Addition with prot Communication Code

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.idea

*.pyc

import math

import copy

import tool

import communicate as cmc

BLUE, RED = 0, 1 # Color of target bar

NEAR, MID, FAR, ULTRA = 0, 1, 2, 3 # Distance of target : near, mideum range, far,

D, R = 0, 1 # Mode : debug mode, running mode

CAM, PIC, VID = 0, 1, 2 # Image Source : Camera, Picture, Video

MODE = D # Setup running mode

SRC = PIC # Setup image source

SRC = CAM # Setup image source

TARGET = BLUE # Setup color of the target

DIST = NEAR # Setup suppose distance of a target

MIN_STEP = 5 #FIXME Unkown Use #Never used before reassigned a new value

# # Port Communication

# port = '/dev/ttyUSB0'

# baudrate = 115200

# wrt = cmc.SerialWriter(port, baudrate)

tool.func_tool_set_quit()

# camera undistort matrix

#    out.write(origin)

    cv2.imshow('raw_img', origin)

    tool.func_tool_set_mouth_callback_show_pix("raw_img", origin)

    return target_last

target_last = np.array([320, 240], dtype=np.int32) #FIXME Unknown use Might be boundary of screen

target = np.array([320, 240], dtype=np.int32)

if SRC == PIC:

    file_list = tool.func_tool_folder("C:\\Users\\lenovo\\Desktop\\blue_near", "png")

    file_list = tool.func_tool_folder("/Users/DeriZsy/GitHub_Projects/CV_tools_API/Code/target_imag", "jpg")

    def coordinates_converter(x, y):

        """Euclid coordinate to angular coordinate"""

        x = int(x * 2)

        y = int(y * 2)

        if x > 320:  # 可能是中位线 (for 640*480)

            yaw_angle = int(3050 - ((x - 320) / 320 * 3050))

        else:

            yaw_angle = int(3050 + ((320 - x) / 320 * 2650))

        if y < 240:

            pitch_angle = int(5000 - ((240 - y) / 240 * 5000))

        else:

            pitch_angle = int(5000 + ((y - 240) / 240 * 1000))

        print(yaw_angle)

        print(pitch_angle)

        return yaw_angle, pitch_angle

    for i in file_list:

        print(i)

        mat = cv2.imread(i)

    #    mat = cv2.imread("C:\\Users\\lenovo\\Desktop\\RMvideo\\real\\red_near\\2017-05-02-21-41-18.png")

        main(mat)

        target = main(mat)

        angles = coordinates_converter(target[0], target[1])

        # wrt.write(angles[0], angles[1])

        if cv2.waitKey(0) & 0xFF == ord('q'):

            break

    cv2.destroyAllWindows()

if SRC == CAM:

    cap = cv2.VideoCapture(1)

    def coordinates_converter(x, y):

        """Euclid coordinate to angular coordinate"""

        x = int(x * 2)

        y = int(y * 2)

        if x > 320:  # 可能是中位线 (for 640*480)

            yaw_angle = int(3050 - ((x - 320) / 320 * 3050))

        else:

            yaw_angle = int(3050 + ((320 - x) / 320 * 2650))

        if y < 240:

            pitch_angle = int(5000 - ((240 - y) / 240 * 5000))

        else:

            pitch_angle = int(5000 + ((y - 240) / 240 * 1000))

        print(yaw_angle)

        print(pitch_angle)

        return yaw_angle, pitch_angle

    if cap.isOpened():

        success, frame = cap.read()

    else:

    while success:

        success, mat = cap.read()

        mat = func_undistort(mat)

        main(mat)

        target = main(mat)

        # angles = coordinates_converter(target[0],target[1])

        # wrt.write(angles[0],angles[1])

        if cv2.waitKey(1) & 0xFF == ord('q'):

            break

    cap.release()

if SRC == VID:

#    fourcc = cv2.VideoWriter_fourcc(*'XVID')

#    out = cv2.VideoWriter('test.avi', fourcc, 20.0, (640, 480))

    cap = cv2.VideoCapture('C:\\Users\\lenovo\\Desktop\\RMvideo\\red.avi')

    cap = cv2.VideoCapture('t2.jpg')

    skip = 0

    count = -1

    wait = 10 if skip == 0 else 0

        #FIXME skip is not modified during the process, how will the process terminate ?

        if skip == 0:

            print("frame " + str(count))

            main(mat)

            target = main(mat)

            k = cv2.waitKey(wait)

            if k & 0xFF == ord('q'):

 #               out.release()

import serial

class SerialWriter:

    def __init__(self, port, baudrate):

        self.ser = serial.Serial(port, baudrate)

    def __del__(self):

        self.ser.close()

    def write(self, yaw_angle, pitch_angle):

        """

        Protocol: 

        0xFA + length(2 bytes) + yaw_angle(2 bytes) + pitch_angle(2 bytes) + 0x00(reserved) + 0xFB

        """

        mes = bytearray(

            [0xFA, 0x04, 0x00,

             yaw_angle & 0xFF, (yaw_angle >> 8) & 0xFF,

             pitch_angle & 0xFF, (pitch_angle >> 8) & 0xFF,

             0x00, 0xFB])

        self.ser.write(mes)

    # writer = SerialWriter('/dev/ttyUSB0', 115200)

    # writer.write(5000, 5000)

    # cap = cv2.VideoCapture(0)