diff --git a/mycobot_ai/ai_mira/scripts/add_img.py b/mycobot_ai/ai_mira/scripts/add_img.py index 14b757a..2b16744 100755 --- a/mycobot_ai/ai_mira/scripts/add_img.py +++ b/mycobot_ai/ai_mira/scripts/add_img.py @@ -49,8 +49,8 @@ def take_photo(): def cut_photo(): - path1 = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mypalletizer_260/' # pi - path2 = '/home/u20/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mira/' # m5 + path1 = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mira/' # pi + path2 = '/home/h/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mira/' # m5 if os.path.exists(path1): path = path1 diff --git a/mycobot_ai/ai_mira/scripts/combine_detect_obj_color.py b/mycobot_ai/ai_mira/scripts/combine_detect_obj_color.py index cd541a4..adf2040 100755 --- a/mycobot_ai/ai_mira/scripts/combine_detect_obj_color.py +++ b/mycobot_ai/ai_mira/scripts/combine_detect_obj_color.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python3 +#!/usr/bin/env python2 # -*- coding:utf-8 -*- from operator import imod from tokenize import Pointfloat @@ -19,13 +19,13 @@ __version__ = "1.0" class Object_detect(Movement): - def __init__(self, camera_x = 150, camera_y = 10): + def __init__(self, camera_x = 148, camera_y = 10): # inherit the parent class super(Object_detect, self).__init__() # get path of file dir_path = os.path.dirname(__file__) - # declare mypal260 + # declare mira self.mc = None # 移动角度 @@ -37,8 +37,8 @@ class Object_detect(Movement): # 移动坐标 self.move_coords = [ - [-6.91, 175.86, 120.0], # above the red bucket - [136.45, 149.22, 117.11], # above the green bucket + [121.35, 127.48, 120.0], # above the red bucket + [217.09, 113.01, 98.36], # above the green bucket [107.54, -171.23, 117.11], # above the blue bucket [-6.91, -175.86, 120.0], # above the gray bucket ] @@ -60,14 +60,14 @@ class Object_detect(Movement): # "yellow": [np.array([26, 43, 46]), np.array([34, 255, 255])], "red": [np.array([0, 43, 46]), np.array([8, 255, 255])], "green": [np.array([35, 43, 46]), np.array([77, 255, 255])], - # "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])], + "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])], "cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])], } - # use to calculate coord between cube and mypal260 + # use to calculate coord between cube and mira self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0 - # The coordinates of the grab center point relative to the mypal260 + # The coordinates of the grab center point relative to the mira self.camera_x, self.camera_y = camera_x, camera_y - # The coordinates of the cube relative to the mypal260 + # The coordinates of the cube relative to the mira self.c_x, self.c_y = 0, 0 # The ratio of pixels to actual values self.ratio = 0 @@ -134,7 +134,7 @@ class Object_detect(Movement): self.mc.set_angles(self.move_angles[0], 20) time.sleep(3) - # send coordinates to move mypal260 + # send coordinates to move mira self.mc.set_coords([x, -y, 58.84], 20) time.sleep(1.5) self.mc.set_coords([x, -y, 21.8], 20) @@ -181,7 +181,7 @@ class Object_detect(Movement): # 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, color) - # init mypal260 + # init mira def run(self): self.mc = Mira(self.robot_m5, 115200) self.mc.go_zero() @@ -239,13 +239,13 @@ class Object_detect(Movement): self.y2 = int(y2) print(self.x1, self.y1, self.x2, self.y2) - # set parameters to calculate the coords between cube and mypal260 + # set parameters to calculate the coords between cube and mira def set_params(self, c_x, c_y, ratio): self.c_x = c_x self.c_y = c_y self.ratio = 220.0/ratio - # calculate the coords between cube and mypal260 + # calculate the coords between cube and mira def get_position(self, x, y): return ((y - self.c_y)*self.ratio + self.camera_x), ((x - self.c_x)*self.ratio + self.camera_y) @@ -319,8 +319,7 @@ class Object_detect(Movement): cv2.rectangle(img, (x, y), (x+w, y+h), (153, 153, 0), 2) # calculate the rectangle center x, y = (x*2+w)/2, (y*2+h)/2 - # calculate the real coordinates of mypal260 relative to the target - print('mira_mycolor:', mycolor) + # calculate the real coordinates of mira relative to the target if mycolor == "red": self.color = 0 elif mycolor == "green": @@ -344,7 +343,7 @@ if __name__ == "__main__": cap.open() # init a class of Object_detect detect = Object_detect() - # init mypal260 + # init mira detect.run() _init_ = 20 @@ -387,7 +386,7 @@ if __name__ == "__main__": init_num += 1 continue - # calculate params of the coords between cube and mypal260 + # calculate params of the coords between cube and mira if nparams < 10: if detect.get_calculate_params(frame) is None: cv2.imshow("figure", frame) @@ -404,7 +403,7 @@ if __name__ == "__main__": continue elif nparams == 10: nparams += 1 - # calculate and set params of calculating real coord between cube and mypal260 + # calculate and set params of calculating real coord between cube and mira detect.set_params( (detect.sum_x1+detect.sum_x2)/20.0, (detect.sum_y1+detect.sum_y2)/20.0, @@ -421,7 +420,7 @@ if __name__ == "__main__": continue else: x, y = detect_result - # calculate real coord between cube and mypal260 + # calculate real coord between cube and mira real_x, real_y = detect.get_position(x, y) if num == 20: detect.pub_marker(real_sx/20.0/1000.0, real_sy/20.0/1000.0) diff --git a/mycobot_ai/ai_mira/scripts/combine_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mira/scripts/combine_detect_obj_img_folder_opt.py index 0b67bd0..a548d23 100755 --- a/mycobot_ai/ai_mira/scripts/combine_detect_obj_img_folder_opt.py +++ b/mycobot_ai/ai_mira/scripts/combine_detect_obj_img_folder_opt.py @@ -1,4 +1,4 @@ -#!/usr/bin/env python3 +#!/usr/bin/env python2 # encoding:utf-8 from multiprocessing import Process, Pipe from cgi import parse @@ -18,7 +18,7 @@ from visualization_msgs.msg import Marker from PIL import Image from threading import Thread import tkFileDialog as filedialog -import tkinter as tk +import Tkinter as tk from moving_utils import Movement from pymycobot.mira import Mira @@ -28,7 +28,7 @@ __version__ = "1.0" # Adaptive seeed class Object_detect(Movement): - def __init__(self, camera_x = 150, camera_y = 10): + def __init__(self, camera_x = 148, camera_y = 10): # inherit the parent class super(Object_detect, self).__init__() # get path of file @@ -40,13 +40,12 @@ class Object_detect(Movement): self.move_angles = [ [0.0, 0.0, 0.0], # init the point [19.48, 0.0, 0.0], # point to grab - # [17.4, -10.1, -87.27, 5.8, -2.02, 15], # point to grab ] # 移动坐标 self.move_coords = [ - [-6.91, 175.86, 120.0], # above the red bucket - [136.45, 149.22, 117.11], # above the green bucket + [121.35, 127.48, 120.0], # above the red bucket + [217.09, 113.01, 98.36], # above the green bucket [107.54, -171.23, 117.11], # above the blue bucket [-6.91, -175.86, 120.0], # above the gray bucket ] @@ -360,7 +359,7 @@ class Object_detect(Movement): def parse_folder(folder): restore = [] path1 = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mira/' + folder - path2 = '/home/u20/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mira/' + folder + path2 = '/home/h/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mira/' + folder if os.path.exists(path1): path = path1 diff --git a/mycobot_ai/ai_mira/scripts/tools.py b/mycobot_ai/ai_mira/scripts/tools.py index 29ea91c..857db58 100755 --- a/mycobot_ai/ai_mira/scripts/tools.py +++ b/mycobot_ai/ai_mira/scripts/tools.py @@ -31,13 +31,13 @@ move_gray = [-1.61, 0.0, 0.0] gray_angles = [-92.25, 0.0, 0.0] gray_coords = [-6.91, -175.86, 120.0] -move_green = [0.83, 0.22, 0] -green_angles = [47.56, 12.61, 0.0] -green_coords = [136.45, 149.22, 117.11] +move_green = [0.48, 0.61, 0] +green_angles = [27.5, 34.95, 0.0] +green_coords = [217.09, 113.01, 98.36] -move_red = [1.61, 0.0, 0.0] -red_angles = [92.25, 0.0, 0.0] -red_coords = [-6.91, 175.86, 120.0] +move_red = [0.81, 0.0, 0.0] +red_angles = [46.41, 0.0, 0.0] +red_coords = [121.35, 127.48, 120.0] radians_chushi= [0.34, 0, 0] @@ -65,17 +65,17 @@ chishi_coords = [165.93, 58.69, 120.0] # print('qilai_angles:', mc.get_angles_info()) # print('qilai_coords:', mc.get_coords_info()) -mc.set_radians(move_blue, 50) -time.sleep(4) -print('blue_angles:', mc.get_angles_info()) -print('blue_coords:', mc.get_coords_info()) -# mc.set_gpio_state(1) -time.sleep(2) +# mc.set_radians(move_blue, 50) +# time.sleep(4) +# print('blue_angles:', mc.get_angles_info()) +# print('blue_coords:', mc.get_coords_info()) +# # mc.set_gpio_state(1) +# time.sleep(2) -mc.set_radians(radians_chushi, 50) -time.sleep(5) -print('chushi_angles:', mc.get_angles_info()) -print('chishi_coords:', mc.get_coords_info()) +# mc.set_radians(radians_chushi, 50) +# time.sleep(5) +# print('chushi_angles:', mc.get_angles_info()) +# print('chishi_coords:', mc.get_coords_info()) # mc.set_radians(move_gray, 50) # time.sleep(6) @@ -85,17 +85,17 @@ print('chishi_coords:', mc.get_coords_info()) # mc.set_radians(radians_chushi, 50) # time.sleep(2) -# mc.set_radians(move_green, 50) -# time.sleep(4) -# print('green_angles:', mc.get_angles_info()) -# print('green_coords:', mc.get_coords_info()) - -# mc.set_radians(radians_chushi, 50) -# time.sleep(2) - -# mc.set_radians(move_red, 50) -# time.sleep(4) -# print('red_angles:', mc.get_angles_info()) -# print('red_coords:', mc.get_coords_info()) +mc.set_radians(move_green, 50) +time.sleep(4) +print('green_angles:', mc.get_angles_info()) +print('green_coords:', mc.get_coords_info()) + +mc.set_radians(radians_chushi, 50) +time.sleep(2) + +mc.set_radians(move_red, 50) +time.sleep(4) +print('red_angles:', mc.get_angles_info()) +print('red_coords:', mc.get_coords_info()) mc.set_radians(radians_chushi, 50)