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sniper_final.py
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#!/usr/bin/env python
import sys
import pypot.dynamixel
import time
import itertools
import numpy as np
import xml.etree.ElementTree as ET
import cv2
import numpy as np
from threading import Thread
from math import pi,atan,sin,cos,degrees
#import rospy
#from std_msgs.msg import String
#ang=(91.38, 87.34, 6.81, -47.16, 79.87, -80.31, -94.9, 124.18, -0.31, -2.68, 11.47, -12.7, -15.78, 14.55, -8.48, 3.91, -0.13, -4.26, 46.99)
darwin = {1: 90, 2: -90, 3: 67.5, 4: -67.5, 7: 45, 8: -45, 9: 'i', 10: 'i', 13: 'i', 14: 'i', 17: 'i', 18: 'i'}
abmath = {11: 15, 12: -15, 13: -10, 14: 10, 15: -5, 16: 5}
hand = {5: 60, 6: -60}
#port = input(sys.argv[0])
path = "/home/amrit/catkin/src/walk/scripts/data.xml"
cap = cv2.VideoCapture(3)
def sniper1():
s=0
y,u,v = 175,78,143
while True:
_,img = cap.read()
img_yuv = cv2.cvtColor(img,cv2.COLOR_BGR2YUV)
copy = img.copy()
blur = cv2.GaussianBlur(img_yuv,(11,11),2)
die = cv2.inRange(blur, (np.array([y-45,u-30,v-30])), (np.array([y+45,u+30,v+30])))
#cv2.imshow("The Masked Image",die)
im_floodfill = die.copy()
h, w = die.shape[:2]
mask = np.zeros((h+2, w+2), np.uint8)
abcd = cv2.floodFill(im_floodfill, mask, (0,0), 255);
fill = cv2.bitwise_and(im_floodfill,im_floodfill,mask = die)
#cv2.imshow("Masked filled",fill)
if cv2.waitKey(25)&0xff==27:
break
images,contours,hierarchy = cv2.findContours(fill,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
cv2.drawContours(img, contours, -1, (255,0,255), 2)
cv2.imshow("",img)
print len(contours)
s = s+len(contours)
print s
if s >= 5:
print "hi"
cv2.imwrite("ball.jpg", copy)
return True
break
else :
return False
cv2.destroyAllWindows()
cap.release()
def sniper2():
y,u,v = 166,87,102
img =cv2.imread("ball.jpg")
img_yuv = cv2.cvtColor(img,cv2.COLOR_BGR2YUV)
blur = cv2.GaussianBlur(img_yuv,(7,7),2)
die = cv2.inRange(blur, (np.array([y-45,u-30,v-30])), (np.array([y+45,u+30,v+30])))
#cv2.imshow("The Masked Image",die)
im_floodfill = die.copy()
h, w = die.shape[:2]
mask = np.zeros((h+2, w+2), np.uint8)
abcd = cv2.floodFill(im_floodfill, mask, (0,0), 255);
fill = cv2.bitwise_and(im_floodfill,im_floodfill,mask = die)
#cv2.imshow("Masked filled",fill)
images,contours,hierarchy = cv2.findContours(fill,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
#cv2.drawContours(img, contours, -1, (255,0,255), 2)
#cv2.imshow("",img)
print len(contours)
cnt = contours[0]
(x,y),radius = cv2.minEnclosingCircle(cnt)
center = (int(x),int(y))
radius = int(radius)
point = cv2.circle(img,center,radius,(0,0,255),2)
#cv2.imshow("abcd",point)
cv2.imwrite("img.jpg",point)
print center
print radius
class Dynamixel(object) :
def __init__(self) :
ports = pypot.dynamixel.get_available_ports()
if not ports :
raise IOError("port bhakchodi pel rahe hain")
print "Is port se judna hai",ports[0]
self.dxl = pypot.dynamixel.DxlIO(ports[0])
self.ids = self.dxl.scan(range(20))
print self.ids
self.dxl.enable_torque(self.ids)
if len(self.ids)<19 :
raise RuntimeError("kuch motor bhakchodi pel rahe hain")
def setSpeed(self,speed,ids) :
self.dxl.set_moving_speed(dict(zip(ids,itertools.repeat(speed))))
def setPos(self,pose) :
pos = {ids:angle for ids,angle in pose.items()}
self.dxl.set_goal_position(pos)
print pos
def listWrite(self,list) :
pos = dict(zip(self.ids,list))
self.dxl.set_goal_position(pos)
def dictWrite(self,dicti) :
self.dxl.set_goal_position(dicti)
def angleWrite(self,ids,pose) :
self.dxl.set_goal_position({ids:pose})
def returnPos(self,ids) :
return self.dxl.get_present_position((ids,))
class XML(object) :
def __init__(self,file) :
try :
tree = ET.parse(file)
self.root = tree.getroot()
except :
raise RuntimeError("File nahi mil rahi he badi bakchodi he")
def parse(self,motion) :
find = "PageRoot/Page[@name='" +motion+ "']/steps/step"
steps = [x for x in self.root.findall(find)]
p_frame = str()
p_pose = str()
for step in steps :
Walk(step.attrib['frame'],step.attrib['pose'],p_frame,p_pose)
p_frame = step.attrib['frame']
p_pose = step.attrib['pose']
xml = XML(path)
x=Dynamixel()
class Walk(object) :
def __init__(self,frame,pose,p_frame,p_pose) :
self.frame = int(frame)
self.begin = {}
self.end = {}
if not(p_pose) :
self.frame_diff = 10
p_pose = pose
else :
self.frame_diff = self.frame-int(p_frame)
for ids,pos in enumerate(map(float,p_pose.split())) :
self.end[ids+1]=pos
for ids,pos in enumerate(map(float,pose.split())) :
self.begin[ids+1]=pos
self.set(offsets=[darwin,hand])
def Offset(self,offset) :
for key in offset.keys() :
if offset[key] == 'i' :
self.begin[key] = -self.begin[key]
self.end[key] = -self.end[key]
else :
self.begin[key] += offset[key]
self.end[key] += offset[key]
def set(self,offsets=[]) :
for offset in offsets :
self.Offset(offset)
self.motion()
def motion(self) :
print self.begin
print self.end
write=[]
ids=[]
f_d=abs(self.frame_diff/10)
for key in self.end.keys() :
#pose_diff=abs(self.end[key]-self.begin[key])
linp=np.linspace(self.end[key],self.begin[key],f_d)
write.append(linp)
#write.append(self.begin[key])
ids.append(key)
print "out"
for pose in zip(*write) :
print "in"
x.setPos(dict(zip(ids,pose)))
time.sleep(0.1)
class Head(object) :
def __init__(self) :
self.head=19
self.turn_right=0
self.turn_left=93
self.centre_pos=41
self.diff_left=abs(self.centre_pos-self.turn_left)
self.diff_right=abs(self.centre_pos-self.turn_right)
#x.setSpeed(10,fire_ids[-1:])
self.detect = False
#x.setSpeed(50,fire_ids[:-1])
def head_right(self) :
x.setSpeed(20,[self.head])
#linp=np.linspace(self.centre_pos,self.turn_right,self.diff_right)
pose={self.head:self.turn_right}
print pose
x.dictWrite(pose)
def head_left(self) :
x.setSpeed(20,[self.head])
#linp=np.linspace(self.centre_pos,self.turn_left,self.diff_left)
pose={self.head:self.turn_left}
print pose
x.dictWrite(pose)
def to_centre(self) :
x.setSpeed(20,[self.head])
#linp=np.linspace(self.turn_left,self.centre_pos,self.diff_left)
pose={self.head:self.centre_pos}
print pose
x.dictWrite(pose)
h=Head()
class Motion(object) :
def __init__(self) :
self.fire_ids=[2,4,6]
self.armangle=87.52
self.t=1
self.d=0.06
self.shoot()
def shoot(self) :
head=list(x.returnPos(19))[0]
print head
alpha=degrees(atan((sin(head*pi/180)-self.d)/ cos(head*pi/180)))
write=[self.armangle,alpha-90,-30.02]
print degrees(alpha)
pos=dict(zip(self.fire_ids,write))
x.dictWrite(pos)
print pos
if __name__ == "__main__" :
balance = xml.parse("152 Balance")
raw_input("Proceed?")
sniper_final = sniper1()
while not sniper_final :
for pose in range(0,90,1) :
fire = x.angleWrite(19,pose)
time.sleep(0.1)
if sniper1() :
m = Motion()
for pose in range(90,0,-1) :
target = x.angleWrite(19,pose)
time.sleep(0.1)
if sniper1() :
m = Motion()