Python Camera.stop方法代码示例

# 需要导入模块: from Camera import Camera [as 别名]
# 或者: from Camera.Camera import stop [as 别名]
def main():
    global x, y, run
    x = y = 0
    run = True

    pi = pigpio.pi()

    motorx = Motor(pi,1)
    motory = Motor(pi,2)

    sampling_period = 0.2

    control = Controller(pi, motorx, motory, sampling_period)

    camera = Camera(sampling_period)

    camera.start()
    #control.start()

    control.generate_transform()
    control.target((0,0))
    time.sleep(1)

    #t = threading.Thread(target=read_input)
    #t.start()

    #obj = Identification()

    try:
        while True:
            ##### Test without the camera #####
            #x = float(input("x: "))
            #y = float(input("y: "))
            #obj.position = (x,y)
            #control.update_positions(obj, camera.laser)
            ############################################

            control.target(camera.object.position)
            time.sleep(sampling_period)
    except(KeyboardInterrupt):
        pass
    finally:
        run = False
        control.stop()
        camera.stop()

        pi.stop()

# 需要导入模块: from Camera import Camera [as 别名]
# 或者: from Camera.Camera import stop [as 别名]
def main():
	# Camera setup
	camera_stack = []
	camera_n = Semaphore(0)
	camera_s = Semaphore(1)
	cameras = Camera(camera_stack, camera_n, camera_s)

	# Start the thread
	cameras.start()
	
	# Try to pull from the stack every 1 second and print data
	for i in range(0, 10):
		time.sleep(1)
		camera_n.acquire()
		camera_s.acquire()
		left_lines = camera_stack.pop()
		right_lines = camera_stack.pop()
		camera_s.release()
		
		print(i)
		if right_lines != None:
			for line in right_lines:
				for rho, theta in line:
					print(rho, theta)
		else:
			print("No right lines")
			
		if left_lines != None:
			for line in left_lines:
				for rho, theta in line:
					print(rho, theta)
		else:
			print("No left lines")
	
	# Stop camera thread and wait for it to finish
	cameras.stop()
	cameras.join()

# 需要导入模块: from Camera import Camera [as 别名]
# 或者: from Camera.Camera import stop [as 别名]

#.........这里部分代码省略.........

			# b = cv2.equalizeHist(b)
			# g = cv2.equalizeHist(g)
			# r = cv2.equalizeHist(r)

			# frame = cv2.merge((b,g,r))


			# frame = cv2.GaussianBlur(frame,(3,3),0)
			# frame = cv2.medianBlur(frame,3)

			# Convert to hsv format
			# hsv = frame
			hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
			# hsv = cv2.split(frame)[2]

			
			

			if not self.LOCKED:
				# Get the reigon of interest
				reigonOfInterest = hsv[ self.START[1]:self.END[1],self.START[0]:self.END[0],]
				
				# Calculate histogram
				self.ROI_HIST = cv2.calcHist([reigonOfInterest],[0,1], None, [180,255], [0,180,0, 255] )

			# Normalize the histogram
			cv2.normalize(self.ROI_HIST,self.ROI_HIST,0,255,cv2.NORM_MINMAX)
			
			# Calculate back projection
			dst = cv2.calcBackProject([hsv],[0,1],self.ROI_HIST,[0,180,0,255],10)
			 
			# Now convolute with circular disc
			


			 
			# threshold

			# kernel = np.ones((5,5),np.uint8)

			


			

			# ret,mask = cv2.threshold(dst,50,255,0)
			
			

			# disc = cv2.getStructuringElement(cv2.MORPH_ELLIPSE,(5,5))
			# cv2.filter2D(dst,-1,disc,dst)


			# dst = cv2.merge((dst,dst,dst))
			# res = cv2.bitwise_and(frame,dst)

			# disc = cv2.getStructuringElement(cv2.MORPH_ELLIPSE,(3,3))
			# cv2.filter2D(dst,-1,disc,dst)

			# # dst = cv2.morphologyEx(dst,cv2.MORPH_OPEN,kernel)

			# # dst = cv2.morphologyEx(dst,cv2.MORPH_OPEN,kernel)

			# # dst = cv2.morphologyEx(dst,cv2.MORPH_OPEN,kernel)

			# # dst = cv2.morphologyEx(dst,cv2.MORPH_CLOSE,kernel)

			# # dst = cv2.morphologyEx(dst,cv2.MORPH_CLOSE,kernel)

			# dst = cv2.morphologyEx(dst,cv2.MORPH_CLOSE,kernel)

			# dst = cv2.morphologyEx(dst,cv2.MORPH_CLOSE,kernel)


			# show the frame
			# dst = cv2.dilate(dst,np.ones((3,3),np.uint8),iterations=2)
			cv2.imshow('mask',dst)


			cv2.rectangle(frame,self.START,self.END,(0,255,0),1)
			cv2.imshow('original',frame)



			# Lookout for any key presses
			key = cv2.waitKey(1) & 0xFF
			if key == 27:
				break
			if key == ord('l'):
				self.LOCKED = True
			if key == ord('u'):
				self.LOCKED = False

		self.end()


	def end(self):
		self.CAM.stop()
		cv2.destroyAllWindows()

# 需要导入模块: from Camera import Camera [as 别名]
# 或者: from Camera.Camera import stop [as 别名]
            max_area=area
            ci=i

    if(ci != -1):
        cnt=contours[ci]

    # # cv2.imshow('mask',mask)

    # # Draw a rectangle in the center
    # frame = cv2.rectangle(frame,params.start,params.end,(0,255,0),1)

    if(ci != -1):
        # Find and draw the hull around the largest contour
        hull = cv2.convexHull(cnt)
        cv2.drawContours(frame,[hull],0,(0,255,0),2)

    cv2.imshow('image',frame)



    # print frame.astype(int)
    # print BG.astype(int)

    # c = c+1

    key = cv2.waitKey(10) & 0xFF
    if key == 27:
      break

camera.stop()
cv2.destroyAllWindows()

# 需要导入模块: from Camera import Camera [as 别名]
# 或者: from Camera.Camera import stop [as 别名]
def main():
	logger.debug("Starting TCNJ IGVC 2017")
	logger.debug("Getting USB device mappings")
	device_to_path = get_device_paths()

	# GPS setup
	logger.debug("Beginning GPS setup")
	gps_coords_stack = Manager().list()
	gps_n = Semaphore(0)
	gps_s = Semaphore(1)
	gps_sensor = GPS(gps_coords_stack, gps_n, gps_s, device_to_path["GPS"])
	logger.debug("GPS setup complete")

	# LiDAR setup
	logger.debug("Beginning LiDAR setup")
	lidar_data_stack = Manager().list()
	lidar_n = Semaphore(0)
	lidar_s = Semaphore(1)
	lidar_sensor = LIDAR(lidar_data_stack, lidar_n, lidar_s, device_to_path["LIDAR"])
	logger.debug("LiDAR setup complete")

	# Camera setup
	logger.debug("Beginning camera setup")
	camera_lines_stack = Manager().list()
	camera_n = Semaphore(0)
	camera_s = Semaphore(1)
	camera_controller = Camera(camera_lines_stack, camera_n, camera_s, device_to_path["RIGHT_CAM"], device_to_path["LEFT_CAM"])
	logger.debug("Camera setup complete")

	# Compass setup
	logger.debug("Beginning compass setup")
	compass_stack = Manager().list()
	compass_n = Semaphore(0)
	compass_s = Semaphore(1)
	compass = Compass(compass_stack, compass_n, compass_s)
	logger.debug("Compass setup complete")

	# Wrap all the sensors' stacks and semaphores into 1 object
	sensors = Sensors(
		gps_coords_stack, gps_n, gps_s,
		lidar_data_stack, lidar_n, lidar_s,
		camera_lines_stack, camera_n, camera_s,
		compass_stack, compass_n, compass_s
	)

	# Start the sensor processes
	logger.debug("Setup complete")
	logger.debug("Starting GPS process")
	gps_sensor.start()
	logger.debug("Startting LiDAR process")
	lidar_sensor.start()
	logger.debug("Starting camera process")
	camera_controller.start();
	logger.debug("Starting compass process")
	compass.start();


	# Set up wiringpi2 and GPIO pin 6 as input
	logger.debug("Sensor process started, waiting for motors to turn on")
	motors_on_pin = 6
	wpi.wiringPiSetup()
	wpi.pinMode(motors_on_pin, 0)

	# Wait for motor controller to be turned on
	motors_on = False
	while not motors_on:
		value = wpi.digitalRead(motors_on_pin)
		if value == 1:
			motors_on = True
		else:
			time.sleep(1)

	logger.debug("Motors are on, begin autonomous navigation")
	path_find = Avoidance(sensors)
	path_find.start()

	time.sleep(10)

	# Stop the processes
	logger.debug("Calling for processes to stop")
	path_find.stop()
	time.sleep(1)
	gps_sensor.stop()
	lidar_sensor.stop()
	camera_controller.stop()
	compass.stop()

	# Clean up the processes
	logger.debug("Waiting for processes to end")
	path_find.join()
	gps_sensor.join()
	lidar_sensor.join()
	camera_controller.join()
	compass.join()

	print("--------------- CAMERA STACK ---------------")
	print(camera_lines_stack)
	print("--------------- GPS STACK ---------------")
	print(gps_coords_stack)
	print("--------------- LIDAR STACK ---------------")
#.........这里部分代码省略.........