import cv2 as cv
import numpy as np
import grip
from GRIPget import WebcamVideoStream
import time
vid1 = WebcamVideoStream(src=0).start()
another = grip.GripPipeline()
counter = 0
start = time.time()
try:
while True:
img1 = vid1.read()
another.process(img1)
counter += 1
k = cv.waitKey(5) & 0xFF
if k == 27:
break
except KeyboardInterrupt:
print(counter / (time.time() - start))
vid1.release()
# import the necessary packages
print("beginning execution")
import grip
import time
import cv2 as cv
import pyrealsense2 as rs
import numpy as np
import altusi.visualizer as vis
import robot
import ikpy
print("libraries imported")
gp = grip.GripPipeline()
print("grip instantiated")
SEARCH_LR = 0
ALIGN_UD = 1
IK = 2
GRAB = 3
HOME = 4
stage = 0
tracking = 0
my_chain = ikpy.chain.Chain.from_urdf_file("./niryo_one.urdf")
#object_detector = ObjectDetector()
home_pin = 13 #GPIO pin connected to set home switch
delay = 1.2 # seconds
angle = 2 #degrees
ntinst.startServer()
else:
print("Setting up NetworkTables client for team {}".format(team))
ntinst.startClientTeam(team)
# start cameras
cameras = []
for cameraConfig in cameraConfigs:
cameras.append(startCamera(cameraConfig))
tapeSink = CameraServer.getInstance().getVideo(name="Tape Camera")
img = np.zeros(shape=(320, 240, 3), dtype=np.uint8)
# GRIP pipeline
pipe = grip.GripPipeline()
cameraWidth = 320 / 2
# NetworkTable
table = ntinst.getTable("TapeFinder")
# Run forever
while True:
time, img = tapeSink.grabFrame(img)
if time == 0:
continue
# Process
pipe.process(img)
from picamera import PiCamera
from picamera.array import PiRGBArray
from networktables import NetworkTables
from time import clock
import grip
NetworkTables.initialize(server='roborio-167-frc.local')
table = NetworkTables.getTable('myContoursReport')
camera = PiCamera()
camera.resolution = (416, 320)
camera.framerate = 24
camera.exposure_compensation = 0
rawCapture = PiRGBArray(camera, size=(416, 320))
processor = grip.GripPipeline()
for frame in camera.capture_continuous(rawCapture,
format='bgr',
use_video_port=True):
contours = processor.process(frame.array)
datax, datay, dataw, datah = [], [], [], []
for contour in contours:
data = cv2.boundingRect(contour)
datax.append(data[0])
datay.append(data[1])
dataw.append(data[2])
datah.append(data[3])
table.putNumberArray('x', datax)
table.putNumberArray('y', datay)
table.putNumberArray('w', dataw)
table.putNumberArray('h', datah)
import cv2
import numpy as np
import grip
vc = cv2.VideoCapture(1)
imagePipeline = grip.GripPipeline()
if vc.isOpened(): # try to get the first frame
rval, frame = vc.read()
else:
rval = False
#prosses image
while rval:
cv2.imshow("image", frame)
cv2.imshow("hull", imagePipeline.process(frame))
#Get next image
rval, frame = vc.read()
#break on ESC
key = cv2.waitKey(20)
if key == 27:
break
cv2.destroyWindow("image")
cv2.destroyWindow("color")
cv2.destroyWindow("hull")
import cv2
import numpy as np
from matplotlib import pyplot as plt
import grip as gp
img = cv2.imread('0.jpg', 0)
# f = np.fft.fft2(img)
# ff = np.fft.fftshift(f)
# res = (20*np.log(np.abs(ff))).astype(np.uint8)
a = gp.GripPipeline()
a.process(img)
a.cv_threshold_output
cv2.imshow('1', a.cv_laplacian_output)
cv2.waitKey()
# plt.subplot(121), plt.imshow(img, 'gray'), plt.title('Original Image')
# plt.axis('off')
# plt.subplot(122), plt.imshow(res, 'gray'), plt.title('Fourier Image')
# plt.axis('off')
# plt.show()
