def demo():
rm = HLRM()
pygame.init()
screen = pygame.display.set_mode((1280, 480))
END = False
dr = DragDraw_pgRect(screen)
kk = KinectClientV2019()
while not END:
screen.blit(kk.get_color_as_pgsurface(), (0, 0))
screen.blit(kk.get_depth_as_pgsurface(), (640, 0))
events = pygame.event.get()
flg, rec = dr.update(events)
for ev in events:
if ev.type == pygame.QUIT:
END = True
elif ev.type == pygame.KEYUP and ev.key == 13: # enter key
if flg:
c = locate_bottle(rec, kk.point_cloud)
print 'bottle location: ' + str(c)
rm.gripbottle(c)
else:
print "you havn't selected any region"
pygame.display.update()
kk.release()
pygame.quit()
def demo():
pygame.init()
screen = pygame.display.set_mode((1280, 480))
END = False
dr = DragDraw_pgRect(screen)
kk = KinectClientV2019()
fps_clock = pygame.time.Clock()
rm = RmCar_x64()
track = TrackerPro()
tc_pro = multiprocessing.Process(target=tracker_pro, args=(track.args, ))
tc_pro.start()
going = 0
p = np.zeros(3)
while not END:
screen.blit(kk.get_color_as_pgsurface(), (0, 0))
screen.blit(kk.get_depth_as_pgsurface(), (640, 0))
events = pygame.event.get()
flg, rec = dr.update(events)
for ev in events:
if ev.type == pygame.QUIT:
END = True
elif ev.type == pygame.KEYUP and ev.key == 13: # enter key
if flg:
name = raw_input(
'select succeed\nplease enter the target name: \n>>> ')
if name == 'bottle':
c = locate_bottle(rec, kk.point_cloud)
else:
c = locate_obj(rec, kk.point_cloud)
cmd = {'name': name, 'position': c}
rm.pushtask(cmd, 'auto')
(x, y), (w, h) = rec
going = 1
track.init_tracker((x, y, w, h))
else:
print "select failure"
if going:
box, pos = track.update()
if name == 'bottle':
if pos['bottle'] is not None: p = pos['bottle']
else:
if pos['obj'] is not None: p = pos['obj']
x, y, w, h = box
print p
pygame.draw.rect(screen, (0, 255, 0), ((x, y), (w, h)), 1)
if rm.updatetask(p):
going = 0
print 'task completed'
else:
pass
pygame.display.update()
fps_clock.tick(10)
kk.release()
pygame.quit()
def parse_obj(self, obj):
name, box = obj
target_object_list = [
'person', 'cup', 'bottle', 'diningtable', 'sofa', 'chair'
]
if name in target_object_list:
tar = {}
x, y, w, h = box
rect = ((x, y), (w, h))
if name == 'diningtable': name = 'desk'
tar['name'] = name
tar['box'] = box
tar['rect'] = rect
if name == 'bottle':
p = locate_bottle(rect, kk.point_cloud)
else:
p = locate_obj(rect, kk.point_cloud)
tar['position'] = p
return tar
else:
return None
def tracker_pro(args):
ev = args['ev']
quin = args['quin']
quout = args['quout']
tracker = kcftracker.KCFTracker(True, True, True)
kk = KinectClientV2019()
while not ev.is_set():
flg, box = quin.get()
if flg == 1: # 启动跟踪
frame = kk.get_color_as_cvframe()
tracker.init(box, frame)
elif flg == 2: # 请求结果
frame = kk.get_color_as_cvframe()
boundingbox = tracker.update(frame)
x, y, w, h = boundingbox = map(int, boundingbox)
pos = locate_obj(((x, y), (w, h)), kk.point_cloud)
pos1 = locate_bottle(((x, y), (w, h)), kk.point_cloud)
quout.put([boundingbox, {'obj': pos, 'bottle': pos1}])
elif flg == 0:
pass