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Commit f1caaba6 authored by Zhiying Li's avatar Zhiying Li
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Merge corrections

parents db4a9b95 3811b48a
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ESP32_AT/imageTread_AT.py
+ 34
− 14
View file @ f1caaba6
......@@ -21,19 +21,15 @@ def get_AT_6DOF_info(url, detectFlag = True):
header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
req = Request(url, headers=header)
img_resp = urlopen(req, timeout=60)
# try:
#
# except:
# print ("April Tag Camera ERR",err)
# return tid,tx,ty,tz,rx,ry,rz
imgnp = np.array(bytearray(img_resp.read()), dtype=np.uint8)
req = Request(url, headers = header)
try:
img_resp = urlopen(req, timeout = 60)
imgnp = np.array(bytearray(img_resp.read()), dtype = np.uint8)
except:
print ("April Tag Camera NOT RUNNING")
return tid,tx,ty,tz,rx,ry,rz
frame = cv2.imdecode(imgnp, -1)
# ret,frame = cap.read()
gray_image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
h, w, _ = frame.shape
......@@ -82,6 +78,7 @@ def get_AT_6DOF_info(url, detectFlag = True):
cv2.line(frame, ptD, ptA, (0, 255, 0), 5)
<<<<<<< HEAD
# extract the bounding box (x, y)-coordinates for the AprilTag
# and convert each of the (x, y)-coordinate pairs to integers
......@@ -99,6 +96,32 @@ def get_AT_6DOF_info(url, detectFlag = True):
cv2.putText(frame, "tx: {:.2f} ty: {:.2f} tz:{:.2f}".format(tx[0], ty[0], tz[0]), (ptA[0], ptA[1] + 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
=======
# extract the bounding box (x, y)-coordinates for the AprilTag
# and convert each of the (x, y)-coordinate pairs to integers
(ptA, ptB, ptC, ptD) = r.corners
ptB = (int(ptB[0]), int(ptB[1]))
ptC = (int(ptC[0]), int(ptC[1]))
ptD = (int(ptD[0]), int(ptD[1]))
ptA = (int(ptA[0]), int(ptA[1]))
# draw the bounding box of the AprilTag detection
cv2.line(frame, ptA, ptB, (0, 255, 0), 5)
cv2.line(frame, ptB, ptC, (0, 255, 0), 5)
cv2.line(frame, ptC, ptD, (0, 255, 0), 5)
cv2.line(frame, ptD, ptA, (0, 255, 0), 5)
# draw the center (x, y)-coordinates of the AprilTag
(cX, cY) = (int(r.center[0]), int(r.center[1]))
cv2.circle(frame, (cX, cY), 5, (0, 0, 255), -1)
# draw the tag family on the image
tagFamily = r.tag_family.decode("utf-8")
#cv2.putText(frame, tagFamily, (ptA[0], ptA[1] - 15), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
#cv2.putText(frame, "tx: {:.2f} ty: {:.2f} tz:{:.2f}".format(tx[0], ty[0], tz[0]), (ptA[0], ptA[1] + 30),
#cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
>>>>>>> espcam-reconnect
if debug_print == 1:
print("tx,ty,tz:{},{},{}".format(tx, ty, tz))
......@@ -135,10 +158,7 @@ if __name__ == "__main__":
url = 'http://10.0.0.6/cam-hi.jpg' #02
url = 'http://10.0.0.7/cam-hi.jpg' #06
# cv2.namedWindow("live transmission", cv2.WINDOW_AUTOSIZE)
# cv2.namedWindow("live transmission", cv2.WINDOW_NORMAL)
detector = Detector()
......
ball_detection/ball_detection.py
+ 30
− 30
View file @ f1caaba6
......@@ -99,44 +99,44 @@ def detectLive(url , model, minDetectionScore = 0.90, showSight = True):
dist = -1
header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
req = Request(url, headers = header)
img_resp = urlopen(req, timeout = 60)
imgnp = np.array(bytearray(img_resp.read()), dtype = np.uint8)
frame = cv2.imdecode(imgnp, -1)
# try:
#
# except:
# print ("Green Ball Camera ERR ",err)
# return gbx, gby, dist
req = Request(url, headers = header)
try:
img_resp = urlopen(req, timeout = 60)
imgnp = np.array(bytearray(img_resp.read()), dtype = np.uint8)
except:
print ("Green Ball Camera NOT RUNNING")
return gbx, gby, dist
frame = cv2.imdecode(imgnp, -1)
labels, boxes, scores = model.predict(frame)
for i in range(boxes.shape[0]):
box = boxes[i]
x0, y0 = float(box[0]), float(box[1])
x1, y1 = float(box[2]), float(box[3])
w = x1 - x0
h = y1 - y0
dCrop = [int(y0*cropFactor + y1*(1-cropFactor)), int(y1*cropFactor + y0*(1-cropFactor)),
box = boxes[i]
x0, y0 = float(box[0]), float(box[1])
x1, y1 = float(box[2]), float(box[3])
w = x1 - x0
h = y1 - y0
dCrop = [int(y0*cropFactor + y1*(1-cropFactor)), int(y1*cropFactor + y0*(1-cropFactor)),
int(x0*cropFactor + x1*(1-cropFactor)), int(x1*cropFactor + x0*(1-cropFactor))]
avgClRGB = cv2.mean(frame[dCrop[0]:dCrop[1], dCrop[2]:dCrop[3]])
avgClHue = rgbToHue(avgClRGB)
avgClRGB = cv2.mean(frame[dCrop[0]:dCrop[1], dCrop[2]:dCrop[3]])
avgClHue = rgbToHue(avgClRGB)
if scores[i] > minDetectionScore and avgClHue > colorLow and avgClHue < colorHigh:
cv2.rectangle(frame, (int(x0), int(y0)),
(int(x1), int(y1)),
(0, 255, 0), 2)
if scores[i] > minDetectionScore and avgClHue > colorLow and avgClHue < colorHigh:
cv2.rectangle(frame, (int(x0), int(y0)),
(int(x1), int(y1)),
(0, 255, 0), 2)
if labels:
dist = distanceDetect('load-testImg', distWtsFile, [[x0, x1, y0, y1], frame.shape[:2]])
gbx = int((x1 + x0) / 2)
gby = int((y1 + y0) / 2)
cv2.putText(frame, 'x:{}, y:{}'.format(gbx, gby),
(int(box[0]), int(box[1]) - 10),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 3)
dist = distanceDetect('load-testImg', distWtsFile, [[x0, x1, y0, y1], frame.shape[:2]])
gbx = int((x1 + x0) / 2)
gby = int((y1 + y0) / 2)
cv2.putText(frame, 'x:{}, y:{}'.format(gbx, gby),
(int(box[0]), int(box[1]) - 10),
cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 3)
if showSight:
resized_frame = cv2.resize(frame,(400,300))
cv2.imshow('Ball Detection', resized_frame)
key = cv2.waitKey(1) & 0xFF
resized_frame = cv2.resize(frame,(400,300))
cv2.imshow('Ball Detection', resized_frame)
key = cv2.waitKey(1) & 0xFF
dist = int(dist)
return gbx, gby, dist
......
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