PyRobovision - Revision history

Lvosandi at 16:44, 6 September 2016

2016-09-06T16:44:33Z

← Older revision		Revision as of 19:44, 6 September 2016
Line 2:		Line 2:

	It supports streaming MJPEG to the browser as well.		It supports streaming MJPEG to the browser as well.

			[http://github.com/laurivosandi/pyrobovision Updated version available at GitHub]

	[[File:pyrobovision.png]]		[[File:pyrobovision.png]]

Lvosandi at 14:10, 28 April 2016

2016-04-28T14:10:50Z

Show changes

Lvosandi at 13:50, 25 February 2016

2016-02-25T13:50:17Z

← Older revision		Revision as of 16:50, 25 February 2016
Line 4:		Line 4:

	[[File:pyrobovision.png]]		[[File:pyrobovision.png]]

			First install [[Linux+OpenCV3+Python3.5]], [[Firmata]] and also Flask:

			<source lang="bash">
			apt-get install python3-flask
			</source>

	Corresponding Python source:		Corresponding Python source:

Lvosandi at 17:06, 21 February 2016

2016-02-21T17:06:50Z

← Older revision		Revision as of 20:06, 21 February 2016
Line 33:		Line 33:
	Thread.__init__(self)		Thread.__init__(self)
	self.daemon = True		self.daemon = True
			self.running = True
	self.board = PyMata()		self.board = PyMata()
	def signal_handler(sig, frame):		def signal_handler(sig, frame):
	self.~~stop_motors()~~		self.running = False
	self.board.reset()		self.board.reset()
	sys.exit(0)		sys.exit(0)
Line 49:		Line 50:
	self.board.set_pin_mode(self.MOTOR_3_B, self.board.OUTPUT, self.board.DIGITAL)		self.board.set_pin_mode(self.MOTOR_3_B, self.board.OUTPUT, self.board.DIGITAL)
	self.dx, self.dy = 0, 0		self.dx, self.dy = 0, 0

	~~def stop_motors(self):~~
	~~self.board.digital_write(self.MOTOR_1_B, 0)~~
	~~self.board.digital_write(self.MOTOR_1_A, 0)~~
	~~self.board.digital_write(self.MOTOR_2_B, 0)~~
	~~self.board.digital_write(self.MOTOR_2_A, 0)~~
	~~self.board.digital_write(self.MOTOR_3_B, 0)~~
	~~self.board.digital_write(self.MOTOR_3_A, 0)~~

	def run(self):		def run(self):
	while ~~True~~:		while self.running:
	# Reset all direction pins to avoid damaging H-bridges		# Reset all direction pins to avoid damaging H-bridges
	self.~~stop_motors~~()		self.board.digital_write(self.MOTOR_1_B, 0)
			self.board.digital_write(self.MOTOR_1_A, 0)
			self.board.digital_write(self.MOTOR_2_B, 0)
			self.board.digital_write(self.MOTOR_2_A, 0)
			self.board.digital_write(self.MOTOR_3_B, 0)
			self.board.digital_write(self.MOTOR_3_A, 0)

	dist = abs(self.dx)		dist = abs(self.dx)

Lvosandi at 16:58, 21 February 2016

2016-02-21T16:58:25Z

← Older revision		Revision as of 19:58, 21 February 2016
Line 33:		Line 33:
	Thread.__init__(self)		Thread.__init__(self)
	self.daemon = True		self.daemon = True
	self.board = PyMata(~~"/dev/ttyACM1"~~)		self.board = PyMata()
	def signal_handler(sig, frame):		def signal_handler(sig, frame):
	self.stop_motors()		self.stop_motors()
Line 146:		Line 146:
	@app.route('/')		@app.route('/')
	def index():		def index():
	~~return render_template('index.html')~~

	~~@app.route('/video_feed')~~
	~~def video_feed():~~
	def generator():		def generator():
	while True:		while True:
	if grabber.current_frame != None:		if grabber.current_frame != None:
	ret, jpeg = cv2.imencode('.jpg', grabber.current_frame, (cv2.IMWRITE_JPEG_QUALITY, 10))		ret, jpeg = cv2.imencode('.jpg', grabber.current_frame, (cv2.IMWRITE_JPEG_QUALITY, 20))
	yield b'--frame\r\nContent-Type: image/jpeg\r\n\r\n' + jpeg.tobytes() + b'\r\n\r\n'		yield b'--frame\r\nContent-Type: image/jpeg\r\n\r\n' + jpeg.tobytes() + b'\r\n\r\n'
	sleep(0.2)		sleep(0.3) # Approx 3fps for web browser
	return Response(generator(),		return Response(generator(), mimetype='multipart/x-mixed-replace; boundary=frame')
	mimetype='multipart/x-mixed-replace; boundary=frame')

	if __name__ == '__main__':		if __name__ == '__main__':
	app.run(host='0.0.0.0', debug=True,use_reloader=False,threaded=True)		app.run(host='0.0.0.0', debug=True,use_reloader=False,threaded=True)

	</source>		</source>

Lvosandi at 16:49, 21 February 2016

2016-02-21T16:49:01Z

← Older revision		Revision as of 19:49, 21 February 2016
Line 1:		Line 1:
	This page is simply to show off the MVP using Python, OpenCV, [[Firmata]], Flask.		This page is simply to show off the MVP using Python, OpenCV, [[Firmata]], Flask. Currently the robot is able to turn towards the golf ball and then approach it.

			It supports streaming MJPEG to the browser as well.

			[[File:pyrobovision.png]]

			Corresponding Python source:

	<source lang="python">		<source lang="python">

Lvosandi at 16:43, 21 February 2016

2016-02-21T16:43:23Z

← Older revision		Revision as of 19:43, 21 February 2016
Line 1:		Line 1:
	This page is simply to show off the MVP using Python, OpenCV, [[Firmata]]		This page is simply to show off the MVP using Python, OpenCV, [[Firmata]], Flask.

	<source lang="python">		<source lang="python">

Lvosandi at 16:42, 21 February 2016

2016-02-21T16:42:45Z

← Older revision		Revision as of 19:42, 21 February 2016
Line 1:		Line 1:
			This page is simply to show off the MVP using Python, OpenCV, [[Firmata]]

	<source lang="python">		<source lang="python">

Lvosandi: Created page with " import cv2 import numpy as np import signal import sys from flask import Flask, render_template, Response from collections import deque from datetime..."

2016-02-21T16:41:35Z

Created page with " <source lang="python"> import cv2 import numpy as np import signal import sys from flask import Flask, render_template, Response from collections import deque from datetime..."

New page

<source lang="python">
import cv2
import numpy as np
import signal
import sys
from flask import Flask, render_template, Response
from collections import deque
from datetime import datetime
from time import time, sleep
from threading import Thread
from PyMata.pymata import PyMata

class Motors(Thread):
MOTOR_1_PWM = 2
MOTOR_1_A = 3
MOTOR_1_B = 4
MOTOR_2_PWM = 5
MOTOR_2_A = 6
MOTOR_2_B = 7
MOTOR_3_PWM = 8
MOTOR_3_A = 9
MOTOR_3_B = 10

def __init__(self):
Thread.__init__(self)
self.daemon = True
self.board = PyMata("/dev/ttyACM1")
def signal_handler(sig, frame):
self.stop_motors()
self.board.reset()
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
self.board.set_pin_mode(self.MOTOR_1_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_1_B, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_2_B, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_PWM, self.board.PWM, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_A, self.board.OUTPUT, self.board.DIGITAL)
self.board.set_pin_mode(self.MOTOR_3_B, self.board.OUTPUT, self.board.DIGITAL)
self.dx, self.dy = 0, 0

def stop_motors(self):
self.board.digital_write(self.MOTOR_1_B, 0)
self.board.digital_write(self.MOTOR_1_A, 0)
self.board.digital_write(self.MOTOR_2_B, 0)
self.board.digital_write(self.MOTOR_2_A, 0)
self.board.digital_write(self.MOTOR_3_B, 0)
self.board.digital_write(self.MOTOR_3_A, 0)

def run(self):
while True:
# Reset all direction pins to avoid damaging H-bridges
self.stop_motors()

dist = abs(self.dx)
if dist > 2:
if self.dx > 0:
print("Turning left")
self.board.digital_write(self.MOTOR_1_B, 1)
self.board.digital_write(self.MOTOR_2_B, 1)
self.board.digital_write(self.MOTOR_3_B, 1)
else:
print("Turning right")
self.board.digital_write(self.MOTOR_1_A, 1)
self.board.digital_write(self.MOTOR_2_A, 1)
self.board.digital_write(self.MOTOR_3_A, 1)
self.board.analog_write(self.MOTOR_1_PWM, int(dist ** 0.7 + 25))
self.board.analog_write(self.MOTOR_2_PWM, int(dist ** 0.7 + 25))
self.board.analog_write(self.MOTOR_3_PWM, int(dist ** 0.7 + 25))
elif self.dy > 30:
print("Going forward")
self.board.digital_write(self.MOTOR_1_B, 1)
self.board.digital_write(self.MOTOR_3_A, 1)
self.board.analog_write(self.MOTOR_1_PWM, int(self.dy ** 0.5 )+30)
self.board.analog_write(self.MOTOR_2_PWM, 0)
self.board.analog_write(self.MOTOR_3_PWM, int(self.dy ** 0.5 )+30)
sleep(0.03)

class FrameGrabber(Thread):
BALL_LOWER = ( 5, 140, 140)
BALL_UPPER = (30, 255, 255)

def __init__(self, width=320, height=240):
Thread.__init__(self)
self.daemon = True
self.video = cv2.VideoCapture(0)
self.video.set(3, width)
self.video.set(4, height)
self.timestamp = time()
self.frames = 0
self.fps = 50
self.current_frame = None

def run(self):
while True:
self.frames += 1
timestamp_begin = time()
if self.frames > 10:
self.fps = self.frames / (timestamp_begin - self.timestamp)
self.frames = 0
self.timestamp = timestamp_begin
success, frame = self.video.read()
frame = cv2.flip(frame, 1)
original = frame
blurred = cv2.blur(frame, (4,4))
hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, self.BALL_LOWER, self.BALL_UPPER)
mask = cv2.dilate(mask, None, iterations=2)
cutout = cv2.bitwise_and(frame,frame, mask= mask)
cnts = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
if len(cnts) > 0:
c = max(cnts, key=cv2.contourArea)
(x, y), radius = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
if radius > 5:
cv2.circle(frame, (int(x), int(y)), int(radius),
(0, 255, 255), 2)
cv2.circle(frame, center, 5, (0, 0, 255), -1)
radius = 1/radius
radius = round(radius*100*11.35, 2)
cv2.putText(original,str(radius),(int(x),int(y)), cv2.FONT_HERSHEY_SIMPLEX, 0.7,(255,255,255),1,cv2.LINE_AA)
cv2.putText(original,str(radius),(int(x+3),int(y)), cv2.FONT_HERSHEY_SIMPLEX, 0.59,(0,0,0),1,cv2.LINE_AA)
delta = int((x-160)/5.0)
motors.dx, motors.dy = delta, 240-y
cv2.putText(frame,"%.01f fps" % self.fps, (10,20), cv2.FONT_HERSHEY_SIMPLEX, 0.3,(255,255,255),1,cv2.LINE_AA)
self.current_frame = np.hstack([original, cutout])

motors = Motors()
grabber = FrameGrabber()
motors.start()
grabber.start()

app = Flask(__name__)

@app.route('/')
def index():
return render_template('index.html')

@app.route('/video_feed')
def video_feed():
def generator():
while True:
if grabber.current_frame != None:
ret, jpeg = cv2.imencode('.jpg', grabber.current_frame, (cv2.IMWRITE_JPEG_QUALITY, 10))
yield b'--frame\r\nContent-Type: image/jpeg\r\n\r\n' + jpeg.tobytes() + b'\r\n\r\n'
sleep(0.2)
return Response(generator(),
mimetype='multipart/x-mixed-replace; boundary=frame')

if __name__ == '__main__':
app.run(host='0.0.0.0', debug=True,use_reloader=False,threaded=True)

</source>