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update aikit encode.py

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weijian 2022-12-14 16:28:56 +08:00
parent b2fd38881a
commit 41bcdf870b
1 changed files with 5 additions and 2 deletions
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mycobot_ai/aikit_280_pi/scripts/aikit_encode.py
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@ -192,7 +192,7 @@ class Detect_marker(Movement):
else:
self.cache_x = self.cache_y = 0
# 调整吸泵吸取位置，y增大,向左移动;y减小,向右移动;x增大,前方移动;x减小,向后方移动
self.move(x, y+145, color)
self.move(x, y+160, color)
# init mycobot
def init_mycobot(self):
@ -214,6 +214,9 @@ class Detect_marker(Movement):
if not success:
print("It seems that the image cannot be acquired correctly.")
break
img = cv2.resize(img, None, fx=1.5, fy=1.5, interpolation=cv2.INTER_CUBIC)
img = img[140:630, 240:730]
# transfrom the img to model of gray
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
@ -245,7 +248,7 @@ class Detect_marker(Movement):
# calculate the coordinates of the aruco relative to the pump
xyz = [round(xyz[0]*1000+pump_y, 2), round(xyz[1]*1000+pump_x, 2), round(xyz[2]*1000, 2)]
cv2.putText(img, str(xyz[:2]), (0, 64), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2, cv2.LINE_AA)
# cv2.putText(img, str(xyz[:2]), (0, 64), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2, cv2.LINE_AA)
for i in range(rvec.shape[0]):
# draw the aruco on img
cv2.aruco.drawDetectedMarkers(img, corners)