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live_recognition with head not working perfect

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Jonas
2018-06-02 10:07:13 +02:00
parent ec90e8fda8
commit 8200c33e84
1 changed files with 23 additions and 13 deletions
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36
scripts/live_recognition_with_head.py
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@@ -50,19 +50,20 @@ def set_angle_new(x,y):
# activiert gelenke # activiert gelenke
motionProxy.setStiffnesses("Head", 0.5) motionProxy.setStiffnesses("Head", 0.5)
names = ["HeadYaw", "HeadPitch"] names = ["HeadYaw", "HeadPitch"]
fractionMaxSpeed = 0.1 fractionMaxSpeed = 0.025
#x_mid=160 x_mid=320/2
y_mid=240/2
#y_mid=120 #y_mid=120
#x_diff=x-x_mid x_diff=x-x_mid
#y_diff=y-y_mid y_diff=y-y_mid
#print("x_diff="+str(x_diff)) print("x_diff="+str(x_diff))
#print("y_diff="+str(y_diff)) print("y_diff="+str(y_diff))
videoProxy=ALProxy('ALVideoDevice', robotIP, PORT) #videoProxy=ALProxy('ALVideoDevice', robotIP, PORT)
ball_angles=videoProxy.getAngularPositionFromImagePosition(cam_id,[x/320,y/240]) #ball_angles=videoProxy.getAngularPositionFromImagePosition(cam_id,[x/320,y/240])
#print(ball_angles) #print(ball_angles)
ball_angle_x=ball_angles[0] #ball_angle_x=ball_angles[0]
ball_angle_y=ball_angles[1] #ball_angle_y=ball_angles[1]
#print("ball_angle_x="+str(ball_angle_x)) #print("ball_angle_x="+str(ball_angle_x))
#print("ball_angle_y="+str(ball_angle_y)) #print("ball_angle_y="+str(ball_angle_y))
@@ -76,11 +77,20 @@ def set_angle_new(x,y):
#if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01: #if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01:
#angles=[ball_angle_x,0] #angles=[ball_angle_x,0]
#angles=[0.25*ball_angle_x,0.25*ball_angle_y] #angles=[0.25*ball_angle_x,0.25*ball_angle_y]
angles=[0.25*ball_angle_x,0.25*ball_angle_y] #angles=[0.25*ball_angle_x,0.25*ball_angle_y]
if abs(ball_angle_x)>0.1 or abs(ball_angle_y)>0.1: #angles=[2*(-1 if x_diff > 0 else 1),2*(-1 if y_diff > 0 else 1)]
angles=[2*(-1 if x_diff > 0 else 1),0]
#if abs(ball_angle_x)>0.1 or abs(ball_angle_y)>0.1:
#if abs(x_diff)>50 or abs(y_diff)>50:
if abs(x_diff)>50:
motionProxy.changeAngles(names, angles, fractionMaxSpeed) motionProxy.changeAngles(names, angles, fractionMaxSpeed)
#motionProxy.setAngles(names,angles,fractionMaxSpeed) #motionProxy.setAngles(names,angles,fractionMaxSpeed)
#else:
# a=get_angle()
# motionProxy.setAngles(names,a,fractionMaxSpeed)
'''
elif abs(ball_angle_x)<0.1 and abs(ball_angle_y)<0.1: elif abs(ball_angle_x)<0.1 and abs(ball_angle_y)<0.1:
#tts = ALProxy("ALTextToSpeech", "192.168.0.11", 9559) #tts = ALProxy("ALTextToSpeech", "192.168.0.11", 9559)
#tts.setParameter("pitchShift", 1) #tts.setParameter("pitchShift", 1)
@@ -97,7 +107,7 @@ def set_angle_new(x,y):
counter=0 counter=0
print(get_angle()) print(get_angle())
'''
def set_angle(direction): def set_angle(direction):
#def main(robotIP,x,y): #def main(robotIP,x,y):