update

lebai-robotics · Mar 20, 2024 · 3f13285 · 3f13285
1 parent f3546d9
commit 3f13285
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Showing 9 changed files with 78 additions and 151 deletions.
diff --git a/apriltag/bin/src/apriltag.py b/apriltag/bin/src/apriltag.py
@@ -21,22 +21,12 @@
 lebai = lebai_sdk.connect("127.0.0.1", True)
 
 def main():
-    fx = (lebai.get_item("plugin_camera_fx"))['value']
-    if not fx:
-        fx = "900"
-    fx = float(fx)
-    fy = (lebai.get_item("plugin_camera_fy"))['value']
-    if not fy:
-        fy = "900"
-    fy = float(fy)
-    cx = (lebai.get_item("plugin_camera_cx"))['value']
-    if not cx:
-        cx = "640"
-    cx = float(cx)
-    cy = (lebai.get_item("plugin_camera_cy"))['value']
-    if not cy:
-        cy = "360"
-    cy = float(cy)
+    camera_matrix = (lebai.get_item("plugin_camera_calibrater_camera_matrix"))['value']
+    camera_matrix = json.loads(camera_matrix)
+    fx = camera_matrix[0][0]
+    fy = camera_matrix[1][1]
+    cx = camera_matrix[0][2]
+    cy = camera_matrix[1][2]
     tag_family = (lebai.get_item("plugin_apriltag_tag_family"))['value']
     if not tag_family:
         tag_family = "tag36h11"

diff --git a/apriltag/plugin.json b/apriltag/plugin.json
@@ -1,5 +1,6 @@
 {
   "name": "apriltag",
   "description": "视觉识别apriltag位姿",
-  "homepage": "lebai.ltd"
+  "homepage": "lebai.ltd",
+  "auto_restart": true
 }
diff --git a/apriltag/web/index.html b/apriltag/web/index.html
@@ -7,6 +7,7 @@
 </head>
 
 <body>
+	<h2>使用camera_calibrater插件完成标定后，才能使用本插件</h2>
 	<form>
 		tag_family<br>
 		<input type="text" id="tag_family">

diff --git a/camera/bin/src/camera.py b/camera/bin/src/camera.py
@@ -12,14 +12,13 @@
 lebai_sdk.init()
 lebai = lebai_sdk.connect("127.0.0.1", True)
 
-def get_interval():
-    interval = (lebai.get_item("plugin_camera_interval"))['value']
-    if not interval:
-        interval = "0"
-    interval = float(interval)
-    return interval/1000
+def get_cmd():
+    cmd = (lebai.get_item("plugin_camera_cmd"))['value']
+    if not cmd:
+        cmd = ""
+    return cmd
 
-def main():
+def init_camera():
     index = (lebai.get_item("plugin_camera_index"))['value']
     if not index:
         index = "-1"
@@ -32,34 +31,24 @@ def main():
     if not height:
         height = "720"
     height = int(height)
-    fx = (lebai.get_item("plugin_camera_fx"))['value']
-    if not fx:
-        fx = "900"
-    fx = float(fx)
-    fy = (lebai.get_item("plugin_camera_fy"))['value']
-    if not fy:
-        fy = "900"
-    fy = float(fy)
-    cx = (lebai.get_item("plugin_camera_cx"))['value']
-    if not cx:
-        cx = "640"
-    cx = float(cx)
-    cy = (lebai.get_item("plugin_camera_cy"))['value']
-    if not cy:
-        cy = "360"
-    cy = float(cy)
 
     cap = camera.Camera(index, width, height)
+    return cap
+
+def main():
+    cap = init_camera()
     if not cap.isOpened():
         exit(1)
 
     images_dir = os.path.join(current_dir, "../../images")
     if not os.path.exists(images_dir):
         os.mkdir(images_dir)
     while True:
-        interval = get_interval()
-        if interval > 0:
-            time.sleep(interval)
+        time.sleep(0.1)
+        cmd = get_cmd()
+        if not cmd or cmd == "":
+            continue
+        if cmd == "shoot":
             frame = cap.getImage()
             if frame is None:
                 break
@@ -68,8 +57,10 @@ def main():
             shutil.move(os.path.join(images_dir, "img.tmp.jpg"), os.path.join(images_dir, "img.jpg"))
             cv2.imwrite(os.path.join(images_dir, "img.tmp.webp"), frame, [cv2.IMWRITE_WEBP_QUALITY, 50])
             shutil.move(os.path.join(images_dir, "img.tmp.webp"), os.path.join(images_dir, "img.webp"))
-        else:
-            time.sleep(5.0)
+        if cmd == "reinit":
+            cap.release()
+            cap = init_camera()
+        lebai.set_item("plugin_camera_cmd", "")
     exit(2)
     # 释放摄像头
     cap.release()

diff --git a/camera/plugin.json b/camera/plugin.json
@@ -1,5 +1,6 @@
 {
   "name": "camera",
   "description": "采集摄像头图片并保存到文件系统",
-  "homepage": "lebai.ltd"
+  "homepage": "lebai.ltd",
+  "auto_restart": true
 }
diff --git a/camera/web/index.html b/camera/web/index.html
@@ -17,30 +17,14 @@
 		height<br>
 		<input type="number" id="height">
 		<br>
-		fx<br>
-		<input type="number" id="fx" step="0.01">
-		<br>
-		fy<br>
-		<input type="number" id="fy" step="0.01">
-		<br>
-		cx<br>
-		<input type="number" id="cx" step="0.01">
-		<br>
-		cy<br>
-		<input type="number" id="cy" step="0.01">
-		<br>
-		interval(采集频率，单位ms)<br>
-		<input type="number" id="interval" step="100">
-		<br>
 	</form>
 	<button onclick="save()">save</button>
-	<button onclick="get()">get</button>
+	<button onclick="get()">refresh</button>
 	<br>
-	<img src="" id="pic">
+	<img src="../images/img.webp" id="pic">
 </body>
 
 <script>
-	var timer_pic = null;
 	var ws;
 	var rpc_data = {
 		"jsonrpc": "2.0",
@@ -67,28 +51,8 @@
 		};
 		ws.send(JSON.stringify(rpc_data));
 		rpc_data.params[0] = {
-			"key": "plugin_camera_fx",
-			"value": document.getElementById("fx").value
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.params[0] = {
-			"key": "plugin_camera_fy",
-			"value": document.getElementById("fy").value
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.params[0] = {
-			"key": "plugin_camera_cx",
-			"value": document.getElementById("cx").value
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.params[0] = {
-			"key": "plugin_camera_cy",
-			"value": document.getElementById("cy").value
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.params[0] = {
-			"key": "plugin_camera_interval",
-			"value": document.getElementById("interval").value
+			"key": "plugin_camera_cmd",
+			"value": "reinit"
 		};
 		ws.send(JSON.stringify(rpc_data));
 	}
@@ -109,31 +73,6 @@
 			"key": "plugin_camera_height",
 		};
 		ws.send(JSON.stringify(rpc_data));
-		rpc_data.id = 31;
-		rpc_data.params[0] = {
-			"key": "plugin_camera_fx",
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.id = 32;
-		rpc_data.params[0] = {
-			"key": "plugin_camera_fy",
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.id = 33;
-		rpc_data.params[0] = {
-			"key": "plugin_camera_cx",
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.id = 34;
-		rpc_data.params[0] = {
-			"key": "plugin_camera_cy",
-		};
-		ws.send(JSON.stringify(rpc_data));
-		rpc_data.id = 41;
-		rpc_data.params[0] = {
-			"key": "plugin_camera_interval",
-		};
-		ws.send(JSON.stringify(rpc_data));
 	}
 
 	function connect() {
@@ -162,35 +101,25 @@
 				if (id == 23) {
 					document.getElementById("height").value = value || "720";
 				}
-				if (id == 31) {
-					document.getElementById("fx").value = value || "900";
-				}
-				if (id == 32) {
-					document.getElementById("fy").value = value || "900";
-				}
-				if (id == 33) {
-					document.getElementById("cx").value = value || "640";
-				}
-				if (id == 34) {
-					document.getElementById("cy").value = value || "360";
-				}
-				if (id == 41) {
-					var interval = value || "0";
-					document.getElementById("interval").value = interval;
-					if (timer_pic) {
-						clearInterval(timer_pic);
-					}
-					if (interval != "0") {
-						timer_pic = setInterval(() => {
-							document.getElementById("pic").src = "../images/img.webp?" + Date.now()
-						}, Number(interval));
-					}
-				}
 			}
 		}
 	}
 	connect();
 
+	function shoot() {
+		rpc_data.id = 10;
+		rpc_data.method = "set_item";
+		rpc_data.params[0] = {
+			"key": "plugin_camera_cmd",
+			"value": "shoot"
+		};
+		ws.send(JSON.stringify(rpc_data));
+		document.getElementById("pic").src = "../images/img.webp?" + Date.now();
+	}
+	setInterval(() => {
+		shoot();
+	}, 1000);
+
 	setInterval(() => {
 		if (ws.readyState == ws.CLOSED) {
 			connect();

diff --git a/camera_calibrater/bin/src/camera_calibrater.py b/camera_calibrater/bin/src/camera_calibrater.py
@@ -62,20 +62,21 @@ def clear_imgs():
 def main():
     while True:
         time.sleep(1)
-        img = cv2.imread(os.path.join(images_dir, "img.webp"))
-        if img.size == 0:
-            continue
-        row, col, width = get_row_col_width()
-        ret, corners = cv2.findChessboardCorners(img, (row, col), None)
-        if ret:
-            if len(corners) == row * col:
-                cv2.drawChessboardCorners(img, (row,col), corners, ret)
-        cv2.imwrite(os.path.join(images_dir, "camera_calibrater.tmp.webp"), img, [cv2.IMWRITE_WEBP_QUALITY, 10])
-        shutil.move(os.path.join(images_dir, "camera_calibrater.tmp.webp"), os.path.join(images_dir, "camera_calibrater.webp"))
-
         cmd = get_cmd()
         if not cmd or cmd == "":
             continue
+        if cmd == "preview":
+            img = cv2.imread(os.path.join(images_dir, "img.webp"))
+            if img.size == 0:
+                lebai.set_item("plugin_camera_calibrater_cmd", "")
+                continue
+            row, col, width = get_row_col_width()
+            ret, corners = cv2.findChessboardCorners(img, (row, col), None)
+            if ret:
+                if len(corners) == row * col:
+                    cv2.drawChessboardCorners(img, (row,col), corners, ret)
+            cv2.imwrite(os.path.join(images_dir, "camera_calibrater.tmp.webp"), img, [cv2.IMWRITE_WEBP_QUALITY, 10])
+            shutil.move(os.path.join(images_dir, "camera_calibrater.tmp.webp"), os.path.join(images_dir, "camera_calibrater.webp"))
         if cmd == "record":
             lebai_real = lebai_sdk.connect("127.0.0.1", False)
             i = get_i()+1

diff --git a/camera_calibrater/plugin.json b/camera_calibrater/plugin.json
@@ -1,5 +1,6 @@
 {
   "name": "camera_calibrater",
   "description": "相机标定",
-  "homepage": "lebai.ltd"
+  "homepage": "lebai.ltd",
+  "auto_restart": true
 }
diff --git a/camera_calibrater/web/index.html b/camera_calibrater/web/index.html
@@ -7,7 +7,6 @@
 </head>
 
 <body>
-	<h2>标定完成后，请务必禁用插件，否则，插件会一直在后台占用资源</h2>
 	<form>
 		相机位置<br>
 		<select id="type">
@@ -26,14 +25,16 @@ <h2>标定完成后，请务必禁用插件，否则，插件会一直在后台
 		<br>
 	</form>
 	<button onclick="save()">save</button>
-	<button onclick="get()">get</button>
+	<button onclick="get()">refresh</button>
 	<br>
 	<hr>
 	<hr>
 	<img src="../../camera/images/camera_calibrater.webp" id="pic">
 	<br>
 	采集至少3张不同位置的图片后再点击“标定”
 	<br>
+	注意：标定板具有方向标定过程需保证方向一致，倾斜角度超过45度容易翻转方向。
+	<br>
 	<button onclick="record()">记录点位</button>
 	<button onclick="clear_data()">清除所有点位</button>
 	<button onclick="calibrate()">标定</button>
@@ -171,7 +172,7 @@ <h2>标定完成后，请务必禁用插件，否则，插件会一直在后台
 				clearInterval(timer);
 				refresh_img();
 			}
-		}, 2000);
+		}, 500);
 	}
 	function refresh_img() {
 		document.getElementById("pic1").src = "../../camera/images/camera_calibrater.1.webp?" + Date.now();
@@ -236,8 +237,19 @@ <h2>标定完成后，请务必禁用插件，否则，插件会一直在后台
 			connect();
 		}
 	}, 1000);
-	setInterval(() => {
+
+	function preview() {
+		rpc_data.id = 10;
+		rpc_data.method = "set_item";
+		rpc_data.params[0] = {
+			"key": "plugin_camera_calibrater_cmd",
+			"value": "preview"
+		};
+		ws.send(JSON.stringify(rpc_data));
 		document.getElementById("pic").src = "../../camera/images/camera_calibrater.webp?" + Date.now()
+	}
+	setInterval(() => {
+		preview();
 	}, 1000);
 </script>
-Original file line number
+Diff line change
@@ Expand Up / @@ -7,6 +7,7 @@ @@
     </head>
     <body>
+    	<h2>使用camera_calibrater插件完成标定后，才能使用本插件</h2>
     	<form>
     		tag_family<br>
     		<input type="text" id="tag_family">
@@ Expand Down @@