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AutoCalib.py
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AutoCalib.py
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# -*- coding: utf-8 -*-
"""
Created on Fri Jun 05 18:17:55 2015
@author: Dan
"""
from menuOptions import*
#from menuOptions import preTrayectoria
#import menuOptions
from transmSerie import*
from fixM import*
import time
import matplotlib.pyplot as plt
import cv2
#%%
def autoCalib(L1,L2,L3,L4,mOld1,slp,ser,step,m6):
dire='/Users/Dan/Documents/Python Scripts/Camera Calibration/'
mtx=np.load(dire+'matrix1.npy')
dist=np.load(dire+'dist1.npy')
newcameramtx=np.load(dire+'newcameramtx1.npy')
m1=fixM1(0)
m2=10
m3=0
m4=20
m5=fixM2(0)
m6=80
m2v=[]
m3v=[]
m4v=[]
timeStep=1
step=2
newName='0'+'.avi'
directory='/Users/Dan/Documents/Python Scripts/VideosCalibracion/'
fvid=directory+newName
#Posiciones de calibracion
m2p=[50,65,80]
m2p4=[15]
m3p=[55,40,10]
m3p4=[100]
m4p=[100,75,50]
m4p1=[100]
i=0
transmSerie([m1],[m2],[m3p[i]],[m4p[i]],[m5],[m6],slp,ser)
time.sleep(5)
camera = cv2.VideoCapture(0)
video = cv2.VideoWriter(fvid, 1, 10.0, (640, 480));
while i<3:
# Voy a posición del proximo
transmSerie([m1],[m2],[m3p[i]],[m4p[i]],[m5],[m6],slp,ser)
time.sleep(5)
k=0
while k<2:
while m2<=110:
m2v.append(m2)
transmSerieA([m1],[m2],[m3p[i]],[m4p[i]],[m5],[m6],slp,ser)
m2=m2+5
time.sleep(2)
f,img = camera.read() #flush el frame viejo
f,img = camera.read() #adquiero frame actual
dst = cv2.undistort(img, mtx, dist, None, newcameramtx)
video.write(dst)
time.sleep(2)
mOld1=[m1,m2,m3p[i],m4p[i],m5]
m2=10
k=k+1
mNew=[m1,m2,m3p[i],m4p[i],m5]
[m1t,m2t,m3t,m4t,m5t]=preTrayectoria(L1,L2,L3,L4,mOld1,mNew,step,slp)
transmSerie(m1t,m2t,m3t,m4t,m5t,[m6]*len(m1t),slp,ser)
time.sleep(5)
i=i+1
video.release()
camera.release()
#transmSerieA([m1],[m2p[0]],15,[m4p[0]],[m5],[m6],slp,ser) #para evitar el juego del brazo incialmente
newName='1'+'.avi'
fvid=directory+newName
camera = cv2.VideoCapture(0)
video = cv2.VideoWriter(fvid, 1, 10.0, (640, 480));
i=0
while i<3:
# Voy a posición del proximo
transmSerieA([m1],[m2p[i]],[m3],[m4p[i]],[m5],[m6],slp,ser)
time.sleep(2)
k=0
while k<2:
while m3<=110:
m3v.append(m3)
transmSerieA([m1],[m2p[i]],[m3],[m4p[i]],[m5],[m6],slp,ser)
m3=m3+5
time.sleep(2)
f,img = camera.read() #flush el frame viejo
f,img = camera.read() #adquiero frame actual
dst = cv2.undistort(img, mtx, dist, None, newcameramtx)
video.write(dst)
time.sleep(2)
mOld1=[m1,m2p[i],m3,m4p[i],m5]
m3=0
k=k+1
mNew=[m1,m2p[i],m3,m4p[i],m5]
[m1t,m2t,m3t,m4t,m5t]=preTrayectoria(L1,L2,L3,L4,mOld1,mNew,step,slp)
transmSerie(m1t,m2t,m3t,m4t,m5t,[m6]*len(m1t),slp,ser)
time.sleep(2)
i=i+1
video.release()
camera.release()
newName='2'+'.avi'
fvid=directory+newName
camera = cv2.VideoCapture(0)
video = cv2.VideoWriter(fvid, 1, 10.0, (640, 480));
i=0
#while i<3:
# Voy a posición del proximo
transmSerieA([m1],[m2p4[i]],[m3p4[i]],[m4],[m5],[m6],slp,ser)
time.sleep(2)
k=0
while k<6:
while m4<=100:
m4v.append(m4)
transmSerieA([m1],[m2p4[i]],[m3p4[i]],[m4],[m5],[m6],slp,ser)
m4=m4+5
time.sleep(2)
f,img = camera.read() #flush el frame viejo
f,img = camera.read() #adquiero frame actual
dst = cv2.undistort(img, mtx, dist, None, newcameramtx)
video.write(dst)
time.sleep(2)
mOld1=[m1,m2p4[i],m3p4[i],m4,m5]
m4=10
k=k+1
mNew=[m1,m2p4[i],m3p4[i],m4,m5]
[m1t,m2t,m3t,m4t,m5t]=preTrayectoria(L1,L2,L3,L4,mOld1,mNew,step,slp)
transmSerie(m1t,m2t,m3t,m4t,m5t,[m6]*len(m1t),slp,ser)
time.sleep(2)
#i=i+1
video.release()
camera.release()
np.save(directory+'m2_motor',m2v)
np.save(directory+'m3_motor',m3v)
np.save(directory+'m4_motor',m4v)
return [m2v,m3v,m4v]