Пример #1
0
@asyncio.coroutine
def main(r):
    task = asyncio.ensure_future(find_cubes(r))
    try:
        yield From(asyncio.wait_for(task, SILO_TIME))
    except asyncio.TimeoutError:
        pass

    yield From(clean_up(r))


if __name__ == "__main__":
    with TAMProxy() as tamproxy:
        r = Robot(tamproxy)

        m = Mapper(r.drive.odometer, map=Arena.load('sw/mapping/red_map.txt'))
        cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
        v = Vision(cam)
        c = ControlPanel(r)
        w = Window(500, [m, CameraPanel(v), c])

        while not c.started:
            pass

        log.debug("started")

        loop = asyncio.get_event_loop()
        loop.set_debug(True)
        loop.run_until_complete(main(r))
        loop.close()
Пример #2
0
@asyncio.coroutine
def main(r):
    task = asyncio.ensure_future(wall_fondle(r))
    try:
        yield From(asyncio.wait_for(task, SILO_TIME))
    except asyncio.TimeoutError:
        pass

    yield From(clean_up(r))


if __name__ == "__main__":
    with TAMProxy() as tamproxy:
        r = Robot(tamproxy)

        m = Mapper(r.drive.odometer,
                   map=Arena.load('../sw/mapping/red_map.txt'))
        cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
        v = Vision(cam)
        w = Window(500, [m, CameraPanel(v), ControlPanel(r)])

        while w.get_key() != ' ':
            pass

        log.debug("started")

        loop = asyncio.get_event_loop()
        loop.set_debug(True)
        loop.run_until_complete(main(r))
        loop.close()
Пример #3
0
import time

import numpy as np
import cv2
import scipy.ndimage as ndimage

import sw.vision as vision
from sw.vision.colorselector import ColorSelector
from sw.vision.window import Window
from sw.vision.colors import Colors
from sw.util import Profiler

cam = vision.Camera(w=320, h=240, debug=False, id=1)

selector = ColorSelector(cam.shape)
result_win = Window('result')


fRec = 0
lastCap = 0


try:
	while True:
		# Capture frame-by-frame
		try:
			frame = cam.read()
		except IOError:
			#print('No frame')
			continue
		Profiler.ENABLED = False
Пример #4
0
import time

import numpy as np
import cv2
import scipy.ndimage as ndimage

import sw.vision as vision
from sw.vision.colorselector import ColorSelector
from sw.vision.window import Window
from sw.vision.colors import Colors
from sw.util import Profiler

cam = vision.Camera(w=320, h=240, debug=False, id=1)

selector = ColorSelector(cam.shape)
result_win = Window('result')

fRec = 0
lastCap = 0

try:
    while True:
        # Capture frame-by-frame
        try:
            frame = cam.read()
        except IOError:
            #print('No frame')
            continue
        Profiler.ENABLED = False
        with Profiler('all') as profiler:
            with profiler('detect') as p:
Пример #5
0

@asyncio.coroutine
def main(r):
    task = asyncio.ensure_future(wall_fondle(r))
    try:
        yield From(asyncio.wait_for(task, SILO_TIME))
    except asyncio.TimeoutError:
        pass

    yield From(clean_up(r))

if __name__ == "__main__":
    with TAMProxy() as tamproxy:
        r = Robot(tamproxy)

        m = Mapper(r.drive.odometer, map=Arena.load('../sw/mapping/red_map.txt'))
        cam = Camera(geom=constants.camera_geometry, id=CAMERA_ID)
        v = Vision(cam)
        w = Window(500, [m, CameraPanel(v), ControlPanel(r)])

        while w.get_key() != ' ':
            pass

        log.debug("started")

        loop = asyncio.get_event_loop()
        loop.set_debug(True)
        loop.run_until_complete(main(r))
        loop.close()