def __init__(self, serialport='/dev/ttyACM1',x_arm_adj=0,y_arm_adj=0):
#Calibrate Camera XY vs. Arm coordinates XY
#x_camera=x_arm y_camera=y_arm
self.x_arm_adj=2.62 #cam_x Zero Position vs. arm X zero position
self.y_arm_adj=8.85 #cam_y Zero Position vs. arm Y zero positoin
#initialize detection
self.cameraXYZ=camera_realworldxyz.camera_realtimeXYZ()
#initiate arduino
#serialport='/dev/ttyACM1',LOW_Z=-20.5, HOVER_Z=-16.5,DROP_Z=-18.5, MID_Z=-15, HIGH_Z=-6
self.arm_c=commands_arduino.arm_controller(serialport,-20.5,-16.5,-18.5,-15,-6)
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
print("[INFO ] [Cobot RCS ] [Response ] Analyzing request...")
self.imgdir="Images/"
self.xyzcal = camera_realtimeXYZ()
#https://docs.opencv.org/3.3.0/dc/dbb/tutorial_py_calibration.html
import numpy as np
import cv2
import glob
import camera_realworldxyz
cameraXYZ = camera_realworldxyz.camera_realtimeXYZ()
calculatefromCam = True
imgdir = "/home/pi/Desktop/Captures/"
writeValues = False
#test camera calibration against all points, calculating XYZ
#load camera calibration
savedir = "camera_data/"
cam_mtx = np.load(savedir + 'cam_mtx.npy')
dist = np.load(savedir + 'dist.npy')
newcam_mtx = np.load(savedir + 'newcam_mtx.npy')
roi = np.load(savedir + 'roi.npy')
#load center points from New Camera matrix
cx = newcam_mtx[0, 2]
cy = newcam_mtx[1, 2]
fx = newcam_mtx[0, 0]
print("cx: " + str(cx) + ",cy " + str(cy) + ",fx " + str(fx))
#MANUALLY INPUT YOUR MEASURED POINTS HERE
def __init__(self):
#initialize detection
self.cameraXYZ = camera_realworldxyz.camera_realtimeXYZ()