版本暂存

test/test_capture.py

@@ -0,0 +1,14 @@
+import cv2
+
+
+cap = cv2.VideoCapture(20)
+cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter.fourcc('M','J','P','G'))
+cap.set(cv2.CAP_PROP_FRAME_WIDTH, 960)
+cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 540)
+
+while True:
+    ret, frame = cap.read()
+    if ret:
+        cv2.imshow("frame",frame)
+    cv2.waitKey(1)
+cv2.destroyAllWindows()

test/test_filter.py

@@ -1,18 +1,14 @@
-
-import sys
 import os
+import sys
 parent_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 sys.path.append(parent_dir)
-
 from utils import label_filter
 from loguru import logger
 from utils import tlabel
 import zmq
 import time
-from by_cmd_py import by_cmd_py
-import time
-from utils import CountRecord
-by_cmd = by_cmd_py()
+
+
 
 context = zmq.Context()
 socket = context.socket(zmq.REQ)
@@ -22,209 +18,22 @@ logger.info("subtask yolo client init")
 filter = label_filter(socket)
 filter.switch_camera(1)
 
-def car_stop():
-    for _ in range(3):
-        by_cmd.send_speed_x(0)
-        time.sleep(0.2)
-        by_cmd.send_speed_omega(0)
-# 蓝色球使用
-def calibrate_right_new(label, offset, run = True, run_speed = 3.5):
-    not_found_counts = 0
-    ret, error = filter.aim_right(label)
-    while not ret:
-        not_found_counts += 1
-        if not_found_counts >= 20:
-            not_found_counts = 0
-            error = -320 # error > 0 front run
-            logger.info("calibrate_right_new:找不到次数超过 20 帧 直接前进寻找")
-            break
-        ret, error = filter.aim_right(label)
-    
-    error += offset
-    if abs(error) > 10 and run:
-        if error > 0:
-            by_cmd.send_speed_x(-run_speed)
-        else:
-            by_cmd.send_speed_x(run_speed)
-        pass
-    # 停的位置已经很接近目标，可以直接使用 distance 校准
-    else:
-        # logger.info("停车时误差就小于")
-        # error = error * 3
-        # if error > 0:
-        #     by_cmd.send_distance_x(-10, int(error))
-        # else:
-        #     by_cmd.send_distance_x(10, int(-error))
-        return
-    while True:
-        ret, error = filter.aim_right(label)
-        while not ret:
-            ret, error = filter.aim_right(label)
-        error += offset
-        if ret:
-            if abs(error) <= 8:
-                car_stop()
-                logger.info("calibrate_right_new:行进时 误差小于 8 直接停车")
-
-                ret, error = filter.aim_right(label)
-                while not ret:
-                    ret, error = filter.aim_right(label)
-                error += offset
-                logger.info(f"calibrate_right_new:停车后的误差是{error}")
-                if abs(error) > 8:
-                    logger.info(f"calibrate_right_new:停车后的误差大于 8 使用 distance 校准")
-                    error = error * 3
-                    if error > 0:
-                        by_cmd.send_distance_x(-10, int(error))
-                    else:
-                        by_cmd.send_distance_x(10, int(-error))
-                
-                break
-'''
-description: 校准新方法 找到后停止 然后根据 error 判断前后低速前进 error < 5 后直接停车
-如果停车后 error > 8 则使用 distance 校准 
-这个方法仅用于在视野里能找到的情况下进行校准，并不能实现边走边寻找 然后再校准
-param {*} label
-param {*} offset
-param {*} run
-param {*} run_speed
-return {*}
-'''     
-def calibrate_new(label, offset, run = True, run_speed = 3.5):
-    not_found_counts = 0
-    ret, box = filter.get(label)
-    while not ret:
-        not_found_counts += 1
-        if not_found_counts >= 20:
-            not_found_counts = 0
-            error = -320 # error > 0 front run
-            logger.info("calibrate_new:找不到次数超过 20 帧 直接前进寻找")
-        ret, box = filter.get(label)
-    
-    error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    if abs(error) > 10 and run:
-        if error > 0:
-            by_cmd.send_speed_x(-run_speed)
-        else:
-            by_cmd.send_speed_x(run_speed)
-    # 停的位置已经很接近目标，可以直接使用 distance 校准
-    else:
-        if abs(error) > 8:
-            logger.info(f"calibrate_new:停车后误差{error}大于 8 使用 distance 校准")
-            # error = error # 3
-            if error > 0:
-                by_cmd.send_distance_x(-10, int(error))
-            else:
-                by_cmd.send_distance_x(10, int(-error))
-            return
-        logger.info(f"calibrate_new:停车后误差{error}小于 8  不校准")
-        return 
-    while True:
-        ret, box = filter.get(label)
-        while not ret:
-            ret, box = filter.get(label)
-        
-        error = (box[0][2] + box[0][0] - 320) / 2 + offset
-        if ret:
-            if abs(error) <= 10: # 5
-                car_stop()
-                logger.info("calibrate_new:行进时 误差小于 10 直接停车")
-
-                ret, box = filter.get(label)
-                while not ret:
-                    ret, box = filter.get(label)
-
-                error = (box[0][2] + box[0][0] - 320) / 2 + offset
-                logger.info(f"calibrate_new:停车后的误差是{error}")
-                if abs(error) > 8:
-                    logger.info(f"calibrate_new:停车后的误差大于 8 使用 distance 校准")
-                    error = error * 3
-                    logger.error(f"error * 3{error}")
-                    if error > 0:
-                        by_cmd.send_distance_x(-10, int(error))
-                    else:
-                        by_cmd.send_distance_x(10, int(-error))
-                
-                break
-def explore_calibrate_new(label, offset, run_direc ,run_speed = 3.5):
-    # run_direc == 1 向前
-    if run_direc == 1:
-        by_cmd.send_speed_x(run_speed)
-    else:
-        by_cmd.send_speed_x(-run_speed)
-
-    while True:
-        ret, box = filter.get(label)
-        while not ret:
-            ret, box = filter.get(label)
-        error = (box[0][2] + box[0][0] - 320) / 2 + offset
-        if ret:
-            logger.info(f"当前误差:{error}, box[{box[0][2]},{box[0][0]}]")
-            # 校准速度越大 停车的条件越宽泛
-            if abs(error) <= 20:
-                car_stop()
-                logger.info("explore_calibrate_new:行进时 误差小于 10 直接停车")
-                
-                error_sum = 0
-                for _ in range(3):
-                    ret, box = filter.get(label)
-                    while not ret:
-                        ret, box = filter.get(label)
-                    error = (box[0][2] + box[0][0] - 320) / 2 + offset
-                    error_sum += error
-                error_sum /= 3
-                # logger.info(f"停车后像素误差:{error}")
-                logger.info(f"停车后像素误差:{error_sum}")
-                # if abs(error) > 8:
-                logger.info(f"explore_calibrate_new:停车后的误差大于 8 使用 distance 校准")
-                error_sum = error_sum * 3
-                logger.error(f"error * 3 {error}")
-                if error > 0:
-                    by_cmd.send_distance_x(-10, int(error))
-                else:
-                    by_cmd.send_distance_x(10, int(-error))
-                
-                break
-
-offset = 10
-# by_cmd.send_angle_claw_arm(217)
-# while True:
-#     pass
-# while (by_cmd.send_angle_camera(180) == -1):
-#     by_cmd.send_angle_camera(180)
-while (by_cmd.send_angle_camera(180) == -1):
-    by_cmd.send_angle_camera(180)
-# by_cmd.send_speed_x(15)
 
 find_counts = 0
-label = tlabel.HOSPITAL
-record = CountRecord(5)
+offset = 22
+label = [tlabel.LPILLER, tlabel.MPILLER, tlabel.SPILLER]
 while True:
     time.sleep(0.2)
-    
-    
-    # ret = filter.find(label)
-    # ret = filter.find(label)
-    # if ret > 0:
-    #     find_counts += 1
-    #     if record(label):
-    #         car_stop()
-    # if find_counts >= 5:
-    #     car_stop()
-    ret, box = filter.get(label)
-    while not ret:
-        ret, box = filter.get(label)
-    width = box[0][2] - box[0][0]
-    logger.info(width)
-    # error = (box[0][2] + box[0][0] - 320) / 2 + offset
-    # explore_calibrate_new(tlabel.LPILLER, offset = 10, run_direc = 1, run_speed = 5)
-    # calibrate_new(label, offset = 15, run = True)
-    # car_stop()
-    # time.sleep(0.5)
-    # for _ in range(3):
-    #     calibrate_right_new(tlabel.BBALL, offset = 27, run = True, run_speed = 4)
-    #     logger.info("抓蓝色球")
-    #     time.sleep(5)
-    # logger.info("抓取块")
-    # time.sleep(0.1)
+    ret, box = filter.get(tlabel.TPLATFORM)
+    if ret:
+        error = (box[0][2] + box[0][0] - 320) / 2 + offset
+        logger.error(error)
+
+    # label = tlabel.HOSPITAL
+    # ret, box = filter.get(label)
+    # while not ret:
+    #     ret, box = filter.get(label)
+    # width = box[0][2] - box[0][0]
+    # logger.info(width)
+    
 

test/test_ocr.py

@@ -0,0 +1,32 @@
+import zmq
+
+
+context = zmq.Context()
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://localhost:6668")
+
+filter_w = (213, 540)
+filter_h = (120, 360)
+
+
+while True:
+    a = input("")
+    socket.send_string("")
+    resp = socket.recv_pyobj()
+    print(resp)
+    if resp.get('code') == 0:
+        text = ''
+        for item in resp.get('content'):
+            if item['probability']['average'] < 0.90:
+                continue
+            box = item['location']
+            center_x = box['left'] + box['width'] / 2
+            center_y = box['top'] + box['height'] / 2
+            if center_x < filter_w[0] or center_x > filter_w[1] \
+                    or center_y < filter_h[0] or center_y > filter_h[1]:
+                continue
+            text += item['words']
+        print(text)
+
+
+