NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-12 10:44:18 +02:00
parent baf83d8fee
commit 783f3291c8
1 changed files with 12 additions and 9 deletions
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19
selflocalization/camera.py
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@ -3,7 +3,7 @@ import numpy as np
import time import time
import sys import sys
import threading import threading
import framebuffer as framebuffer import framebuffer
from pkg_resources import parse_version from pkg_resources import parse_version
@ -18,6 +18,8 @@ except ImportError:
def isRunningOnArlo(): def isRunningOnArlo():
"""Return True if we are running on Arlo, otherwise False.""" """Return True if we are running on Arlo, otherwise False."""
# TODO: Problematic that gstreamerCameraFound is first set after
# instantiation of a Camera object
return piCameraFound or gstreamerCameraFound return piCameraFound or gstreamerCameraFound
# Black magic in order to handle differences in namespace names in OpenCV 2.4 and 3.0 # Black magic in order to handle differences in namespace names in OpenCV 2.4 and 3.0
@ -107,6 +109,7 @@ class Camera(object):
robottype - specify which robot you are using in order to use the correct camera calibration. robottype - specify which robot you are using in order to use the correct camera calibration.
Supported types: arlo, frindo, scribbler, macbookpro""" Supported types: arlo, frindo, scribbler, macbookpro"""
print("robottype =", robottype)
self.useCaptureThread = useCaptureThread self.useCaptureThread = useCaptureThread
# Set camera calibration info # Set camera calibration info
@ -122,7 +125,7 @@ class Camera(object):
#self.distortion_coeffs = np.asarray([ 1.1911006165076067e-01, -1.0003366233413549e+00, #self.distortion_coeffs = np.asarray([ 1.1911006165076067e-01, -1.0003366233413549e+00,
# 1.9287903277399834e-02, -2.3728201444308114e-03, -2.8137265581326476e-01 ], dtype = np.float64) # 1.9287903277399834e-02, -2.3728201444308114e-03, -2.8137265581326476e-01 ], dtype = np.float64)
self.distortion_coeffs = np.asarray([0., 0., 2.0546093607192093e-02, -3.5538453075048249e-03, 0.], dtype = np.float64) self.distortion_coeffs = np.asarray([0., 0., 2.0546093607192093e-02, -3.5538453075048249e-03, 0.], dtype = np.float64)
if robottype == 'frindo': elif robottype == 'frindo':
self.imageSize = (640, 480) self.imageSize = (640, 480)
#self.intrinsic_matrix = np.asarray([ 7.1305391967046853e+02, 0., 3.1172820723774367e+02, 0., #self.intrinsic_matrix = np.asarray([ 7.1305391967046853e+02, 0., 3.1172820723774367e+02, 0.,
# 7.0564929862291285e+02, 2.5634470978315028e+02, 0., 0., 1. ], dtype = np.float64) # 7.0564929862291285e+02, 2.5634470978315028e+02, 0., 0., 1. ], dtype = np.float64)
@ -457,9 +460,9 @@ class Camera(object):
if (__name__=='__main__'): if (__name__=='__main__'):
print("Opening and initializing camera") print("Opening and initializing camera")
cam = Camera(0, 'macbookpro', useCaptureThread = True) #cam = Camera(0, 'macbookpro', useCaptureThread=True)
#cam = Camera(0, 'macbookpro', useCaptureThread = False) #cam = Camera(0, 'macbookpro', useCaptureThread = False)
#cam = Camera(0, 'arlo', useCaptureThread = True) cam = Camera(0, robottype='arlo', useCaptureThread=True)
# Open a window # Open a window
WIN_RF1 = "Camera view" WIN_RF1 = "Camera view"
@ -488,12 +491,12 @@ if (__name__=='__main__'):
#gray = cv2.convertScaleAbs(loggray) #gray = cv2.convertScaleAbs(loggray)
# Detect objects # Detect objects
objectType, distance, angle, colourProb = cam.get_object(colour) #objectType, distance, angle, colourProb = cam.get_object(colour)
if objectType != 'none': #if objectType != 'none':
print("Object type = ", objectType, ", distance = ", distance, ", angle = ", angle, ", colourProb = ", colourProb) # print("Object type = ", objectType, ", distance = ", distance, ", angle = ", angle, ", colourProb = ", colourProb)
# Draw detected pattern # Draw detected pattern
cam.draw_object(colour) #cam.draw_object(colour)
IDs, dists, angles = cam.detect_aruco_objects(colour) IDs, dists, angles = cam.detect_aruco_objects(colour)
if not isinstance(IDs, type(None)): if not isinstance(IDs, type(None)):