def file_value(self):
log = cali.read_ID()
self.device_ID = log
self.content.append('当前设备ID为' + log)
log = cali.read_hmd_id()
print(log)
os.system('adb shell setprop debug.hmdinfo_backup.enable 1')
self.content.append('当前设备头端ID为' + log)
path = self.selected_path + '/' + log + '/'
self.content.append('当前工作目录切换到：' + path)
target_path = '/data/hmdinfo/'
os.chdir(path)
cali.write_cali_para()
time.sleep(2)
#os.system('adb shell rm '+target_path+'*')
self.content.append('删除box端文件')
time.sleep(1)
os.system('adb shell input keyevent 135')
self.content.append('读取头端到本地')
time.sleep(8)
os.system('adb pull ' + target_path)
self.content.append('当前比对路径:' + self.save_path)
log = cali.file_compare('cam0_G2-sdm845.yaml',
'hmdinfo/cam0_G2-sdm845.yaml')
self.content.append('cam0_G2-sdm845文件比对结果：' + log)
log = cali.file_compare('cam1_G2-sdm845.yaml',
'hmdinfo/cam1_G2-sdm845.yaml')
self.content.append('cam1_G2-sdm845文件比对结果：' + log)
log = cali.file_compare('AccelBias.txt', 'hmdinfo/AccelBias.txt')
self.content.append('AccelBias.txt文件比对结果：' + log)
log = cali.file_compare('rgb_fe.yaml', 'hmdinfo/rgb_fe.yaml')
self.content.append('rgb_fe.yaml文件比对结果：' + log)
log = cali.file_compare('rgb_tof.yaml', 'hmdinfo/rgb_tof.yaml')
self.content.append('rgb_fe.yaml文件比对结果：' + log)
log = cali.file_compare('glass_profile.json',
'hmdinfo/glass_profile.json')
self.content.append('glass_profile.json文件比对结果：' + log)
log = cali.file_compare('rgb_display_transform.json',
'hmdinfo/rgb_display_transform.json')
self.content.append('rgb_display_transfo rm.json文件比对结果：' + log)
log = cali.file_compare('g2_glass_config.txt',
'hmdinfo/g2_glass_config.txt')
self.content.append('g2_glass_config.txt文件比对结果：' + log)
self.content.append('文件比对完成')
os.chdir(self.selected_path)
def read_ID(self):
log = cali.read_ID()
self.content.append('当前设备ID为' + log)
log = cali.read_hmd_id()
self.device_ID = log
self.content.append('当前设备头端ID为' + log)
def cv_data_capture(self):
phase = 1
phase2 = 0
log = cali.read_ID()
self.content.append('当前设备ID为' + log)
log = cali.read_hmd_id()
self.content.append('当前设备头端ID为' + log)
path = self.selected_path + '/' + log + '/'
path2 = self.selected_path + '/' + log
cali.data_file_creat(path)
os.chdir(path)
self.content.append('当前工作目录切换到：' + path)
self.save_path = path
print(self.save_path)
print(datetime.datetime.now())
time.sleep(0.1)
state = 'error'
while (state != 'ok'):
#获取标定数据-初始化socket套接字
sk = socket.socket()
sk.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sk.bind(("192.168.0.1", 7080))
sk.listen(5)
conn, address = sk.accept()
ret = str(conn.recv(1024), encoding="utf-8")
print("接收到设备数据" + ret)
time.sleep(0.1)
conn.sendall(bytes("cstwo", encoding="utf-8"))
print("已发送锁存校验数据")
time.sleep(0.1)
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
print("Socket通讯建立")
#获取标定数据-P2S1S-IMU-FE内外参标定准备
conn.sendall(bytes("P3S1S", encoding="utf-8"))
print("准备移动到机械臂IMU-FE内外参标定点")
time.sleep(1)
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
cali.error_dct(ret, 'P3S1E')
print("已移动到机械臂IMU-FE内外参标定点，开始采集")
time.sleep(1)
log = cali.imu_fe_capture_start()
self.content.append(log)
conn.sendall(bytes("P2S1S", encoding="utf-8"))
print("准备移动机械臂")
#获取标定数据-P2S1S-IMU-FE内外参标定
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
if ret != 'P2S1E': exit()
print(self.save_path)
log = cali.imu_fe_capture_end(self.save_path)
self.content.append(log)
print('数据已保存')
if phase == 1:
#获取标定数据-P3-静态内外参标定
conn.sendall(bytes("P3S1S", encoding="utf-8"))
print("准备移动到下一个点")
time.sleep(1)
'''
os.system('mkdir TOF')
path_TOF = path+'TOF/'
os.chdir(path_TOF)
os.system('cp '+self.kalibr_path+'irconvert irconvert')
'''
os.chdir(path)
x = 1
while (x < 16):
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
print("已移动到机械臂静态内外参标定点，开始标定")
print('P3位置' + str(x) + '数据开始采集')
cali.FE_capture(self.save_path, self.no[x])
cali.RGB_capture(self.save_path, self.no[x])
'''
os.chdir(path_TOF)
cali.TOF_IR_capture(path_TOF,self.no[x])
os.system('./irconvert '+self.no[x]+'.bin'+' '+self.no[x]+'.jpg 0.2')
os.system('rm '+self.no[x]+'.bin')
os.chdir(path)
'''
print('P3位置' + str(x) + '数据已保存')
if x < 10:
senddata = "P3S" + str(x) + "S"
if x > 9:
senddata = "3S" + str(x) + "S"
conn.sendall(bytes(senddata, encoding="utf-8"))
print("准备移动到下一个点")
time.sleep(0.5)
x = x + 1
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
#os.system('rm TOF/irconvert')
#结束标定，回到初始位置
time.sleep(1)
conn.sendall(bytes("P3S1S", encoding="utf-8"))
print("准备移动到装配点")
time.sleep(1)
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
cali.error_dct(ret, 'P3S1E')
time.sleep(2)
print(datetime.datetime.now())
print('数据已保存')
print('标定获取数据结束')
self.content.append('开始计算标定数据')
#标定数据计算开始
if phase2 == 1:
os.chdir(self.save_path)
'''
os.system('adb pull /data/hmdinfo/rgb_display_transform.json')
os.system('adb pull /data/hmdinfo/glass_profile.json')
os.system('adb pull /data/hmdinfo/g2_glass_config.txt')
'''
print('开始执行参数计算')
cali.calculate_IMU_FE(self.kalibr_path)
state = cali.yaml_process()
time.sleep(1)
cali.kalibr_RGB_FE(self.kalibr_path)
time.sleep(1)
os.system('mv cam-imu cam-imu-2')
os.system('mkdir cam-imu')
os.system('cp -r CVIMG cam-imu/cam1')
#os.system('mv TOF cam-imu/cam0')
os.system('cp ' + self.kalibr_path +
'cameraindex.csv cam-imu/cameraindex.csv')
#os.system('./kal_rgb.sh')
#os.system('mv camchain-glasses.yaml rgb_tof.yaml')
cali.write_cv_para()
os.chdir(self.selected_path)
os.system('cp -r ' + path2 + ' ' + self.back_path)
conn.close()
print('CV标定已完成')
self.content.append('CV系统标定已完成')
def cali_imu(self):
log = cali.read_ID()
self.device_ID = log
self.content.append('当前设备ID为' + log)
log = cali.read_hmd_id()
print(log)
self.content.append('当前设备头端ID为' + log)
path = self.selected_path + '/' + log + '/'
os.chdir(path)
self.content.append('当前工作目录切换到：' + path)
self.content.append('开始进行IMU标定')
#获取标定数据-初始化socket套接字
sk = socket.socket()
sk.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
sk.bind(("192.168.0.1", 7080))
sk.listen(5)
conn, address = sk.accept()
ret = str(conn.recv(1024), encoding="utf-8")
print("接收到设备数据" + ret)
time.sleep(0.1)
conn.sendall(bytes("cstwo", encoding="utf-8"))
print("已发送锁存校验数据")
time.sleep(0.1)
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
print("Socket通讯建立")
#获取标定数据-P1S1S-IMU标定步骤1
step = 1
while (step < 7):
conn.sendall(bytes("P4S" + str(step) + "S", encoding="utf-8"))
print("已发送下一点位置数据")
time.sleep(0.1)
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
print("已移动到机械臂IMU标定" + str(step) + "号点，开始" + str(step) + "位置标定")
time.sleep(14)
f = os.popen(r"adb shell testimucal " + str(step), "r")
shuchu = f.read()
f.close()
n = 2
while (shuchu[0] != '0'):
print('标定失败，进行第[' + str(n) + ']次尝试')
f = os.popen(r"adb shell testimucal " + str(step), "r")
shuchu = f.read()
f.close()
n = n + 1
if n > 6:
print('6次标定都失败，请注意是不是夜深人静，再进行重试')
conn.sendall(bytes("GHOME", encoding="utf-8"))
print("准备移动到装配点")
time.sleep(1)
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
cali.error_dct(ret, 'HOMED')
conn.close()
exit()
print("IMU标定" + str(step) + "结果" + shuchu)
step = step + 1
print("准备移动到下一个点")
conn.sendall(bytes("GHOME", encoding="utf-8"))
print("准备移动到装配点")
time.sleep(1)
#等待设备到装配点,安装设备
ret = str(conn.recv(1024), encoding="utf-8")
print(ret)
cali.error_dct(ret, 'HOMED')
print('IMU标定完成')
os.system('adb pull /data/hmdinfo/AccelBias.txt')
os.chdir(self.selected_path)
self.content.append('IMU标定完成')
conn.close()
def push_app(self):
log = cali.read_hmd_id()
os.system('adb install ' +
self.config["Enviroment"]["RGB_capture_app"])
self.content.append('当前设备ID为' + log)