def contact_camera():
nrf_bridge = Bridge('/dev/ttyACM0') # '/dev/ttyACM0'
a = nrf_bridge.assign_addresses()
for i in list(a.keys()):
nrf_bridge.set_TX_address(i)
if nrf_bridge.get_ID_type()[6] == 1: # find first camera in neighbours
camera_address = i
break
else:
raise RuntimeError('No cameras found')
return nrf_bridge
import math
import time
from sklearn.neighbors import NearestNeighbors
import scipy.sparse.csgraph
import circle as CL
import clustering as CLTR
SHOW_NEIGHBORS = True
LED_DETECTION_THRESHOLD = 6
ix, iy = -1, -1
nrf = Bridge('/dev/ttyACM0') # '/dev/ttyACM1'
a = nrf.assign_addresses()
for i in list(a.keys()):
nrf.set_TX_address(i)
if nrf.get_ID_type()[6] == 1: # find first camera in neighbours
camera_address = i
break
else:
raise RuntimeError('No cameras found')
def draw_circle(event, x, y, flags, param):
global ix, iy
if event == cv2.EVENT_LBUTTONDBLCLK:
destination = [x, y]
print(destination)
# nrf.send_packet('\x94'+chr(64)) #overclock PSoC and camera (default is 48MHz, which gives 15fps SXGA, 30fps VGA, 60fps CIF and 120fps QCIF)
if sys.argv[1] == '-c':
camera_calibration = True
print 'Entered camera calibration mode.'
else:
# -c: for turning on the calibration LED patterns
print 'Usage:', sys.argv[0], '[-c]'
sys.exit(1)
else:
camera_calibration = False
nrf = Bridge()
cameras, ebugs, unknowns = nrf.assign_static_addresses('../libs/ebug_tab.json')
for addr, info in ebugs.items():
print 'Initializing eBug: ', addr
nrf.set_TX_address(addr)
nrf.enable_LEDs(0, 1, 0, 0)
nrf.LED_brightness(8)
nrf.LCD_backlight(0)
if camera_calibration == True:
# Calibration LED pattern (upward looking set):
# D2 is illuminated red - front (0 degrees) - GGRGG
# D18 is illuminated blue - (180 degrees) - GGBGG
red = 0x0800 + 0x4000 + 0x8000 + 0x0001 + 0x0040 + 0x0080 + 0x0100
green = 0x1000 + 0x2000 + 0x0002 + 0x0020 + 0x0200 + 0x0400
blue = 0x0010 + 0x0008 + 0x0004
nrf.set_LEDs(red, green, blue)
else:
red = info['led_sequence'][0]
green = info['led_sequence'][1]
blue = info['led_sequence'][2]
from nrf import Bridge
nrf = Bridge()
while True:
camera, eBugs, unknown = nrf.assign_static_addresses(path = \
u'../libs/ebug_tab.json')
if camera:
break
else:
print u" -------- Waiting for camera --------"
time.sleep(0.03)
#set communication with the first camera detected
#to be changed when multiple cameras
nrf.set_TX_address(iter(camera).next())
#settings camera
# Do not play with the settings, we will fix them with camera.py
# So commenting them out.
# nrf.camera_write_reg(0x10, 20)
# values = [0x79, 0x9a, 0xb1, 0x5a, 0xc6, 0x70, 0xa3, 0x82]
# nrf.set_camera_thresholds(values)
def stat(maxINT):
u'''
@param int maxINT : the number of get_blobs() calls
@return : displays various stats on the function get_blobs()
'''
array = list()