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dixel
Apr 30, 2022
In General Discussion
Hello there. I setup AR3 and AR4. but AR4 would some problem with source code. For example str python function could be different api parameter spec by Python version. Meanwhile... I want to wood bric to grip up and move and grip down. and I got some OpenCV Source code from books. So I made source code bellow. import imp import cv2 #open-cv # import paho.mqtt.client as mClient # import time # import threading # import random import os from enum import Enum import numpy as np #from cv2 import imwrite # from sys import exit class HomogeneousBgDetector(): def __init__(self): pass def detect_objects(self, frame): gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) mask = cv2.adaptiveThreshold(gray, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV, 19, 5) contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) objects_contours = [] for cnt in contours: area = cv2.contourArea(cnt) if area > 2000: objects_contours.append(cnt) return objects_contours class Color(Enum): BLACK = (0,0,0) RED = (0,0,255) class KeyCode(Enum): Enter = 13 # def imwrite(filename, img, params=None): # try: # ext = os.path.splitext(filename)[1] # result, n = cv2.imencode(ext, img, params) # if result: # with open(filename, mode='w+b') as f: # n.tofile(f) # return True #else: # return False #except Exception as e: # print(e) # return False cap = None count = 0 def setCam(cap, w, h): #cap = cv2.VideoCapture(cv2.CAP_DSHOW) cap.set(cv2.CAP_PROP_FRAME_WIDTH, w) cap.set(cv2.CAP_PROP_FRAME_HEIGHT, h) cap.set(cv2.CAP_PROP_FPS, 1) #cap.set(cv2.CAP_PROP_FOCUS, 10) cap.set(cv2.CAP_PROP_AUTOFOCUS, 1) return cap def measureSize(src): detector = HomogeneousBgDetector() contours = detector.detect_objects(src) objects_contours = [] for cnt in contours: area = cv2.contourArea(cnt) if area > 500: objects_contours.append(cnt) for cnt in objects_contours: rect = cv2.minAreaRect(cnt) (x, y), (w, h), angle = rect box = cv2.boxPoints(rect) box = np.int0(box) if w < h: angle += 90 else: angle += 0 if angle - 180 > 0: angle -= 180 cv2.circle(src, (int(x), int(y)), 15, (0, 0, 255), -1) cv2.polylines(src, [box], True, (255, 0, 0), 2) cv2.putText(src, "W {} mm".format(round(w * 0.315, 1)), (int(x - 100), int(y - 20)), cv2.FONT_HERSHEY_PLAIN, 2, Color.RED.value, 2) cv2.putText(src, "H {} mm".format(round(h * 0.315, 1)), (int(x - 100), int(y + 15)), cv2.FONT_HERSHEY_PLAIN, 2, Color.RED.value, 2) cv2.putText(src, "D {} deg".format(round(angle, 0)), (int(x - 100), int(y + 15 + 35)), cv2.FONT_HERSHEY_PLAIN, 2, Color.RED.value, 2) cv2.putText(src, "({},{})".format(int(x), int(y)), (int(x - 100), int(y + 15 + 35 + 35)), cv2.FONT_HERSHEY_PLAIN, 2, Color.RED.value, 2) return src def goodFeature(src): gray = cv2.cvtColor(src, cv2.COLOR_RGB2GRAY) ret, gray = cv2.threshold(gray ,130, 255, cv2.THRESH_BINARY) #gray = cv2.adaptiveThreshold(gray ,128, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY, 11, 2) corners = cv2.goodFeaturesToTrack(gray, 100, 0.01, 5, blockSize=3, useHarrisDetector=True, k=0.03) pointListX = [] pointListY = [] if corners is None: return src print(corners) for i in corners: #i[[100.,200.]] x = int(i[0][0]) y = int(i[0][1]) pointListX.append(x) pointListY.append(y) cv2.circle(src, (x, y), 3, (0, 255, 0), 2) pointListX.sort(reverse=True) pointListY.sort(reverse=True) if len(pointListX) == 0: return src if len(pointListY) == 0: return src cv2.circle(src, (pointListX[0], pointListY[0]), 3, (0, 0, 255), 2) cv2.circle(src, (pointListY[0], pointListX[0]), 3, (0, 0, 255), 2) pointListX.sort() pointListY.sort() cv2.circle(src, (pointListX[0], pointListY[0]), 3, (0, 0, 255), 2) cv2.circle(src, (pointListY[0], pointListX[0]), 3, (0, 0, 255), 2) return src def resizeAR(im, dw): h, w = im.shape[:2] if w > dw: return cv2.resize(im, (dw, int(dw * h / w))) else: return cv2.resize(im, (512, 512)) def cam(isSave = True): global cap, count if cap is None: print("캡쳐 객체가 없습니다.") return if not cap.isOpened(): print("카메라가 종료되었습니다.") return count = count + 1 print(f'width :{cap.get(3)}, height : {cap.get(4)} focus : {cap.get(cv2.CAP_PROP_FOCUS)} ({count})') ret, frame = cap.read() # Read 결과와 frame if ret: #gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) # 입력 받은 화면 Gray로 변환 #frame = cv2.resize(frame, dsize=(3264, 2448), interpolation=cv2.INTER_LINEAR) #frame = frame[:, 280:1080] ## 정사각 aspect ratio 적용 #frame = frame[:, 800:3000] ## 정사각 aspect ratio 적용 #frame = frame[:, (1280-720) // 2:720 + (1280-720) // 2] ## 정사각 aspect ratio 적용 #frame = cv2.resize(frame, dsize=(1080, 1080)) w = 3840 wd = w // 10 h = 2160 hd = h // 10 d = 100 dd = 50 frame = frame[:h-hd-hd-hd-d-d-dd,wd+d:w-wd-d-dd-dd-dd] frame = measureSize(frame) #frame = goodFeature(frame) cv2.imshow('로지텍', resizeAR(frame, 2048)) if isSave: filename = "pic/사진.jpg" imwrite(filename, frame) #cv2.destroyAllWindows() def syncContext(): global cap cap = cv2.VideoCapture() cap.open(cv2.CAP_DSHOW) #setCam(cap, 1280, 720) #setCam(cap, 3264, 2448) setCam(cap, 3840, 2160) #setCam(cap, 1920, 1080) cv2.namedWindow('로지텍') while True: cam(isSave=False) key = cv2.waitKey(0) if key == KeyCode.Enter.value: cap.release() break pass syncContext() and Result also like bellow. Can I have a question to what to do next? I wonder how to compatible with source code to source code of AR3.py or AR4.py
I got a OpenCV source code and modified it. But next step will ambiguous. content media
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dixel
Nov 11, 2021
In General Discussion
--> I want to get dynamic equations with AR3. (Inertia matrix, Coriolis matrix, Gravity matrix) Required for simulation. * I am going to study the collision detection algorithm using the Momentum observer method.
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dixel
May 13, 2019
In Questions
I combined the J3 spindle with the J2 arm. However, the J3 spindle is missing from the J2 arm. 30204 Not fixed in bearings. How can I fix the J3 spindle?
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dixel
Dec 10, 2018
In Questions
At solidworks 2015 version it cannot be opened, How do I open a drawing SolidWorks file?
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dixel
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