This is what I used to do machine vision homing a couple of years ago:
FitElipse is a function that finds the best fit circle in the frame. I can
supply
that function too if you like. It is adapted from examples I found online.
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
# homecart.py
import sys
import urllib2
import random
import cv2.cv as cv
import time
import hal
if __name__ == '__main__':
h = hal.component("homecart")
h.newpin("offset", hal.HAL_FLOAT, hal.HAL_OUT)
h.newpin("located", hal.HAL_BIT, hal.HAL_OUT)
h.ready()
capture = cv.CaptureFromCAM(0)
while True:
img = cv.QueryFrame(capture)
gimg = cv.CreateImage((640,480), cv.IPL_DEPTH_8U, 1)
cv.CvtColor(img, gimg, cv.CV_RGB2GRAY)
fe = FitEllipse(gimg, 116)
h['offset'] = fe.offset
h['located'] = fe.located
In the hal file, I have:
loadusr ./homecart # Can't have .py on the end of the filename
then I can use homecart.located and homecard.offset pins. I can't find
an example where I actually used it to do the homing though. I must have
gotten distracted by something else before I got that step completed.
Hope this is useful.
-- Ralph
-- Ralph
________________________________________
From: sam sokolik [[email protected]]
Sent: Tuesday, October 07, 2014 11:59 AM
To: Enhanced Machine Controller (EMC)
Subject: Re: [Emc-users] opencv for shape recognition
You make it sound /so/ easy... :)
sam
On 10/7/2014 1:09 PM, andy pugh wrote:
> On 7 October 2014 19:06, sam sokolik <[email protected]> wrote:
>> this is my first real exposure to python. the next step is to see how I
>> can fidldle hal stuff with it..
> import hal
>
> make hal pins, job done :-)
>
>
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