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main.py
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main.py
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#!/usr/bin/python
# -*- coding:utf-8 -*-
# @File : main.py
# @Author : Wang Weijian
# @Time : 2023/09/12 09:57:48
# @function: The main program run by AiKit 3D UI
# @version : V1.0
import os
import random
import sys
import threading
import time
import traceback
import cv2
import numpy as np
import serial
import serial.tools.list_ports
from PyQt6.QtCore import Qt, pyqtSlot, QDateTime, QRegularExpression, QThread, pyqtSignal
from PyQt6.QtGui import QPixmap, QRegularExpressionValidator, QImage
from PyQt6.QtWidgets import QMainWindow, QWidget, QApplication, QMessageBox
from pymycobot import MechArm
from Utils.coord_calc import CoordCalc
sys.path.append(os.getcwd())
from resources.ui.AiKit_3D import Ui_AiKit_UI as AiKit_window
from resources.log.logfile import MyLogging
from configs.all_config import *
from Utils.arm_controls import *
from detect.shape_detect import ShapeDetector
from detect.color_detect import ColorDetector
from detect.yolov8_detect import YOLODetector
from ObbrecCamera import ObbrecCamera
from Utils.crop_tools import crop_frame, crop_poly
class AiKit_App(AiKit_window, QMainWindow, QWidget):
def __init__(self):
super(AiKit_App, self).__init__()
self.setupUi(self)
# 去掉窗口顶部边框
self.setWindowFlag(Qt.WindowType.FramelessWindowHint)
self.min_btn.clicked.connect(self.min_clicked)
self.close_btn.clicked.connect(self.close_clicked)
self.language_btn.clicked.connect(self.set_language)
self.comboBox_function.highlighted.connect(self.choose_function)
self.comboBox_function.activated.connect(self.choose_function)
self.comboBox_port.highlighted.connect(self.get_serial_port_list)
self.comboBox_port.activated.connect(self.get_serial_port_list)
self.comboBox_baud.highlighted.connect(self.baud_choose)
self.comboBox_baud.activated.connect(self.baud_choose)
self.connect_btn.clicked.connect(self.connect_checked)
self.to_origin_btn.clicked.connect(self.go_home_function)
self.offset_save_btn.clicked.connect(self.insert_offset)
self.discern_btn.clicked.connect(self.discern_function)
self.crawl_btn.clicked.connect(self.crawl_function)
self.place_btn.clicked.connect(self.place_function)
self.current_coord_btn.clicked.connect(self.get_current_coords_btn)
self.image_coord_btn.clicked.connect(self.get_img_coords_btn)
self.open_camera_btn.clicked.connect(self.camera_checked)
self.M5 = ['mechArm 270 for M5']
self.mc = None
self.port_list = []
self.logger = MyLogging().logger
self.offset_x, self.offset_y, self.offset_z = 0, 0, 0
self.pos_x, self.pos_y, self.pos_z = 0, 0, 0
# 记录鼠标按下时的位置
self.dragPos = None
self.lastTime = None
self.language = 1 # Control language, 1 is English, 2 is Chinese
if self.language == 1:
self.btn_color(self.language_btn, 'green')
else:
self.btn_color(self.language_btn, 'blue')
self.is_language_btn_click = False
self.is_go_home = False
self.is_discern = False
self.is_crawl = False
self.is_place = False
self.is_pick = True
self.is_current_coords = False
self.is_img_coords = False
self.is_open_camera = False
self.is_connected = False
self.radioButton_A.setChecked(True)
self.color_frame = None
self.depth_frame = None
self.algorithm_mode = None
self.open_camera = None
self.detect_thread = None
self.show_camera_lab_depth.hide()
self.show_camera_lab_rgb.hide()
# 创建一个锁对象
self.crawl_move_lock = threading.Lock()
self.is_thread_running = True
self.algorithm_pump = ['Color recognition pump', 'Shape recognition pump', 'yolov8 pump', 'Depalletizing pump',
'颜色识别 吸泵', '形状识别 吸泵', 'yolov8 吸泵', '拆码垛 吸泵']
self.algorithm_gripper = ['Color recognition gripper', 'yolov8 gripper', '颜色识别 夹爪', 'yolov8 夹爪']
self._init_main_window()
self.choose_function()
self.get_serial_port_list()
self.baud_choose()
self.init_btn_status(False)
self.init_offset_tooltip()
self.offset_change()
def _init_main_window(self):
"""
加载窗口logo图标、最小化按钮图标、关闭按钮图标
Returns: None
"""
try:
self.pix = QPixmap(libraries_path + '/img/logo.ico') # the path to the icon
self.logo_lab.setPixmap(self.pix)
self.logo_lab.setScaledContents(True)
# Close, minimize button display text
self.min_btn.setStyleSheet("border-image: url({}/img/min.ico);".format(libraries_path))
self.close_btn.setStyleSheet("border-image: url({}/img/close.ico);".format(libraries_path))
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
@pyqtSlot()
def close_clicked(self):
self.close()
QApplication.instance().quit()
@pyqtSlot()
def min_clicked(self):
# minimize
self.showMinimized()
def mousePressEvent(self, event):
if event.buttons() == Qt.MouseButton.LeftButton and event.pos().y() < 50:
self.dragPos = event.pos()
self.lastTime = QDateTime.currentDateTime()
def mouseMoveEvent(self, event):
"""添加一个计时器，限制窗口移动的最小时间间隔，从而减少窗口抖动的问题"""
if self.dragPos is not None and self.lastTime is not None:
currentTime = QDateTime.currentDateTime()
elapsedTime = self.lastTime.msecsTo(currentTime)
if elapsedTime >= 10: # 限制窗口移动的最小时间间隔
delta = event.pos() - self.dragPos
self.move(self.pos() + delta)
self.lastTime = currentTime
event.accept()
self.setCursor(Qt.CursorShape.OpenHandCursor)
def mouseReleaseEvent(self, event):
self.dragPos = None
self.lastTime = None
self.setCursor(Qt.CursorShape.ArrowCursor)
def btn_color(self, btn, color):
"""
设置按钮的颜色样式
Args:
btn: 按钮名称
color: 颜色名称
Returns: None
"""
try:
if color == 'red':
btn.setStyleSheet("background-color: rgb(231, 76, 60);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
elif color == 'green':
btn.setStyleSheet("background-color: rgb(39, 174, 96);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
elif color == 'blue':
btn.setStyleSheet("background-color: rgb(41, 128, 185);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
elif color == 'gray':
btn.setStyleSheet("background-color: rgb(185, 195, 199);\n"
"color: rgb(255, 255, 255);\n"
"border-radius: 10px;\n"
"border: 2px groove gray;\n"
"border-style: outset;")
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def set_language(self):
"""
设置语言
"""
try:
self.is_language_btn_click = True
if self.language == 1:
self.language = 2
self.btn_color(self.language_btn, 'blue')
else:
self.language = 1
self.btn_color(self.language_btn, 'green')
self._init_language()
self.choose_function()
self.is_language_btn_click = False
self.init_offset_tooltip()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def _init_language(self):
"""
初始化语言
"""
if self.language == 1:
if not self.is_language_btn_click:
return
self.camara_show.setText("Camera")
if self.open_camera_btn.text() == '打开':
self.open_camera_btn.setText("Open")
else:
self.open_camera_btn.setText("Close")
self.connect_lab.setText("Connection")
if self.connect_btn.text() == '连接':
self.connect_btn.setText("CONNECT")
else:
self.connect_btn.setText("DISCONNECT")
self.device_lab.setText("Device")
self.baud_lab.setText("Baud")
self.port_lab.setText("Serial Port")
self.control_lab.setText("Control")
self.to_origin_btn.setText("Go")
self.home_lab.setText("Homing")
self.recognition_lab.setText("Recognition")
self.discern_btn.setText("Run")
self.offsets_lab.setText("XYZ Offset")
self.current_algorithm_lab.setText("Current Algorithm:")
self.crawl_btn.setText("Run")
self.pick_lab.setText("Pick")
self.place_lab.setText("Place")
self.place_btn.setText('Run')
self.offset_save_btn.setText('Save')
self.algorithm_lab2.setText("Algorithm")
self.select_lab.setText("Select")
self.comboBox_function.setItemText(0, "Color recognition pump")
self.comboBox_function.setItemText(1, "Shape recognition pump")
self.comboBox_function.setItemText(2, "yolov8 pump")
self.comboBox_function.setItemText(3, "Depalletizing pump")
self.comboBox_function.setItemText(4, "Color recognition gripper")
self.comboBox_function.setItemText(5, "yolov8 gripper")
self.display_lab.setText("Display")
self.current_coord_btn.setText("current coordinates")
self.image_coord_btn.setText("image coordinates")
self.language_btn.setText("简体中文")
self.show_camera_lab_depth.setText("Camera Depth Screen")
self.show_camera_lab_rgb.setText("Camera Color Screen")
else:
self.camara_show.setText("相机")
if self.is_language_btn_click:
if self.open_camera_btn.text() == 'Open':
self.open_camera_btn.setText("打开")
else:
self.open_camera_btn.setText("关闭")
else:
self.open_camera_btn.setText("打开")
self.connect_lab.setText("连接")
if self.is_language_btn_click:
if self.connect_btn.text() == 'CONNECT':
self.connect_btn.setText("连接")
else:
self.connect_btn.setText("断开")
else:
self.connect_btn.setText("连接")
self.device_lab.setText("设备")
self.baud_lab.setText("波特率")
self.port_lab.setText("串口")
self.control_lab.setText("控制")
self.to_origin_btn.setText("运行")
self.home_lab.setText("初始点")
self.recognition_lab.setText("识别")
self.discern_btn.setText("运行")
self.offsets_lab.setText("XYZ 偏移量")
self.current_algorithm_lab.setText("当前算法:")
self.crawl_btn.setText("运行")
self.pick_lab.setText("抓取")
self.place_lab.setText("放置")
self.place_btn.setText("运行")
self.offset_save_btn.setText("保存")
self.algorithm_lab2.setText("算法")
self.select_lab.setText("选择")
self.comboBox_function.setItemText(0, "颜色识别 吸泵")
self.comboBox_function.setItemText(1, "形状识别 吸泵")
self.comboBox_function.setItemText(2, "yolov8 吸泵")
self.comboBox_function.setItemText(3, "拆码垛 吸泵")
self.comboBox_function.setItemText(4, "颜色识别 夹爪")
self.comboBox_function.setItemText(5, "yolov8 夹爪")
self.display_lab.setText("坐标显示")
self.current_coord_btn.setText("实时坐标")
self.image_coord_btn.setText("图像坐标")
self.language_btn.setText("English")
self.show_camera_lab_depth.setText("相机深度画面")
self.show_camera_lab_rgb.setText("相机彩色画面")
def init_btn_status(self, status):
"""
初始化各个按钮的状态
Args:
status: bool类型(True/False)
Returns: None
"""
try:
btn_list = [self.to_origin_btn, self.crawl_btn, self.place_btn, self.current_coord_btn,
self.image_coord_btn, self.discern_btn, self.open_camera_btn]
btn_list2 = [self.to_origin_btn]
green_btn = [self.open_camera_btn, self.current_coord_btn, self.image_coord_btn]
if status:
for b in btn_list2:
b.setEnabled(True)
self.btn_color(b, 'blue')
# for c in green_btn:
# c.setEnabled(True)
# self.btn_color(c, 'green')
else:
for b in btn_list:
b.setEnabled(False)
self.btn_color(b, 'gray')
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def choose_function(self):
"""
根据算法下拉框选择显示当前算法名称,使用正则表达式限制偏移量的输入类型及其范围
Returns: None
"""
try:
self.algorithm_mode = self.comboBox_function.currentText()
self.algorithm_lab.setText(self.algorithm_mode)
self.xoffset_edit.setEnabled(True)
self.yoffset_edit.setEnabled(True)
self.zoffset_edit.setEnabled(True)
self.is_pick = True
# 偏移量设置正则表达式校验器，只允许输入-255 到 255数字
regex = QRegularExpression(r'^-?(?:[0-9]|[1-9][0-9]|1[0-9]{2}|2[0-4][0-9]|25[0-5])$')
validator = QRegularExpressionValidator(regex)
edit_widgets = [self.xoffset_edit, self.yoffset_edit, self.zoffset_edit]
for edit_widget in edit_widgets:
edit_widget.setValidator(validator)
self.offset_change()
if self.algorithm_mode in ['Depalletizing pump', '拆码垛 吸泵']:
self.place_btn.setEnabled(False)
self.btn_color(self.place_btn, 'gray')
else:
if self.is_connected:
self.place_btn.setEnabled(False)
self.btn_color(self.place_btn, 'gray')
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def get_serial_port_list(self):
"""
获取当前串口号并映射到串口下拉框
Returns: 串口号
"""
plist = [
str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports()
]
print(plist)
try:
if not plist:
# if self.comboBox_port.currentText() == 'no port':
# return
self.comboBox_port.clear()
self.comboBox_port.addItem('no port')
self.connect_btn.setEnabled(False)
self.btn_color(self.connect_btn, 'gray')
self.port_list = []
return
else:
if self.port_list != plist:
self.port_list = plist
self.comboBox_port.clear()
self.connect_btn.setEnabled(True)
self.btn_color(self.connect_btn, 'green')
for p in plist:
self.comboBox_port.addItem(p)
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def baud_choose(self):
"""
根据机器设备选择正确的串口号
Returns: None
"""
device = self.comboBox_device.currentText()
if device in self.M5:
self.comboBox_baud.setCurrentIndex(0)
else:
self.comboBox_baud.setCurrentIndex(1)
def connect_checked(self):
"""
连接按钮的状态切换
Returns:
"""
try:
if self.language == 1:
txt = 'CONNECT'
else:
txt = '连接'
if self.connect_btn.text() == txt:
self.robotics_connect()
else:
self.disconnect_robotics()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def robotics_connect(self):
"""
启动机械臂连接的子线程
Returns: None
"""
try:
self.prompts_lab.clear()
device = self.comboBox_device.currentText()
if device == 'mechArm 270 for M5':
init_robotics = threading.Thread(target=self.init_270_M5)
init_robotics.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def init_270_M5(self):
"""
连接机械臂，并对机械臂进行一些初始化
Returns:
"""
try:
self.comboBox_device.setEnabled(False)
self.comboBox_baud.setEnabled(False)
self.comboBox_port.setEnabled(False)
port = self.comboBox_port.currentText()
baud = self.comboBox_baud.currentText()
self.algorithm_mode = self.comboBox_function.currentText()
self.mc = MechArm(port, baud, thread_lock=True)
time.sleep(0.1)
self.logger.info('connection succeeded !')
self.is_connected = True
self.init_btn_status(True)
self.current_coord_btn.setEnabled(True)
self.btn_color(self.current_coord_btn, 'green')
if self.language == 1:
self.connect_btn.setText('Disconnect')
else:
self.connect_btn.setText('断开')
self.btn_color(self.connect_btn, 'red')
except Exception as e:
e = traceback.format_exc()
error_mes = 'Connection failed !!!:{}'.format(e)
self.mc = None
self.is_connected = False
self.comboBox_port.setEnabled(True)
self.comboBox_baud.setEnabled(False)
self.comboBox_device.setEnabled(True)
self.init_btn_status(False)
if self.language == 1:
self.connect_btn.setText('CONNECT')
else:
self.connect_btn.setText('连接')
self.btn_color(self.connect_btn, 'green')
self.logger.error(error_mes)
def has_mycobot(self):
"""
检查机械臂是否连接
Returns:
"""
if not self.mc:
self.logger.info("Mycobot is not connected yet! ! ! Please connect to myCobot first! ! !")
return False
return True
def disconnect_robotics(self):
"""
机械臂断开连接
Returns: None
"""
if not self.has_mycobot():
return
try:
time.sleep(0.1)
del self.mc
self.mc = None
self.logger.info("Disconnected successfully !")
self.is_connected = False
self.comboBox_port.setEnabled(True)
self.comboBox_baud.setEnabled(True)
self.comboBox_device.setEnabled(True)
self.comboBox_function.setEnabled(True)
if self.language == 1:
self.connect_btn.setText('CONNECT')
else:
self.connect_btn.setText('连接')
self.btn_color(self.connect_btn, 'green')
self.init_btn_status(False)
self.is_discern = False
self.is_current_coords = False
self.is_place = False
self.is_crawl = False
self.is_img_coords = False
self.current_coord_lab.clear()
self.img_coord_lab.clear()
self.prompts_lab.clear()
self.show_camera_lab_depth.hide()
self.show_camera_lab_rgb.hide()
except Exception as e:
e = traceback.format_exc()
self.logger.info("Not yet connected to mycobot！！！{}".format(str(e)))
def robot_go_home(self):
"""
控制机械臂回到初始点 [-90, 0, 0, 0, 90, 0]
Returns: None
"""
try:
self.mc.set_fresh_mode(0)
time.sleep(0.5)
device = self.comboBox_device.currentText()
go_home_mes = 'The robot moves to the initial point'
if device in self.M5:
self.logger.info(go_home_mes)
self.mc.send_angles(arm_idle_angle, 50)
time.sleep(3)
if self.algorithm_mode in self.algorithm_pump:
self.mc.set_tool_reference(tool_frame_pump)
time.sleep(0.5)
self.mc.set_end_type(1)
time.sleep(1)
pump_off(self.mc)
time.sleep(1.5)
else:
self.mc.set_tool_reference(tool_frame_gripper)
time.sleep(0.5)
self.mc.set_end_type(1)
time.sleep(1)
open_gripper(self.mc)
time.sleep(2)
print('open gripper')
release_gripper(self.mc)
time.sleep(0.1)
self.is_go_home = False
self.btn_color(self.to_origin_btn, 'blue')
if not self.is_discern:
self.discern_btn.setEnabled(True)
self.btn_color(self.discern_btn, 'blue')
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def go_home_function(self):
"""
回到初始点和初始化参数 按钮开关
Returns: None
"""
try:
if self.is_go_home:
self.is_go_home = False
self.btn_color(self.to_origin_btn, 'blue')
else:
self.is_go_home = True
self.btn_color(self.to_origin_btn, 'red')
go_home = threading.Thread(target=self.robot_go_home)
go_home.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def init_offset_tooltip(self):
"""
鼠标悬浮在 XYZ Offsets 控件上的提示功能作用
Returns: None
"""
try:
if self.language == 1:
self.offsets_lab.setToolTip(
'Adjust the suction position of the end, add X forward,'
' subtract X backward, \nadd Y to the left, and subtract Y to the right, decrease Z downward, and increase Z upward')
else:
self.offsets_lab.setToolTip(
'调整末端吸取位置，向前X加，向后X减，向左Y加，向右Y减，向下Z减，向上Z加。')
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def offset_change(self):
"""
根据算法功能的不同，从文件中读取偏移量信息并将其显示在对应的文本框中
Returns: None
"""
try:
self.algorithm_mode = self.comboBox_function.currentText()
# 定义文件路径与功能的映射关系
file_paths = {
'颜色识别 吸泵': 'color_pump_offset.txt',
'Color recognition pump': 'color_pump_offset.txt',
'形状识别 吸泵': 'shape_pump_offset.txt',
'Shape recognition pump': 'shape_pump_offset.txt',
'yolov8 吸泵': 'yolo_pump_offset.txt',
'yolov8 pump': 'yolo_pump_offset.txt',
'拆码垛 吸泵': 'pallet_pump_offset.txt',
'Depalletizing pump': 'pallet_pump_offset.txt',
'颜色识别 夹爪': 'color_gripper_offset.txt',
'Color recognition gripper': 'color_gripper_offset.txt',
'yolov8 夹爪': 'yolo_gripper_offset.txt',
'yolov8 gripper': 'yolo_gripper_offset.txt',
}
file_path = file_paths.get(self.algorithm_mode)
if file_path:
with open(libraries_path + '/offset/' + file_path, 'r', encoding='utf-8') as f:
offset = f.read().splitlines()
offset_values = eval(offset[0])
self.offset_x, self.offset_y, self.offset_z = map(int, offset_values)
self.xoffset_edit.clear()
self.yoffset_edit.clear()
self.zoffset_edit.clear()
self.xoffset_edit.setText(f'{offset_values[0]}')
self.yoffset_edit.setText(f'{offset_values[1]}')
self.zoffset_edit.setText(f'{offset_values[2]}')
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def insert_offset(self):
"""
读取XYZ偏移量的值，并保存到对应文件中
Returns: None
"""
try:
self.algorithm_mode = self.comboBox_function.currentText()
x = self.xoffset_edit.text()
y = self.yoffset_edit.text()
z = self.zoffset_edit.text()
offset = [x, y, z]
file_paths = {
'颜色识别 吸泵': 'color_pump_offset.txt',
'Color recognition pump': 'color_pump_offset.txt',
'形状识别 吸泵': 'shape_pump_offset.txt',
'Shape recognition pump': 'shape_pump_offset.txt',
'yolov8 吸泵': 'yolo_pump_offset.txt',
'yolov8 pump': 'yolo_pump_offset.txt',
'拆码垛 吸泵': 'pallet_pump_offset.txt',
'Depalletizing pump': 'pallet_pump_offset.txt',
'颜色识别 夹爪': 'color_gripper_offset.txt',
'Color recognition gripper': 'color_gripper_offset.txt',
'yolov8 夹爪': 'yolo_gripper_offset.txt',
'yolov8 gripper': 'yolo_gripper_offset.txt',
}
file_path = file_paths.get(self.algorithm_mode)
if file_path:
with open(libraries_path + '/offset/' + file_path, 'w', encoding='utf-8') as f:
f.write(str(offset))
self.offset_x, self.offset_y, self.offset_z = int(x), int(y), int(z)
if self.language == 1:
msg_box = QMessageBox(QMessageBox.Icon.Information, 'prompt', 'Successfully saved！')
else:
msg_box = QMessageBox(QMessageBox.Icon.Information, '提示', '保存成功！')
msg_box.exec()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def discern_function(self):
"""
识别按钮的开关, 如果打开识别按钮则可以打开摄像头按钮，以及点击查看图像按钮，如果关闭识别按钮，则摄像头打开按钮复位变绿色
Returns: None
"""
try:
if self.is_discern:
self.is_discern = False
self.btn_color(self.discern_btn, 'blue')
self.stop_thread()
self.open_camera.release()
self.detect_thread.join()
self.open_camera = None
self.is_thread_running = True
self.is_open_camera = False
self.show_camera_lab_depth.clear()
self.show_camera_lab_rgb.clear()
if self.language == 1:
self.open_camera_btn.setText('Open')
else:
self.open_camera_btn.setText('打开')
self.prompts_lab.clear()
self.open_camera_btn.setEnabled(False)
self.image_coord_btn.setEnabled(False)
self.crawl_btn.setEnabled(False)
self.btn_color(self.crawl_btn, 'gray')
self.place_btn.setEnabled(False)
self.btn_color(self.place_btn, 'gray')
self.btn_color(self.open_camera_btn, 'gray')
self.btn_color(self.image_coord_btn, 'gray')
self.img_coord_lab.clear()
self.is_img_coords = False
self.comboBox_function.setEnabled(True)
else:
self.prompts_lab.clear()
self.is_discern = True
self.btn_color(self.discern_btn, 'red')
self.open_camera_btn.setEnabled(True)
self.image_coord_btn.setEnabled(True)
self.crawl_btn.setEnabled(True)
self.btn_color(self.crawl_btn, 'blue')
self.btn_color(self.open_camera_btn, 'green')
self.btn_color(self.image_coord_btn, 'green')
self.show_camera_lab_depth.hide()
self.show_camera_lab_rgb.hide()
self.comboBox_function.setEnabled(False)
run_detect = threading.Thread(target=self.start_detect)
run_detect.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error('identify anomalies' + str(e))
def crawl_function(self):
"""
抓取物体-运行按钮的开关
Returns: None
"""
try:
self.algorithm_mode = self.comboBox_function.currentText()
if self.is_crawl:
self.is_crawl = False
self.btn_color(self.crawl_btn, 'blue')
if self.algorithm_mode in ['Depalletizing pump', '拆码垛 吸泵']:
self.pallet.join()
else:
self.is_crawl = True
self.btn_color(self.crawl_btn, 'red')
if self.algorithm_mode in ['Depalletizing pump', '拆码垛 吸泵']:
self.pallet = threading.Thread(target=self.start_pallet_crawl)
self.pallet.start()
else:
self.place_btn.setEnabled(True)
self.btn_color(self.place_btn, 'blue')
crawl_move = threading.Thread(target=self.robot_pick_move)
crawl_move.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def place_function(self):
"""
放置按钮的开关
Returns: None
"""
try:
if self.is_place:
self.is_place = False
self.btn_color(self.place_btn, 'blue')
else:
self.is_place = True
self.btn_color(self.place_btn, 'red')
# self.robot_place_move()
place_move = threading.Thread(target=self.robot_place_move)
place_move.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def get_current_coords(self):
"""
获取当前机械臂的坐标，并更新坐标的显示
Returns: None
"""
while self.is_current_coords:
QApplication.processEvents()
try:
coord = self.mc.get_coords()
except Exception as e:
e = traceback.format_exc()
coord = []
self.logger.error(str(e))
pass
if coord and len(coord) == 6:
coord = 'X: {} Y: {} Z: {} Rx: {} Ry: {} Rz: {}'.format(coord[0], coord[1], coord[2], coord[3],
coord[4],
coord[5])
if self.is_current_coords:
self.current_coord_lab.clear()
self.current_coord_lab.setText(str(coord))
time.sleep(0.2)
def get_current_coords_btn(self):
"""
通过点击按钮，显示当前机械臂的坐标开关
Returns: None
"""
try:
if not self.has_mycobot():
return
if self.is_current_coords:
self.is_current_coords = False
self.btn_color(self.current_coord_btn, 'green')
self.current_coord_lab.clear()
else:
self.is_current_coords = True
self.btn_color(self.current_coord_btn, 'red')
get_coord = threading.Thread(target=self.get_current_coords)
get_coord.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def get_img_coords_btn(self):
"""
获取图像的定位坐标
Returns: None
"""
try:
if self.is_img_coords:
self.is_img_coords = False
self.btn_color(self.image_coord_btn, 'green')
self.img_coord_lab.clear()
else:
self.is_img_coords = True
if self.is_discern:
self.btn_color(self.image_coord_btn, 'red')
get_img = threading.Thread(target=self.get_img_coords)
get_img.start()
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def get_img_coords(self):
while self.is_img_coords:
QApplication.processEvents()
try:
if self.is_discern:
if self.is_img_coords:
self.img_coord_lab.clear()
self.img_coord_lab.setText(str('X: {} Y: {} Z: {}'.format(self.pos_x, self.pos_y, self.pos_z)))
time.sleep(0.1)
else:
if self.language == 2:
self.img_coord_lab.setText('请先启动识别程序！')
else:
self.img_coord_lab.setText('Please start the recognition process first!')
except Exception as e:
e = traceback.format_exc()
self.logger.error(str(e))
def display_open_camera_1(self, detector):
"""
开启摄像头并将画面显示在界面上（适用于颜色识别、形状识别）
Args:
detector: 一个识别算法检测类
Returns: None
"""
print('Start Color or Shape......')
self.algorithm_mode = self.comboBox_function.currentText()
if not self.is_open_camera:
self.open_camera = ObbrecCamera()
self.open_camera.capture()
self.is_open_camera = True
while self.is_thread_running:
self.open_camera.update_frame()
color_frame = self.open_camera.color_frame()
depth_frame = self.open_camera.depth_frame()
if color_frame is None or depth_frame is None:
# time.sleep(0.1)
continue
color_frame = crop_frame(color_frame, crop_size, crop_offset)
depth_frame = crop_frame(depth_frame, crop_size, crop_offset)
depth_visu_frame = depth_frame.copy()
color_frame = cv2.resize(color_frame, None, fx=zoom_factor, fy=zoom_factor)
depth_frame = cv2.resize(depth_frame, None, fx=zoom_factor, fy=zoom_factor)
if color_frame is not None:
depth_visu_frame = depth_visu_frame / np.max(depth_frame) * 255
depth_visu_frame = depth_visu_frame.astype(np.uint8)
depth_visu_frame = cv2.cvtColor(depth_visu_frame, cv2.COLOR_GRAY2BGR)
# Convert BGR to RGB
color_frame_qt = cv2.cvtColor(color_frame, cv2.COLOR_BGR2RGB)
color_frame_qimage = QImage(
color_frame_qt.data,
color_frame_qt.shape[1],
color_frame_qt.shape[0],
color_frame_qt.strides[0],
QImage.Format.Format_RGB888,
)
depth_frame_qimage = QImage(
depth_visu_frame.data,
depth_visu_frame.shape[1],
depth_visu_frame.shape[0],
depth_visu_frame.strides[0],
QImage.Format.Format_RGB888,
)
# Create QPixmap from QImage
color_pixmap = QPixmap.fromImage(color_frame_qimage)
depth_pixmap = QPixmap.fromImage(depth_frame_qimage)
# Set the QPixmap to QLabel
self.show_camera_lab_rgb.setPixmap(color_pixmap)
self.show_camera_lab_depth.setPixmap(depth_pixmap.scaled(390, 390))
if color_frame is None:
continue
res = detector.detect(color_frame)
if res:
if self.is_pick:
# 获取检测到的颜色名称
detector.draw_result(color_frame, res)
# Convert BGR to RGB
color_frame_qt = cv2.cvtColor(color_frame, cv2.COLOR_BGR2RGB)
color_frame_qimage = QImage(
color_frame_qt.data,
color_frame_qt.shape[1],
color_frame_qt.shape[0],
color_frame_qt.strides[0],
QImage.Format.Format_RGB888,
)
color_pixmap = QPixmap.fromImage(color_frame_qimage)
self.show_camera_lab_rgb.setPixmap(color_pixmap)
# interpret result
obj_configs = []
for obj in res:
rect = detector.get_rect(obj)
x, y = detector.target_position(obj)
obj_configs.append((rect, (x, y)))
# pack (depth, pos, angle) together
depth_pos_pack = []
for obj in obj_configs:
rect, (x, y) = obj
rect = np.array(rect)
target_depth_frame = crop_poly(depth_frame, rect)
mean_depth = np.sum(target_depth_frame) / np.count_nonzero(
target_depth_frame
)
depth_pos_pack.append((mean_depth, (x, y)))
# find lowest depth (highest in pile)
depth, (x, y) = min(depth_pos_pack)
if np.isnan(depth):
self.logger.error('相机无法正确获取深度信息:{}'.format(depth))
continue
else:
x, y = int(x), int(y)
z = int(floor_depth - depth)
# transform angle from camera frame to arm frame
self.pos_x, self.pos_y, self.pos_z = x, y, z
print(f"Raw pos_x,pos_y,pos_z : {self.pos_x} {self.pos_y} {self.pos_z}")
self.logger.info('Recognition has stopped....')
else:
if self.is_open_camera:
try:
self.stop_thread()