163 lines
4.3 KiB
Python
163 lines
4.3 KiB
Python
from __future__ import print_function
|
|
from __future__ import division
|
|
|
|
import cv2
|
|
import numpy as np
|
|
#import imutils
|
|
from naoqi import ALProxy
|
|
from collections import deque
|
|
from imagereaders import NaoImageReader
|
|
from live_recognition import BallFinder
|
|
|
|
|
|
# Nao configuration
|
|
nao_ip = '192.168.0.11'
|
|
nao_port = 9559
|
|
#res = (3, (960, 1280)) # NAOQi code and acutal resolution
|
|
#res=(1,(240,320))
|
|
res=1
|
|
#res=(2,(480,640))
|
|
|
|
fps = 30
|
|
cam_id = 0 # 0 := top, 1 := bottom
|
|
|
|
# Recognition stuff
|
|
red_lower = (0, 185, 170) # HSV coded red interval
|
|
red_upper = (6, 255, 255)
|
|
min_radius = 5
|
|
resized_width = None # Maybe we need it maybe don't (None if don't)
|
|
|
|
current_value = 0
|
|
|
|
|
|
def get_angle():
|
|
robotIP="192.168.0.11"
|
|
PORT = 9559
|
|
motionProxy = ALProxy("ALMotion", robotIP, PORT)
|
|
names=["HeadPitch","HeadYaw"]
|
|
useSensors=False
|
|
angle=motionProxy.getAngles(names,useSensors)
|
|
#print("angle_is"+str(angles))
|
|
return angle
|
|
|
|
def set_angle_new(x,y):
|
|
angle=get_angle()
|
|
robotIP="192.168.0.11"
|
|
PORT = 9559
|
|
motionProxy = ALProxy("ALMotion", robotIP, PORT)
|
|
|
|
# activiert gelenke
|
|
motionProxy.setStiffnesses("Head", 0.5)
|
|
names = ["HeadYaw", "HeadPitch"]
|
|
fractionMaxSpeed = 0.1
|
|
#x_mid=160
|
|
#y_mid=120
|
|
#x_diff=x-x_mid
|
|
#y_diff=y-y_mid
|
|
#print("x_diff="+str(x_diff))
|
|
#print("y_diff="+str(y_diff))
|
|
|
|
videoProxy=ALProxy('ALVideoDevice', robotIP, PORT)
|
|
ball_angles=videoProxy.getAngularPositionFromImagePosition(1,[x/320,y/240])
|
|
#print(ball_angles)
|
|
ball_angle_x=ball_angles[0]
|
|
ball_angle_y=ball_angles[1]
|
|
print("ball_angle_x="+str(ball_angle_x))
|
|
print("ball_angle_y="+str(ball_angle_y))
|
|
|
|
#ball_angle_x_diff=ball_angle_x+
|
|
#ball_angle_y_diff=ball_angle_y-99
|
|
#print(ball_angle_x_diff*3.14/180)
|
|
#print(ball_angle_y_diff)
|
|
|
|
# print(ball_angles-[-169,99])
|
|
#[-169.53343200683594, 99.27782440185547] (x_mid,y_mid)
|
|
#if abs(ball_angle_x)>0.2 and abs(ball_angle_y)>0.01:
|
|
#angles=[ball_angle_x,0]
|
|
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:
|
|
motionProxy.changeAngles(names, angles, fractionMaxSpeed)
|
|
elif abs(ball_angle_x)<0.1 and abs(ball_angle_y)<0.1:
|
|
#tts = ALProxy("ALTextToSpeech", "192.168.0.11", 9559)
|
|
#tts.setParameter("pitchShift", 1)
|
|
#tts.setParameter("speed", 50)
|
|
#tts.setVoice("Kenny22Enhanced")
|
|
|
|
#tts.say("Ball found")
|
|
|
|
print("Ball found")
|
|
|
|
|
|
|
|
|
|
def set_angle(direction):
|
|
#def main(robotIP,x,y):
|
|
robotIP="192.168.0.11"
|
|
PORT = 9559
|
|
motionProxy = ALProxy("ALMotion", robotIP, PORT)
|
|
# activiert gelenke
|
|
motionProxy.setStiffnesses("Head", 1.0)
|
|
|
|
|
|
#names = "HeadYaw"
|
|
#useSensors = False
|
|
|
|
#commandAngles = motionProxy.getAngles(names, useSensors)
|
|
|
|
#type(commandAngles)
|
|
#type(float(commandAngles))
|
|
#current_angle=float(commandAngles)
|
|
#print(current_angle)
|
|
#next_angle=float(commandAngles)-0.2
|
|
#print("next_angle"+str(next_angle))
|
|
#angles = [0,next_angle]
|
|
|
|
|
|
|
|
#print("set_angle")
|
|
# Example showing how to set angles, using a fraction of max speed
|
|
names = ["HeadYaw", "HeadPitch"]
|
|
#global current_value
|
|
a=get_angle()
|
|
#print(a[0])
|
|
# print(a)
|
|
|
|
|
|
#current_value=current_value-0.2
|
|
if direction=="up":
|
|
angles = [a[1],a[0]-0.2]
|
|
elif direction=="down":
|
|
angles = [a[1], a[0]+0.2]
|
|
elif direction=="right":
|
|
angles= [a[1]-0.2,a[0]]
|
|
elif direction=="left":
|
|
angles=[a[1]+0.2,a[0]]
|
|
fractionMaxSpeed = 0.5
|
|
|
|
motionProxy.setAngles(names, angles, fractionMaxSpeed)
|
|
|
|
|
|
if __name__ == '__main__':
|
|
video = NaoImageReader(nao_ip, port=nao_port, cam_id=cam_id, res=res,
|
|
fps=fps)
|
|
finder = BallFinder(red_lower, red_upper, 5, None)
|
|
try:
|
|
while True:
|
|
try:
|
|
(x, y), radius = finder.find_colored_ball(video.get_frame())
|
|
except TypeError:
|
|
continue
|
|
set_angle_new(x,y)
|
|
'''
|
|
if 0<y<100:
|
|
set_angle("up")
|
|
elif 240>y>200:
|
|
set_angle("down")
|
|
if 0<x<100: # maybe do simultaneous x-y setting
|
|
set_angle("left")
|
|
elif 320>x>220:
|
|
set_angle("right")
|
|
'''
|
|
finally:
|
|
video.close()
|