def main():
global block_t, starfish_t
cv2.namedWindow('image')
perception_obj = Perception()
# Make trackbars, with default values above
cv2.createTrackbar('Block Threshold', 'image', block_t, 255, nothing)
cv2.createTrackbar('Starfish Threshold', 'image', starfish_t, 255, nothing)
print(
"Showing video. With the CV window in focus, press q to exit, p to pause."
)
while (1):
# get current positions of trackbars
block_t = cv2.getTrackbarPos('Block Threshold', 'image')
starfish_t = cv2.getTrackbarPos('Starfish Threshold', 'image')
perception_obj.block_t = block_t
perception_obj.starfish_t = starfish_t
scene = perception_obj.get_all_targets()
img = perception_obj.frame
img = label_scene(img, scene)
if img is not None:
cv2.imshow('image', img)
key = cv2.waitKey(66) # Delay for 66 ms
if key == ord('q'): # Press q to exit, p to pause
break
if key == ord('p'):
cv2.waitKey(-1) #wait until any key is pressed
cv2.destroyAllWindows()
from ArmIK.Transform import convertCoordinate
import db_txt as db
if __name__ == '__main__':
count = 0
perception_obj = Perception()
paw_obj = Paw()
final_pos = (-15 + 0.5, 12 - 0.5, 1.5) # x block home
img_size = (640, 480)
while True:
# perception code
count = count + 1
#perception_obj.get_frame()
scene = perception_obj.get_all_targets()
img = perception_obj.frame
img = label_scene(img, scene)
if img is not None:
print(scene)
show_image(img)
# arm code
graspInfo = db.getGraspDB()
if 'x' in graspInfo: # if grasp info updated
# pick up object from set position
x_pos = graspInfo['x']
y_pos = graspInfo['y']
a_pos = graspInfo['angle']
world_x, world_y = convertCoordinate(
x_pos, y_pos, img_size) # Convert to real world coordinates