import numpy as np
import cv2
import PID
import server
import usb
import cubeFinder
import stereo
cameraR = usb.USBCamera(0)
cameraL = usb.USBCamera(1)
cubeR = cubeFinder.CubeFinder(cameraR)
cubeL = cubeFinder.CubeFinder(cameraL)
stereo = stereo.Stereo(cubeR, cubeL, 8)
while 1:
stereo.track()
print "r"+str(stereo.finders[0].angle)
print "l"+str(stereo.finders[1].angle)
print "d"+str(stereo.distanceToTarget)
cv2.imshow("r", stereo.finders[0].frame)
cv2.imshow("l", stereo.finders[1].frame)
cv2.waitKey(1)
#print stereo.distanceToTarget()
def send(data):
s.sendto(data, address)
def sendErrorValues(found, x, y, angle):
status = 1 if found else 0
data = '%3.1f %3.1f %3.1f %d \n' % (x, y, angle, status)
print(data)
send(data)
subprocess.check_call(
["uvcdynctrl", "-s", "White Balance Temperature, Auto", "0"])
subprocess.check_call(["uvcdynctrl", "-s", "Brightness", "30"])
subprocess.check_call(["uvcdynctrl", "-s", "Exposure, Auto", "1"])
subprocess.check_call(["uvcdynctrl", "-s", "Exposure (Absolute)", "5"])
camera = usb.USBCamera(1, 800, 448)
finder = targetFinder2019.targetFinder(camera)
#finder = HatchFinder2019.hatchFinder(camera)
while 1:
start = datetime.now()
result = finder.find()
end = datetime.now()
timeElapsed = end - start
#print timeElapsed.total_seconds()
#print result
sendErrorValues(*result)
import numpy as np
import cv2
import PID
import server
import usb
import LEDFinder
#p = PID.PID(0.0033,0,0,0,0,500,-500)
#p.setPoint(0)
camera = usb.USBCamera(0)
#camera.setExposure(9)
led = LEDFinder.LEDFinder(camera)
led.setRed()
#led.setBlue()
#server.startServer()
while 1:
led.find()
led.calculateConfidence()
cv2.imshow("frame", led.frame)
cv2.waitKey(1)
#print led.confidence
#print led.err
#if(led.err != -1000):