def __init__(self, start, end, rate, step_size=50):
self.start = start
self.end = end
self.rate = rate
now = datetime.datetime.now()
self.log_direc = "/media/data/Data/Logs/{}_{}_{}_{}_{}/".format(
now.year, now.month, now.day, now.hour, now.minute)
try:
os.mkdir(self.log_direc)
except FileExistsError as e:
print(e)
self.i = 0
self.shaker = shaker.Shaker()
self.shaker.change_duty(self.start)
self.step_size = step_size
cam_num = camera.guess_camera_number()
port = STEPPER_CONTROL
self.ard = arduino.Arduino(port)
self.motors = stepper.Stepper(self.ard)
self.motors.move_motor(1, 100, '+')
self.motors.move_motor(2, 100, '+')
self.motors.move_motor(1, 100, '-')
self.motors.move_motor(2, 100, '-')
self.cam = camera.Camera(cam_num=cam_num)
im = self.cam.get_frame()
self.hex, self.center, self.crop, self.mask = self.find_hexagon(im)
im = images.crop_and_mask(im, self.crop, self.mask)
self.im_shape = im.shape
im = images.draw_polygon(im, self.hex)
im = images.draw_circle(im, self.center[0], self.center[1], 3)
images.display(im)
def im(self):
im = self.cam.get_frame()
for f in range(10):
im = self.cam.get_frame()
im = images.crop_and_mask(im, self.crop, self.mask)
im = images.bgr_to_gray(im)
images.save(im, self.log_direc + '{}_original.png'.format(self.i))
return im
def mean_im(self):
ims = []
for f in range(8):
im = self.cam.get_frame()
im = images.crop_and_mask(im, self.crop, self.mask)
im = images.bgr_to_gray(im)
ims.append(im)
images.save(ims[0], self.log_direc + '{}_original.png'.format(self.i))
mean_im = images.mean(ims)
# mean_im = images.mask(mean_im, ring_mask)
images.save(mean_im, self.log_direc + '{}_mean.png'.format(self.i))
return mean_im
def mean_im(self):
ims = []
for f in range(8):
im = ~self.cam.get_frame()
im = images.crop_and_mask(im, self.crop, self.mask)
# if f == 0:
# ring_mask = images.inrange(images.bgr_to_lab(im), (0, 113, 0),
# (255, 152, 255))
im = images.bgr_to_gray(im)
ims.append(im)
images.save(ims[0], self.log_direc + '{}_original.png'.format(self.i))
mean_im = images.mean(ims)
# mean_im = images.mask(mean_im, ring_mask)
images.save(mean_im, self.log_direc + '{}_mean.png'.format(self.i))
return mean_im
def __init__(self):
self.shaker = shaker.Shaker()
self.shaker.change_duty(600)
port = STEPPER_CONTROL
self.ard = arduino.Arduino(port)
self.motors = stepper.Stepper(self.ard)
cam_num = camera.guess_camera_number()
self.cam = camera.Camera(cam_num=cam_num)
im = self.cam.get_frame()
self.hex, self.center, self.crop, self.mask = self.find_hexagon(im)
im = images.crop_and_mask(im, self.crop, self.mask)
self.im_shape = im.shape
im = images.draw_polygon(im, self.hex)
im = images.draw_circle(im, self.center[0], self.center[1], 3)
images.display(im)
def analyse(p1, p2):
x = []
t = time.time()
while (time.time() - t) < 600:
time.sleep(4)
try:
frame = cam.get_frame()
frame = images.crop_and_mask(frame, crop_result.bbox,
crop_result.mask)
frame_blurred = images.gaussian_blur(frame, (15, 15))
red = frame_blurred[:, :, 2] - frame_blurred[:, :, 0]
circles = images.find_circles(red, 25, 200, 5, 31, 31)
if circles[0, 0] > circles[1, 0]:
x.append(circles[1, 0])
x.append(circles[0, 0])
else:
x.append(circles[0, 0])
x.append(circles[1, 0])
except:
pass
x = np.array(x)
np.savetxt(f"{data_dir}/x_{p1}_{p2}.txt", x)
return x
def get_frame(self):
im = self.cam.get_frame()
im = images.crop_and_mask(im, self.crop, self.mask)
im = images.bgr_to_gray(im)
return im
def get_frame(self):
frame = self.cam.get_frame()
frame = images.crop_and_mask(frame, self.crop, self.mask)
return frame
def get_frame(self, crop=True):
frame = self.cam.get_frame()
if crop:
frame = images.crop_and_mask(frame, self.crop, self.mask)
return frame
import time
data_dir = "/media/data/Data/Orderphobic/TwoIntruders/LevelSampling"
ard = arduino.Arduino(
"/dev/serial/by-id/usb-Arduino__www.arduino.cc__0043_5573532393535190E022-if00"
)
my_stepper = stepper.Stepper(ard)
my_shaker = shaker.Shaker()
my_shaker.change_duty(600)
cam = camera.Camera(camera.guess_camera_number())
frame = cam.get_frame()
crop_result = images.crop_polygon(frame)
frame = images.crop_and_mask(frame, crop_result.bbox, crop_result.mask)
bins = np.linspace(0, frame.shape[1], 100)
np.savetxt(f"{data_dir}/bins.txt", bins)
def run():
pos1 = -360
pos2 = -360
my_stepper.move_motor(1, 360 * 15, '-')
time.sleep(90)
my_stepper.move_motor(2, 360 * 15, '-')
time.sleep(90)
for j in range(9):
for i in range(9):
print(pos1, pos2)
def fix_frame(frame):
frame = ndimage.rotate(frame, -120, reshape=False)
frame = images.crop_and_mask(frame, crop_result.bbox, crop_result.mask)
return frame
def crop_and_mask(frame, parameters):
mask = parameters['mask image']
crop = parameters['crop']
return images.crop_and_mask(frame, crop, mask)
