)
print '\n\nLoaded network {:s}'.format(caffemodel)
if INPUT_MODE == 1:
import pyfly2
context = pyfly2.Context()
if context.num_cameras < 1:
raise ValueError('No cameras found')
camera = context.get_camera(0)
camera.Connect()
camera.StartCapture()
while True:
image = getImage(camera)
demo_video(net, image)
elif INPUT_MODE == 0:
for imageName in imageFiles:
image = cv2.imread(os.path.join(imagePath, imageName))
demo_video(net, image)
elif INPUT_MODE == 2:
videoFilePath = '/home/goring/Documents/DataSets/RobotX/Daytona/avis/'
videoFileName = 'CAM 1 - lighttower1'
def main():
context = pyfly2.Context()
camera = context.get_camera(0)
test = SpeedTest(camera)
test.Start()
def main():
global calibrateMode
global turnMode
lc = lcm.LCM() # Create object of lcm library
subscription = lc.subscribe("PROCESSING_RECEIVE", msg_handler)
print "Getting pyfly2 context ..."
context = pyfly2.Context()
print "Done."
# assert(not (context.num_cameras == 0))
print "Getting camera ...",
camera = context.get_camera(0)
print "Done."
print "Connecting to camera ...",
camera.Connect()
print "Done."
print "Querying camera information ..."
for k, v in camera.info.iteritems():
print k, v
print "Done."
print "Starting capture mode ...",
camera.StartCapture()
print "Done."
start_time = time.time()
counter = 0
turnAngle_Ref = mc.getYaw()
print "Reference angle:", turnAngle_Ref
while (True):
end_time = time.time()
if (end_time - start_time > PROCESSING_INTERVAL):
stopBot() # Stop the bot during processing
frame = camera.GrabNumPyImage('bgr')
# TODO: Undistort frame
cv2.imwrite("share/" + str(counter) + ".jpg", frame)
print "Written to share/" + str(counter) + ".jpg"
msg = example_t()
msg.currImage = counter
# TODO add focal length to message / result
lc.publish("PROCESSING_SEND", msg.encode())
print "published by gc.py"
# TODO Delete previous image
lc.handle() # Recieve angle
start_time = time.time() # Restart count
counter += 1
global turnAngle
ANGLE_THRES = 0.13
angle_to_rotate = turnAngle
print "Angle to rotate:", angle_to_rotate
if (abs(angle_to_rotate) >
ANGLE_THRES): # Turn bot (sharply) in given direction
rotate(angle_to_rotate * 180 / math.pi)
else:
moveForward()
# TODO handle bot movement
time.sleep(SLEEP_TIME)