diff --git a/mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_img_folder_opt.py index 06cf6ce..91fa6fd 100755 --- a/mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_img_folder_opt.py +++ b/mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_img_folder_opt.py @@ -52,15 +52,6 @@ class Object_detect(Movement): # 判断连接设备:ttyUSB*为M5，ttyACM*为seeed self.raspi = False - # import RPi.GPIO as GPIO - # self.GPIO = GPIO - # GPIO.setwarnings(False) - # GPIO.setmode(GPIO.BCM) - # GPIO.setup(20, GPIO.OUT) - # GPIO.setup(21, GPIO.OUT) - - # self.gpio_status(False) - # self.Pin = [2, 5] self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] @@ -90,12 +81,6 @@ class Object_detect(Movement): self.x1 = self.x2 = self.y1 = self.y2 = 0 # set cache of real coord self.cache_x = self.cache_y = 0 - # load model of img recognition - # self.model_path = os.path.join(dir_path, "frozen_inference_graph.pb") - # self.pbtxt_path = os.path.join(dir_path, "graph.pbtxt") - # self.label_path = os.path.join(dir_path, "labels.json") - # # load class labels - # self.labels = json.load(open(self.label_path)) # use to calculate coord between cube and mycobot self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0 @@ -109,13 +94,7 @@ class Object_detect(Movement): self.aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_6X6_250) # Get ArUco marker params. self.aruco_params = cv2.aruco.DetectorParameters_create() - - # if IS_CV_4: - # self.net = cv2.dnn.readNetFromTensorflow(self.model_path, self.pbtxt_path) - # else: - # print('Load tensorflow model need the version of opencv is 4.') - # exit(0) - + # init a node and a publisher rospy.init_node("marker", anonymous=True) self.pub = rospy.Publisher('/cube', Marker, queue_size=1) @@ -151,6 +130,7 @@ class Object_detect(Movement): self.marker.pose.position.z = z self.marker.color.g = self.color self.pub.publish(self.marker) + # pump_control pi def gpio_status(self, flag): if flag: @@ -534,10 +514,6 @@ def run(): parent_conn, child_conn = Pipe() child = Process(target = process_display_frame, args=(child_conn,)) child.start() - - # Object_detect().take_photo() - # Object_detect().cut_photo() - # goal = Object_detect().distinguist() res_queue = [[], [], [], []] res_queue[0] = parse_folder('res/red') @@ -545,11 +521,6 @@ def run(): res_queue[2] = parse_folder('res/blue') res_queue[3] = parse_folder('res/gray') - # res_queue = [] - # res_queue.extend(parse_folder('res/red')) - # res_queue.extend(parse_folder('res/green')) - # res_queue.extend(parse_folder('res/gray')) - # res_queue.extend(parse_folder('res/blue')) sift = cv2.xfeatures2d.SIFT_create() kp_list, desc_list = compute_keypoints_and_descriptors(sift, res_queue) diff --git a/mycobot_ai/ai_mecharm_270/scripts/test.py b/mycobot_ai/ai_mecharm_270/scripts/test.py index 1ddc6da..1487181 100755 --- a/mycobot_ai/ai_mecharm_270/scripts/test.py +++ b/mycobot_ai/ai_mecharm_270/scripts/test.py @@ -16,6 +16,8 @@ mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200) # mc.send_angles([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46] # time.sleep(4) +mc.send_angle(3,-15,30) + # mc.send_angles([-3.25, 17.22, -32.51, 2.37, 92.54, -36.21],30) # mc.send_coords([92.3, -104.9, 211.4, -179.6, 28.91, 131.29], 30, 0) # above the red bucket @@ -30,7 +32,7 @@ mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200) # mc.send_coords([-5.4, 120.6, 204.6, 162.66, -6.96, 159.93],30,0) # above the gray bucket # time.sleep(3) -mc.send_coords([80, 0, 92, 179.12, -0.18, 179.46], 30, 0) +# mc.send_coords([80, 0, 92, 179.12, -0.18, 179.46], 30, 0) # mc.send_angle(3,0,25) # print(mc.get_angles()) diff --git a/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_color.py b/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_color.py index cf95c53..10ad10d 100644 --- a/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_color.py +++ b/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_color.py @@ -38,7 +38,7 @@ class Object_detect(Movement): # 移动坐标 self.move_coords = [ - [141.2, -142.0, 210, -26.8], # above the red bucket + [141.2, -142.0, 220, -26.8], # above the red bucket [234.3, -120, 210, -48.77], # above the green bucket [100.9, 159.3, 248.6, -124.27], # above the blue bucket [-17.6, 161.6, 238.4, -152.31], # above the gray bucket @@ -174,7 +174,7 @@ class Object_detect(Movement): self.mc.send_angle(2, 0, 20) time.sleep(0.3) - self.mc.send_angle(3, -15, 20) + self.mc.send_angle(3, -20, 20) time.sleep(2) self.mc.send_coords(self.move_coords[color], 20, 1) diff --git a/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_img_folder_opt.py index fc051b6..1a46187 100755 --- a/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_img_folder_opt.py +++ b/mycobot_ai/ai_mypalletizer_260/scripts/combine_detect_obj_img_folder_opt.py @@ -53,15 +53,6 @@ class Object_detect(Movement): # 判断连接设备:ttyUSB*为M5，ttyACM*为seeed self.raspi = False - # import RPi.GPIO as GPIO - # self.GPIO = GPIO - # GPIO.setwarnings(False) - # GPIO.setmode(GPIO.BCM) - # GPIO.setup(20, GPIO.OUT) - # GPIO.setup(21, GPIO.OUT) - - # self.gpio_status(False) - # self.Pin = [2, 5] self.robot_m5 = os.popen("ls /dev/ttyUSB*").readline()[:-1] self.robot_wio = os.popen("ls /dev/ttyACM*").readline()[:-1] self.robot_raspi = os.popen("ls /dev/ttyAMA*").readline()[:-1] @@ -90,12 +81,6 @@ class Object_detect(Movement): self.x1 = self.x2 = self.y1 = self.y2 = 0 # set cache of real coord self.cache_x = self.cache_y = 0 - # load model of img recognition - # self.model_path = os.path.join(dir_path, "frozen_inference_graph.pb") - # self.pbtxt_path = os.path.join(dir_path, "graph.pbtxt") - # self.label_path = os.path.join(dir_path, "labels.json") - # # load class labels - # self.labels = json.load(open(self.label_path)) # use to calculate coord between cube and mycobot self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0 @@ -110,11 +95,6 @@ class Object_detect(Movement): # Get ArUco marker params. self.aruco_params = cv2.aruco.DetectorParameters_create() - # if IS_CV_4: - # self.net = cv2.dnn.readNetFromTensorflow(self.model_path, self.pbtxt_path) - # else: - # print('Load tensorflow model need the version of opencv is 4.') - # exit(0) # init a node and a publisher rospy.init_node("marker", anonymous=True) @@ -151,6 +131,7 @@ class Object_detect(Movement): self.marker.pose.position.z = z self.marker.color.g = self.color self.pub.publish(self.marker) + # pump_control pi def gpio_status(self, flag): if flag: @@ -195,7 +176,7 @@ class Object_detect(Movement): self.mc.send_angle(2, 0, 20) time.sleep(0.3) - self.mc.send_angle(3, -15, 20) + self.mc.send_angle(3, -18, 20) time.sleep(2) self.mc.send_coords(self.move_coords[color], 20, 1) @@ -520,22 +501,12 @@ def run(): child = Process(target = process_display_frame, args=(child_conn,)) child.start() - # Object_detect().take_photo() - # Object_detect().cut_photo() - # goal = Object_detect().distinguist() - res_queue = [[], [], [], []] res_queue[0] = parse_folder('res/red') res_queue[1] = parse_folder('res/green') res_queue[2] = parse_folder('res/blue') res_queue[3] = parse_folder('res/gray') - # res_queue = [] - # res_queue.extend(parse_folder('res/red')) - # res_queue.extend(parse_folder('res/green')) - # res_queue.extend(parse_folder('res/gray')) - # res_queue.extend(parse_folder('res/blue')) - sift = cv2.xfeatures2d.SIFT_create() kp_list, desc_list = compute_keypoints_and_descriptors(sift, res_queue) diff --git a/mycobot_ai/ai_mypalletizer_260/scripts/pi_detect_obj_color.py b/mycobot_ai/ai_mypalletizer_260/scripts/detect_obj_color.py similarity index 100% rename from mycobot_ai/ai_mypalletizer_260/scripts/pi_detect_obj_color.py rename to mycobot_ai/ai_mypalletizer_260/scripts/detect_obj_color.py diff --git a/mycobot_ai/ai_mypalletizer_260/scripts/pi_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mypalletizer_260/scripts/detect_obj_img_folder_opt.py similarity index 100% rename from mycobot_ai/ai_mypalletizer_260/scripts/pi_detect_obj_img_folder_opt.py rename to mycobot_ai/ai_mypalletizer_260/scripts/detect_obj_img_folder_opt.py