NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-09-21 11:34:36 +02:00
parent 2977c5a45d
commit f2e8628a32
2 changed files with 15 additions and 7 deletions
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6
find_aruco.py
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@ -36,10 +36,10 @@ def find_aruco(arlo):
def main(): def main():
arlo = robot.Robot() arlo = robot.Robot()
for _ in range(5): for i in range(5):
find_aruco(arlo) image = find_aruco(arlo)
sleep(1) sleep(1)
# cv2.imwrite("test.png", image) cv2.imwrite(f"test_{i}.png", image)
if __name__ == "__main__": if __name__ == "__main__":
main() main()

16
robot/arlo.py
View File

@ -8,6 +8,8 @@ START_VALUES = [60, 60]
THRESHOLD = 1.05 THRESHOLD = 1.05
SLEEP_TIME = 2 SLEEP_TIME = 2
FOCAL_LENGTH = 0
def test_forward(arlo, l_power, r_power): def test_forward(arlo, l_power, r_power):
arlo.reset_encoder_counts() arlo.reset_encoder_counts()
arlo.go_diff(l_power, r_power, 1, 1) arlo.go_diff(l_power, r_power, 1, 1)
@ -81,9 +83,10 @@ class Arlo():
sleep((angle * self.timing[3])/1000) sleep((angle * self.timing[3])/1000)
self.robot.stop() self.robot.stop()
def find_aruco(self): def estimate_distance(self, bounding_box):
image = self.robot.take_photo() average_left = bounding_box[0][0]
def find_aruco(self, image):
aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250)
aruco_params = cv2.aruco.DetectorParameters_create() aruco_params = cv2.aruco.DetectorParameters_create()
corners, ids, _ = cv2.aruco.detectMarkers( corners, ids, _ = cv2.aruco.detectMarkers(
@ -92,8 +95,13 @@ class Arlo():
parameters=aruco_params parameters=aruco_params
) )
for bounding, n in zip(corners, ids): return zip(corners, ids)
bounding_box = [(int(x), int(y)) for x, y in bounding.reshape((4,2))]
def draw_arucos(self, image, bounding_boxes):
for bounding, n in bounding_boxes:
bounding_box = [
(int(x), int(y)) for x, y in bounding.reshape((4,2))
]
print(bounding_box) print(bounding_box)
cv2.line(image, bounding_box[0], bounding_box[1], (0,255,0), 2) cv2.line(image, bounding_box[0], bounding_box[1], (0,255,0), 2)