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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21
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
@ -101,12 +103,13 @@ class Camera(object):
"""This class is responsible for doing the image processing. It detects known landmarks and """This class is responsible for doing the image processing. It detects known landmarks and
measures distances and orientations to these.""" measures distances and orientations to these."""
def __init__(self, camidx, robottype='arlo', useCaptureThread = False): def __init__(self, camidx, robottype='arlo', useCaptureThread=False):
"""Constructor: """Constructor:
camidx - index of camera camidx - index of camera
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)):