kopia lustrzana https://github.com/adliechty/realWorldGcodeSender
simple drawing on top of picture working
unknown
rodzic
562a1d6a9c
commit
6a7938505b
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|
||||
1,1,0,0,0,1,1,1,1,1,1,1,0,1,0,1,0,1,1,1,1,1,0,1,1,0,1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,0,1,1,1,1,1,0,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
|
||||
1,1,1,1,0,0,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,0,0,1,1,1,0,0,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
|
||||
1,0,1,0,1,0,1,1,0,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,0,1
|
||||
1,1,1,1,1,0,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,1,0,1,1,0,0,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,0,1,0,1,1,1,1,0,1,0,1,0,1,0,0,0,0,1,0,0,1,1,1,1,0,1,0,1,0,1,0,0,0,0,0,0
|
||||
0,1,1,1,0,0,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,0,0,0,1,1,0,1,1,1,1,0,0,1,0,1,1,0,0,0,0,1,1,1,1,0,1,1,0,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,0,1,0
|
||||
1,1,1,1,0,1,1,1,1,1,1,0,1,1,1,1,0,1,1,0,1,0,1,1,0,1,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,1,1,1,1,1,1,0,1,1,1,0,0,1,1,1,1,1,1,1,0,0,1,1,0,0,1,0,1,1,1,0,0,0,1,1,1,0,1,1,1,1,1,0,0,0,1,0,0,0,0,0,1,0
|
||||
0,1,0,1,1,0,1,1,0,1,1,0,0,1,1,0,1,1,0,1,1,1,0,1,1,0,1,0,0,1,0,0,0,1,1,0,1,1,1,1,1,0,1,1,1,0,0,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,0,1,1,1,1,0,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,0,1,0,1,1,1,1,1,0,1,1,1,1,1,1,0,1,0,0,1,1,1,1,1,1,1,1,0,1,1,1,0,1,1,0,1,0,1
|
||||
1,0,0,0,1,1,0,0,0,1,1,0,1,1,1,1,0,1,1,1,1,0,1,1,0,1,1,0,1,0,1,0,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,0,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,0,0,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,0,1,1,1,0,1,0,1,0,0,0,0,0,1,1,0,1,0,0,0,1,0,0,0,0,0,1,1,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
1,0,0,1,1,0,1,0,0,1,0,1,0,0,0,1,0,0,0,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,1,0,1,1,0,1,0,1,1,0,1,1,0,1,0,1,1,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,0,1,0,0,1,1,1,1,0,1,1,1,1,1,0,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,0,0,1,1,1,0,1,0,1,1,1,1,1,1,1,1,0,0,1,1,0,0,0,1,0,0,0,0,0,1,0,0,1,1,1,0,0,0,0,0,1,0,0,0,1,0,0,0,0,0,0,1,1,0,0,1,1,1,0,0,0,0,0,0
|
||||
|
|
|
@ -1,884 +0,0 @@
|
|||
#TODO: use interpolateCornersCharuco to get better accuracy on corner detection
|
||||
|
||||
# import the necessary packages
|
||||
import numpy as np
|
||||
import argparse
|
||||
import cv2
|
||||
import time
|
||||
import math
|
||||
from svgpathtools import Path, Line, QuadraticBezier, CubicBezier, Arc
|
||||
from svgpathtools import svg2paths, wsvg, svg2paths2, polyline
|
||||
#import matplotlib
|
||||
#matplotlib.use('GTK3Agg')
|
||||
from matplotlib import pyplot as plt
|
||||
from matplotlib.widgets import TextBox
|
||||
from matplotlib.backend_bases import MouseButton
|
||||
from copy import deepcopy
|
||||
from pygcode import Machine, GCodeRapidMove, GCodeFeedRate, GCodeLinearMove, GCodeUseMillimeters
|
||||
import pygcode
|
||||
from pygcode.gcodes import MODAL_GROUP_MAP
|
||||
import re
|
||||
|
||||
import sys
|
||||
#sys.path.insert(1, 'C:\\Git\\gerbil\\')
|
||||
#sys.path.insert(1, 'C:\\Git\\gcode_machine\\')
|
||||
from gerbil import Gerbil
|
||||
import serial.tools.list_ports
|
||||
|
||||
import threading
|
||||
import functools
|
||||
|
||||
|
||||
class Point3D:
|
||||
def __init__(self, X, Y, Z = None):
|
||||
self.X = X
|
||||
self.Y = Y
|
||||
self.Z = Z
|
||||
def to2DComplex(self):
|
||||
return self.X + self.Y * 1j
|
||||
def distanceXY(self, point):
|
||||
return distanceXY(self, point)
|
||||
def __str__(self):
|
||||
return str("(" + str(self.X) + "," + str(self.Y) + "," + str(self.Z) + ")")
|
||||
def __repr__(self):
|
||||
return str("(" + str(self.X) + "," + str(self.Y) + "," + str(self.Z) + ")")
|
||||
|
||||
global boxWidth
|
||||
global rightBoxRef
|
||||
global leftBoxRef
|
||||
global bedSize
|
||||
global bedViewSizePixels
|
||||
|
||||
|
||||
boxWidth = 1.25
|
||||
#These are distances from machine origin (0,0,0), right, back, upper corner.
|
||||
rightBoxRef = Point3D(2.0, -35.0, 1.0)
|
||||
leftBoxRef = Point3D(-37.0, -35.0, 1.0)
|
||||
bedSize = Point3D(-35.0, -35.0, -3.75)
|
||||
bedViewSizePixels = 1400
|
||||
|
||||
|
||||
|
||||
#First ID is upper right, which is most positive Z and most positice Y
|
||||
# Z, Y
|
||||
global idToLocDict
|
||||
idToLocDict = {0 :[2,21],
|
||||
1 :[2,19],
|
||||
2 :[2,17],
|
||||
3 :[2,16],
|
||||
4 :[2,13],
|
||||
5 :[2,11],
|
||||
6 :[2, 9],
|
||||
7 :[2, 7],
|
||||
8 :[2, 5],
|
||||
9 :[2, 3],
|
||||
10:[2, 1],
|
||||
11:[1, 20],
|
||||
12:[1, 18],
|
||||
13:[1, 16],
|
||||
14:[1, 14],
|
||||
15:[1, 12],
|
||||
16:[1, 10],
|
||||
17:[1, 8],
|
||||
18:[1, 6],
|
||||
19:[1, 4],
|
||||
20:[1, 2],
|
||||
21:[1, 0],
|
||||
22:[0, 21],
|
||||
23:[0, 19],
|
||||
24:[0, 17],
|
||||
25:[0, 15],
|
||||
26:[0, 13],
|
||||
27:[0, 11],
|
||||
28:[0, 9],
|
||||
29:[0, 7],
|
||||
30:[0, 5],
|
||||
31:[0, 3],
|
||||
32:[0, 1],
|
||||
33:[0, 20],
|
||||
34:[0, 18],
|
||||
35:[0, 16],
|
||||
36:[0, 14],
|
||||
37:[0, 12],
|
||||
38:[0, 10],
|
||||
39:[0, 8],
|
||||
40:[0, 6],
|
||||
41:[0, 4],
|
||||
42:[0, 2],
|
||||
43:[0, 0],
|
||||
44:[1, 21],
|
||||
45:[1, 19],
|
||||
46:[1, 17],
|
||||
47:[1, 15],
|
||||
48:[1, 13],
|
||||
49:[1, 11],
|
||||
50:[1, 9],
|
||||
51:[1, 7],
|
||||
52:[1, 5],
|
||||
53:[1, 3],
|
||||
54:[1, 1],
|
||||
55:[2, 20],
|
||||
56:[2, 18],
|
||||
57:[2, 16],
|
||||
58:[2, 14],
|
||||
59:[2, 12],
|
||||
60:[2, 10],
|
||||
61:[2, 8],
|
||||
62:[2, 6],
|
||||
63:[2, 4],
|
||||
64:[2, 2],
|
||||
65:[2, 0]}
|
||||
|
||||
|
||||
####################################################################################
|
||||
# Should put these in a shared libary
|
||||
####################################################################################
|
||||
def distanceXY(p1, p2):
|
||||
return ((p1.X - p2.X)**2 + (p1.Y - p2.Y)**2)**0.5
|
||||
|
||||
|
||||
def lineOrCurveToPoints3D(lineOrCurve, pointsPerCurve):
|
||||
if isinstance(lineOrCurve,Line):
|
||||
#print(lineOrCurve)
|
||||
return [Point3D(lineOrCurve.bpoints()[0].real, lineOrCurve.bpoints()[0].imag), \
|
||||
Point3D(lineOrCurve.bpoints()[1].real, lineOrCurve.bpoints()[1].imag)]
|
||||
elif isinstance(lineOrCurve, CubicBezier):
|
||||
points3D = []
|
||||
for i in range(int(pointsPerCurve)):
|
||||
complexPoint = lineOrCurve.point(i / (pointsPerCurve - 1.0))
|
||||
points3D.append(Point3D(complexPoint.real, complexPoint.imag, None))
|
||||
return points3D
|
||||
elif isinstance(lineOrCurve, Arc):
|
||||
points3D = []
|
||||
for i in range(int(pointsPerCurve) * 10):
|
||||
complexPoint = lineOrCurve.point(i / (pointsPerCurve * 10 - 1.0))
|
||||
points3D.append(Point3D(complexPoint.real, complexPoint.imag, None))
|
||||
return points3D
|
||||
|
||||
else:
|
||||
print("unsuported type: " + str(lineOrCurve))
|
||||
quit()
|
||||
|
||||
def pathToPoints3D(path, pointsPerCurve):
|
||||
prevEnd = None
|
||||
points3D = []
|
||||
for lineOrCurve in path:
|
||||
curPoints3D = lineOrCurveToPoints3D(lineOrCurve, pointsPerCurve)
|
||||
#check that the last line ending starts the beginning of the next line.
|
||||
#print(curPoints3D)
|
||||
if prevEnd != None and distanceXY(curPoints3D[0], prevEnd) > 0.01:
|
||||
print(curPoints3D[0])
|
||||
print(prevEnd)
|
||||
print("A SVG path must be contiguous, one line ending and beginning on the next line. Make a seperate path out of non contiguous lines")
|
||||
quit()
|
||||
elif prevEnd == None:
|
||||
#first line, store both beginning point and end point
|
||||
points3D.extend(curPoints3D)
|
||||
else:
|
||||
#add to point list except first one as it was verified to be same as ending of last
|
||||
points3D.extend(curPoints3D[1:])
|
||||
prevEnd = curPoints3D[-1]
|
||||
return points3D
|
||||
|
||||
def arcToPoints(startX, startY, endX, endY, i, j, clockWise, curZ):
|
||||
points = []
|
||||
centerX = startX + i
|
||||
centerY = startY + j
|
||||
radius = math.dist([centerX, centerY], [startX, startY])
|
||||
startAngle = math.atan2(startY - centerY, startX - centerX)
|
||||
endAngle = math.atan2(endY - centerY, endX - centerX)
|
||||
for angle in np.arange(startAngle, endAngle, (clockWise * -2 + 1) * 0.1):
|
||||
x = math.cos(angle) * radius + centerX
|
||||
y = math.sin(angle) * radius + centerY
|
||||
points.append(Point3D(x, y, curZ))
|
||||
x = math.cos(endAngle) * radius + centerX
|
||||
y = math.sin(endAngle) * radius + centerY
|
||||
points.append(Point3D(x, y, curZ))
|
||||
return points
|
||||
|
||||
def rotate(origin, point, angle):
|
||||
"""
|
||||
Rotate a point counterclockwise by a given angle around a given origin.
|
||||
|
||||
The angle should be given in radians.
|
||||
"""
|
||||
ox, oy = origin
|
||||
px, py = point
|
||||
|
||||
qx = ox + math.cos(angle) * (px - ox) - math.sin(angle) * (py - oy)
|
||||
qy = oy + math.sin(angle) * (px - ox) + math.cos(angle) * (py - oy)
|
||||
return qx, qy
|
||||
|
||||
####################################################################################
|
||||
# OverlayGcode class
|
||||
####################################################################################
|
||||
class OverlayGcode:
|
||||
def __init__(self, cv2Overhead, gCodeFile, disableSender = True):
|
||||
global bedViewSizePixels
|
||||
global bedSize
|
||||
|
||||
self.bedViewSizePixels = bedViewSizePixels
|
||||
self.bedSize = bedSize
|
||||
self.xOffset = 0
|
||||
self.yOffset = 0
|
||||
self.rotation = 0
|
||||
self.cv2Overhead = cv2.cvtColor(cv2Overhead, cv2.COLOR_BGR2RGB)
|
||||
self.move = False
|
||||
|
||||
fig, ax = plt.subplots()
|
||||
fig.tight_layout()
|
||||
plt.subplots_adjust(bottom=0.01, right = 0.99)
|
||||
plt.axis([self.bedViewSizePixels,0, self.bedViewSizePixels, 0])
|
||||
#Generate matplotlib plot from opencv image
|
||||
self.matPlotImage = plt.imshow(self.cv2Overhead)
|
||||
###############################################
|
||||
# Generate controls for plot
|
||||
###############################################
|
||||
xAxes = plt.axes([0.01, 0.8, 0.2, 0.04])
|
||||
self.xBox = TextBox(xAxes, "xOffset (in)", initial="0")
|
||||
label = self.xBox.ax.get_children()[1] # label is a child of the TextBox axis
|
||||
label.set_position([0.5,1]) # [x,y] - change here to set the position
|
||||
label.set_horizontalalignment('center')
|
||||
label.set_verticalalignment('bottom')
|
||||
self.xBox.on_submit(self.onUpdateXOffset)
|
||||
|
||||
yAxes = plt.axes([0.01, 0.7, 0.2, 0.04])
|
||||
self.yBox = TextBox(yAxes, "yOffset (in)", initial="0")
|
||||
label = self.yBox.ax.get_children()[1] # label is a child of the TextBox axis
|
||||
label.set_position([0.5,1]) # [x,y] - change here to set the position
|
||||
label.set_horizontalalignment('center')
|
||||
label.set_verticalalignment('bottom')
|
||||
self.yBox.on_submit(self.onUpdateYOffset)
|
||||
|
||||
rAxes = plt.axes([0.01, 0.6, 0.2, 0.04])
|
||||
self.rBox = TextBox(rAxes, "rotation (deg)", initial="0")
|
||||
label = self.rBox.ax.get_children()[1] # label is a child of the TextBox axis
|
||||
label.set_position([0.5,1]) # [x,y] - change here to set the position
|
||||
label.set_horizontalalignment('center')
|
||||
label.set_verticalalignment('bottom')
|
||||
self.rBox.on_submit(self.onUpdateRotation)
|
||||
|
||||
cid = fig.canvas.mpl_connect('button_press_event', self.onclick)
|
||||
cid = fig.canvas.mpl_connect('button_release_event', self.onrelease)
|
||||
cid = fig.canvas.mpl_connect('motion_notify_event', self.onmousemove)
|
||||
cid = fig.canvas.mpl_connect('key_press_event', self.onkeypress)
|
||||
|
||||
#Create object to handle controlling the CNC machine and sending the g codes to it
|
||||
if disableSender == False:
|
||||
self.sender = GCodeSender(gCodeFile)
|
||||
|
||||
|
||||
self.points = []
|
||||
self.laserPowers = []
|
||||
self.machine = Machine()
|
||||
|
||||
with open(gCodeFile, 'r') as fh:
|
||||
for line_text in fh.readlines():
|
||||
line = pygcode.Line(line_text)
|
||||
prevPos = self.machine.pos
|
||||
self.machine.process_block(line.block)
|
||||
|
||||
######################################
|
||||
# First determine machine motion mode and power
|
||||
######################################
|
||||
motion = str(self.machine.mode.modal_groups[MODAL_GROUP_MAP['motion']])
|
||||
sCode = str(self.machine.mode.modal_groups[MODAL_GROUP_MAP['spindle_speed']])
|
||||
power = sCode.split('S')[1]
|
||||
#Make rapid movements 0 laser power
|
||||
if motion == "G00" or motion == "G0":
|
||||
self.laserPowers.append(0.0)
|
||||
else:
|
||||
self.laserPowers.append(float(power) / 100.0)
|
||||
|
||||
######################################
|
||||
# Determine machine current unit, convert to inches
|
||||
######################################
|
||||
unit = str(self.machine.mode.modal_groups[MODAL_GROUP_MAP['units']])
|
||||
x = None
|
||||
if unit == "G20":
|
||||
if motion == "G02" or motion == "G2" or motion == "G03" or motion == "G3":
|
||||
beforeComment = line_text.split("(")[0]
|
||||
resultX = re.search('X[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
resultY = re.search('Y[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
resultI = re.search('I[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
resultJ = re.search('J[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
if resultX != None:
|
||||
x = float(resultX.group()[1:])
|
||||
y = float(resultY.group()[1:])
|
||||
i = float(resultI.group()[1:])
|
||||
j = float(resultJ.group()[1:])
|
||||
clockWise = "G02" in motion or "G2" in motion
|
||||
else:
|
||||
self.points.append(Point3D(self.machine.pos.X, self.machine.pos.Y, self.machine.pos.Z))
|
||||
else:
|
||||
if motion == "G02" or motion == "G2" or motion == "G03" or motion == "G3":
|
||||
resultX = re.search('X[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
resultY = re.search('Y[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
resultI = re.search('I[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
resultJ = re.search('J[+-]?([0-9]*[.])?[0-9]+', beforeComment)
|
||||
if resultX != None:
|
||||
x = float(resultX.group()[1:]) / 25.4
|
||||
y = float(resultY.group()[1:]) / 25.4
|
||||
i = float(resultI.group()[1:]) / 25.4
|
||||
j = float(resultJ.group()[1:]) / 25.4
|
||||
clockWise = "G02" in motion or "G2" in motion
|
||||
else:
|
||||
self.points.append(Point3D(self.machine.pos.X / 25.4, self.machine.pos.Y / 25.4, self.machine.pos.Z / 25.4))
|
||||
if x != None:
|
||||
self.points.extend(arcToPoints(prevPos.X, prevPos.Y, self.machine.pos.X, self.machine.pos.Y, i, j, clockWise, self.machine.pos.Z))
|
||||
self.laserPowers.extend([self.laserPowers[-1]] * (len(self.points) - len(self.laserPowers)))
|
||||
|
||||
|
||||
#scale mm to inches
|
||||
#self.scalePoints(self.points, 1 / 25.4, 1 / 25.4)
|
||||
#self.paths, attributes, svg_attributes = svg2paths2("C:\\Git\\svgToGCode\\project_StorageBox\\0p5in_BoxBacks_x4_35by32.svg")
|
||||
#Generate a list of all points up front, non transformed
|
||||
#self.points = []
|
||||
#for path in self.paths:
|
||||
# newPoints = pathToPoints3D(path, 10)
|
||||
# self.points.extend(newPoints)
|
||||
|
||||
#scale mm to inches
|
||||
#self.scalePoints(self.points, 1 / 25.4, 1 / 25.4)
|
||||
self.updateOverlay()
|
||||
|
||||
def set_ref_loc(self, refPoints):
|
||||
self.refPoints = refPoints
|
||||
|
||||
def scalePoints(self, points, scaleX, scaleY):
|
||||
for point in points:
|
||||
point.X = point.X * scaleX
|
||||
point.Y = point.Y * scaleY
|
||||
|
||||
def offsetPoints(self, points, X, Y):
|
||||
for point in points:
|
||||
point.X = point.X + X
|
||||
point.Y = point.Y + Y
|
||||
|
||||
def rotatePoints(self, points, origin, angle):
|
||||
for point in points:
|
||||
point.X, point.Y = rotate(origin, [point.X, point.Y], angle)
|
||||
|
||||
def overlaySvg(self, image, xOff = 0, yOff = 0, rotation = 0):
|
||||
"""
|
||||
image is opencv image
|
||||
xOff is in inches
|
||||
yOff is in inches
|
||||
rotation is in degrees
|
||||
"""
|
||||
#convert to radians
|
||||
rotation = rotation * math.pi / 180
|
||||
overlay = image.copy()
|
||||
|
||||
#Make copy of points before transforming them
|
||||
transformedPoints = deepcopy(self.points)
|
||||
#Apply an offset in inches
|
||||
self.offsetPoints(transformedPoints, xOff, yOff)
|
||||
#Then rotate
|
||||
self.rotatePoints(transformedPoints, [xOff, yOff], rotation)
|
||||
#Then convert to pixel location
|
||||
self.scalePoints(transformedPoints, self.bedViewSizePixels / self.bedSize.X, self.bedViewSizePixels / self.bedSize.Y)
|
||||
prevPoint = None
|
||||
for point, laserPower in zip(transformedPoints, self.laserPowers):
|
||||
newPoint = (int(point.X), int(point.Y))
|
||||
if prevPoint is not None:
|
||||
cv2.line(overlay, prevPoint, newPoint, (int(laserPower * 255), 0, 0), 2)
|
||||
prevPoint = newPoint
|
||||
return overlay
|
||||
|
||||
def updateOverlay(self):
|
||||
overlay = self.overlaySvg(self.cv2Overhead, self.xOffset, self.yOffset, self.rotation)
|
||||
self.matPlotImage.set_data(overlay)
|
||||
self.matPlotImage.figure.canvas.draw()
|
||||
|
||||
def onUpdateXOffset(self, text):
|
||||
if self.xOffset == float(text):
|
||||
return
|
||||
self.xOffset = float(text)
|
||||
self.updateOverlay()
|
||||
|
||||
def onUpdateYOffset(self, text):
|
||||
if self.yOffset == float(text):
|
||||
return
|
||||
self.yOffset = float(text)
|
||||
self.updateOverlay()
|
||||
|
||||
def onUpdateRotation(self, text):
|
||||
if self.rotation == float(text):
|
||||
return
|
||||
self.rotation = float(text)
|
||||
self.updateOverlay()
|
||||
|
||||
def onmousemove(self, event):
|
||||
self.move = True
|
||||
self.mouseX = event.xdata
|
||||
self.mouseY = event.ydata
|
||||
|
||||
def onkeypress(self, event):
|
||||
if event.key == 's':
|
||||
self.sender.send_file(self.xOffset, self.yOffset, self.rotation)
|
||||
|
||||
elif event.key == 'h':
|
||||
self.sender.home_machine()
|
||||
|
||||
elif event.key == 'z':
|
||||
#Find X, Y, and Z position of the aluminum reference block on the work pice
|
||||
#sepcify the X and Y estimated position of the reference block
|
||||
self.sender.zero_on_workpice(self.refPoints)
|
||||
|
||||
elif event.key == 'm':
|
||||
self.sender.move_to_absolute(self.mouseX / self.bedViewSizePixels * self.bedSize.X \
|
||||
, self.mouseY / self.bedViewSizePixels * self.bedSize.Y)
|
||||
|
||||
def onclick(self, event):
|
||||
self.move = False
|
||||
|
||||
def onrelease(self, event):
|
||||
global matPlotImage
|
||||
#If clicking outside region, or mouse moved since released then return
|
||||
|
||||
if event.x < 260 or self.move == True:
|
||||
return
|
||||
pixelsToOrigin = np.array([event.xdata, event.ydata])
|
||||
if event.button == MouseButton.RIGHT:
|
||||
xIn = pixelsToOrigin[0] / self.bedViewSizePixels * self.bedSize.X
|
||||
yIn = pixelsToOrigin[1] / self.bedViewSizePixels * self.bedSize.Y
|
||||
self.rotation = math.atan2(yIn - self.yOffset, xIn - self.xOffset)
|
||||
self.rotation = self.rotation * 180 / math.pi
|
||||
|
||||
else:
|
||||
self.xOffset = pixelsToOrigin[0] / self.bedViewSizePixels * self.bedSize.X
|
||||
self.yOffset = pixelsToOrigin[1] / self.bedViewSizePixels * self.bedSize.Y
|
||||
self.updateOverlay()
|
||||
self.xBox.set_val(str(self.xOffset))
|
||||
self.yBox.set_val(str(self.yOffset))
|
||||
self.rBox.set_val(str(self.rotation))
|
||||
|
||||
def crop_half_vertically(img):
|
||||
#cropped_img = image[,int(image.shape[1]/2):int(image.shape[1])]
|
||||
#height = img.shape[0]
|
||||
width = img.shape[1]
|
||||
# Cut the image in half
|
||||
width_cutoff = int(width // 2)
|
||||
left = img[:, :width_cutoff]
|
||||
right = img[:, width_cutoff:]
|
||||
return left, right
|
||||
|
||||
|
||||
def sortBoxPoints(points, rightSide = True):
|
||||
#First sort by X
|
||||
sortedX = sorted(points , key=lambda k: [k[0]])
|
||||
#Then sorty by Y left and right most two X set of points
|
||||
rightTwoPoints = sorted(sortedX[2:], key=lambda k: [k[1]])
|
||||
leftTwoPoints = sorted(sortedX[0:2], key=lambda k: [k[1]])
|
||||
if rightSide:
|
||||
minZminY = leftTwoPoints[1]
|
||||
minZmaxY = leftTwoPoints[0]
|
||||
maxZmaxY = rightTwoPoints[0]
|
||||
maxZminY = rightTwoPoints[1]
|
||||
else:
|
||||
minZminY = rightTwoPoints[1]
|
||||
minZmaxY = rightTwoPoints[0]
|
||||
maxZmaxY = leftTwoPoints[0]
|
||||
maxZminY = leftTwoPoints[1]
|
||||
|
||||
return [minZminY, minZmaxY, maxZmaxY, maxZminY]
|
||||
def get_id_loc(image, boxes, ids, ID):
|
||||
for box, curID in zip(boxes, ids):
|
||||
if curID != ID:
|
||||
continue
|
||||
boxPoints = box[0]
|
||||
boxPointsSorted = np.array(sortBoxPoints(boxPoints))
|
||||
return boxPointsSorted
|
||||
return None
|
||||
|
||||
def boxes_to_point_and_location_list(boxes, ids, image, rightSide = False):
|
||||
global boxWidth
|
||||
global idToLocDict
|
||||
pointList = []
|
||||
locations = []
|
||||
for box, ID in zip(boxes, ids):
|
||||
#IDs below 33 are on right side, skip those if looking for left side points
|
||||
if (rightSide == False and ID < 33) or \
|
||||
(rightSide == True and ID >= 33) or \
|
||||
(ID > 65):
|
||||
continue
|
||||
boxLoc = idToLocDict[ID[0]]
|
||||
for boxPoints in box:
|
||||
prevX = int(boxPoints[0][0])
|
||||
prevY = int(boxPoints[0][1])
|
||||
i = 0
|
||||
|
||||
font = cv2.FONT_HERSHEY_SIMPLEX
|
||||
bottomLeftCornerOfText = prevX + 100,prevY
|
||||
fontScale = 1
|
||||
fontColor = (0,255,255)
|
||||
thickness = 3
|
||||
lineType = 2
|
||||
|
||||
cv2.putText(image,str(ID[0]),
|
||||
bottomLeftCornerOfText,
|
||||
font,
|
||||
fontScale,
|
||||
fontColor,
|
||||
thickness,
|
||||
lineType)
|
||||
|
||||
boxPointsSorted = sortBoxPoints(boxPoints, rightSide)
|
||||
for point in boxPointsSorted:
|
||||
############################################
|
||||
# Generate list of points
|
||||
############################################
|
||||
pointList.append(point)
|
||||
|
||||
|
||||
############################################
|
||||
# Generate point location based on boxWidth and index within box
|
||||
############################################
|
||||
curLoc = [0,0]
|
||||
if i == 0:
|
||||
curLoc[0] = boxLoc[0] + 0
|
||||
curLoc[1] = boxLoc[1] + 0
|
||||
elif i ==1:
|
||||
curLoc[0] = boxLoc[0] + 0
|
||||
curLoc[1] = boxLoc[1] + 1
|
||||
elif i == 2:
|
||||
curLoc[0] = boxLoc[0] + 1
|
||||
curLoc[1] = boxLoc[1] + 1
|
||||
else:
|
||||
curLoc[0] = boxLoc[0] + 1
|
||||
curLoc[1] = boxLoc[1] + 0
|
||||
if rightSide:
|
||||
curLoc[0] = curLoc[0] * boxWidth + rightBoxRef.Z
|
||||
curLoc[1] = curLoc[1] * boxWidth + rightBoxRef.Y
|
||||
else:
|
||||
curLoc[0] = curLoc[0] * boxWidth + leftBoxRef.Z
|
||||
curLoc[1] = curLoc[1] * boxWidth + leftBoxRef.Y
|
||||
locations.append(curLoc)
|
||||
|
||||
############################################
|
||||
# Display points on image
|
||||
############################################
|
||||
x= int(point[0])
|
||||
y= int(point[1])
|
||||
image = cv2.arrowedLine(image, (prevX,prevY), (x,y),
|
||||
(0,255,255), 5)
|
||||
|
||||
prevX = x
|
||||
prevY = y
|
||||
i = i + 1
|
||||
|
||||
return np.array(pointList), locations, image
|
||||
|
||||
def generate_dest_locations(corners, image):
|
||||
global boxWidth
|
||||
prevX=2000
|
||||
prevY=2000
|
||||
locations = []
|
||||
yIndex = 0
|
||||
xIndex = 0
|
||||
for corner in corners:
|
||||
x,y= corner
|
||||
x= int(x)
|
||||
y= int(y)
|
||||
|
||||
#cv2.rectangle(gray, (prevX,prevY),(x,y),(i*3,0,0),-1)
|
||||
image = cv2.arrowedLine(image, (prevX,prevY), (x,y),
|
||||
(200,0,0), 5)
|
||||
locations.append([xIndex * boxWidth, yIndex * boxWidth])
|
||||
if xIndex == 2:
|
||||
xIndex = 0
|
||||
yIndex = yIndex + 1
|
||||
else:
|
||||
xIndex = xIndex + 1
|
||||
prevX = x
|
||||
prevY = y
|
||||
return locations, image
|
||||
|
||||
def pixel_loc_at_cnc_bed(phyToPixel):
|
||||
global bedSize
|
||||
points = np.array([[0,0],[bedSize.Z,0],[bedSize.Z,bedSize.Y],[0,bedSize.Y]])
|
||||
return points, \
|
||||
cv2.perspectiveTransform(points.reshape(-1,1,2), phyToPixel)
|
||||
|
||||
|
||||
def display_4_lines(pixels, frame, flip=False):
|
||||
line1 = tuple(pixels[0][0].astype(np.int))
|
||||
line2 = tuple(pixels[1][0].astype(np.int))
|
||||
if flip:
|
||||
line3 = tuple(pixels[3][0].astype(np.int))
|
||||
line4 = tuple(pixels[2][0].astype(np.int))
|
||||
else:
|
||||
line3 = tuple(pixels[2][0].astype(np.int))
|
||||
line4 = tuple(pixels[3][0].astype(np.int))
|
||||
cv2.line(frame, line1,line2,(0,255,255),3)
|
||||
cv2.line(frame, line2,line3,(0,255,255),3)
|
||||
cv2.line(frame, line3,line4,(0,255,255),3)
|
||||
cv2.line(frame, line4,line1,(0,255,255),3)
|
||||
|
||||
class GCodeSender:
|
||||
def __init__(self, gCodeFile):
|
||||
self.event = threading.Event()
|
||||
self.gerbil = Gerbil(self.gerbil_callback)
|
||||
self.gerbil.setup_logging()
|
||||
|
||||
ports = serial.tools.list_ports.comports()
|
||||
for p in ports:
|
||||
print(p.device)
|
||||
|
||||
self.gerbil.cnect("COM4", 115200)
|
||||
self.gerbil.poll_start()
|
||||
self.gCodeFile = gCodeFile
|
||||
|
||||
self.dataList = []
|
||||
self.eventList = []
|
||||
|
||||
|
||||
|
||||
|
||||
def gerbil_callback(self, eventstring, *data):
|
||||
args = []
|
||||
for d in data:
|
||||
args.append(str(d))
|
||||
print("GERBIL CALLBACK: event={} data={}".format(eventstring.ljust(30), ", ".join(args)))
|
||||
self.curData = data
|
||||
self.curEvent = eventstring
|
||||
self.dataList.append(data)
|
||||
self.eventList.append(eventstring)
|
||||
print(eventstring)
|
||||
print(data)
|
||||
|
||||
#indicate callback is done
|
||||
self.event.set()
|
||||
|
||||
def home_machine(self):
|
||||
self.gerbil.send_immediately("$H\n")
|
||||
pass
|
||||
|
||||
def zero_on_workpice(self, refPoints):
|
||||
avgX = (refPoints[0][0] + refPoints[1][0] + refPoints[2][0] + refPoints[3][0]) / 4.0
|
||||
avgY = (refPoints[0][1] + refPoints[1][1] + refPoints[2][1] + refPoints[3][1]) / 4.0
|
||||
|
||||
self.flushGcodeRespQue()
|
||||
# G53 prepended on G code means run code with absolute positioning
|
||||
self.gerbil.send_immediately("G20\n") # Inches
|
||||
time.sleep(1)
|
||||
self.move_to_absolute(None, None, -0.25, feedRate = 50) # Move close to Z limit
|
||||
self.waitOnGCodeComplete("G53")
|
||||
print("Complete")
|
||||
time.sleep(1)
|
||||
return
|
||||
|
||||
#Rapid traverse to above reference plate
|
||||
print("avgXY: " + str(avgX) + " " + str(avgY))
|
||||
#self.gerbil.send_immediately("G53 G1 X" + str(avgX) + " Y" + str(avgY) + "\n")
|
||||
time.sleep(1)
|
||||
|
||||
#Move down medium speed to reference plate
|
||||
self.gerbil.send_immediately("G92 Z0\n") # G38.2 only works in work coordinate systeem, so set work coordinate to 0 so we know where we are in that
|
||||
self.gerbil.send_immediately("G38.2 Z-3.75 F5.9\n")
|
||||
M114Resp = self.waitOnGCodeComplete("PRB")
|
||||
self.gerbil.send_immediately("G92 Z0\n")
|
||||
|
||||
#self.gerbil.send_immediately("M114")
|
||||
#M114Resp = self.waitOnGCodeComplete("M114")
|
||||
|
||||
#resultZ = re.search('Z[+-]?([0-9]*[.])?[0-9]+', M114Resp)
|
||||
#z = float(resultY.group()[1:])
|
||||
|
||||
#Move up, then slowly to reference plate
|
||||
self.gerbil.send_immediately("G1 Z0.25") # Move just above reference plate
|
||||
self.gerbil.send_immediately("G38.2 Z-0.05 F1.5\n") #Move down slowly
|
||||
M114Resp = self.waitOnGCodeComplete("PRB")
|
||||
self.gerbil.send_immediately("G92 Z0") # set this as Z0
|
||||
self.gerbil.send_immediately("G1 Z1") # Move just above reference plate
|
||||
|
||||
#Move up, then move to side of reference plate
|
||||
#Move down, then over to side of reference plate
|
||||
#Move back, then slowly to side of reference plate
|
||||
|
||||
#Move up, then over to other side
|
||||
|
||||
#Move up, then move to side of reference plate
|
||||
#Move down, then over to side of reference plate
|
||||
#Move back, then slowly to side of reference plate
|
||||
|
||||
#Move up, then to center of reference plate
|
||||
def waitOnGCodeComplete(self, gCode):
|
||||
resp = None
|
||||
while resp == None:
|
||||
if len(self.dataList) == 0:
|
||||
self.event.wait()
|
||||
print("curData:" + str(self.dataList[0]))
|
||||
for data in self.dataList:
|
||||
print(" " + str(data))
|
||||
if gCode in str(data):
|
||||
resp = data
|
||||
#Remove item from list
|
||||
self.dataList.pop(0)
|
||||
self.eventList.pop(0)
|
||||
time.sleep(1)
|
||||
print("Found")
|
||||
return resp
|
||||
|
||||
def flushGcodeRespQue(self):
|
||||
self.dataList = []
|
||||
self.eventList = []
|
||||
|
||||
def move_to_absolute(self, x, y , z = None, feedRate = 100):
|
||||
if x == None:
|
||||
xStr = ""
|
||||
else:
|
||||
xStr = " X" + str(X)
|
||||
|
||||
if y == None:
|
||||
yStr = ""
|
||||
else:
|
||||
yStr = " Y" + str(z)
|
||||
|
||||
if z == None:
|
||||
zStr = ""
|
||||
else:
|
||||
zStr = " Z" + str(z)
|
||||
fStr = " F" + str(feedRate)
|
||||
self.gerbil.send_immediately("G53 G1" + xStr + yStr + zStr + fStr + "\n")
|
||||
|
||||
def send_file(self, xOffset, yOffset, rotation):
|
||||
#Set to inches
|
||||
self.gerbil.send_immediately("G20\n")
|
||||
|
||||
##########################################
|
||||
#Offset work to desired offset
|
||||
##########################################
|
||||
self.gerbil.send_immediately("G54 X" + str(xOffset) + " Y" + str(yOffset) + "\n")
|
||||
|
||||
##########################################
|
||||
#Rotate work to desired rotation
|
||||
##########################################
|
||||
deg = -rotation * 180 / math.pi
|
||||
self.gerbil.send_immediately("G68 X0 Y0 R" + str(deg) + "\n")
|
||||
|
||||
#Set back to mm, typically the units g code assumes
|
||||
self.gerbil.send_immediately("G21\n")
|
||||
|
||||
with open(self.gCodeFile, 'r') as fh:
|
||||
for line_text in fh.readlines():
|
||||
self.gerbil.stream(line_text)
|
||||
|
||||
# Turn off rotated coordinate system
|
||||
self.gerbil.send_immediately("G69\n")
|
||||
|
||||
|
||||
#############################################################################
|
||||
# Main
|
||||
#############################################################################
|
||||
|
||||
cap = cv2.VideoCapture(1, cv2.CAP_DSHOW) # Set Capture Device, in case of a USB Webcam try 1, or give -1 to get a list of available devices
|
||||
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
|
||||
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 800)
|
||||
|
||||
#Set Width and Height
|
||||
# cap.set(3,1280)
|
||||
# cap.set(4,720)
|
||||
|
||||
|
||||
# Capture frame-by-frame
|
||||
#ret, frame = cap.read()
|
||||
frame = cv2.imread('cnc4.jpeg')
|
||||
img = cv2.imread('cnc4.jpeg')
|
||||
|
||||
#######################################################################
|
||||
# Get grayscale image above threshold
|
||||
#######################################################################
|
||||
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
|
||||
|
||||
########################################
|
||||
# Get aruco box information
|
||||
########################################
|
||||
boxes, ids, rejectedImgPoints = cv2.aruco.detectMarkers(gray, cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_100))
|
||||
print("boxes")
|
||||
print(boxes)
|
||||
print("ids")
|
||||
print(ids)
|
||||
|
||||
pixelLoc = [None]*2
|
||||
locations = [None]*2
|
||||
pixelToPhysicalLoc = [None]*2
|
||||
physicalToPixelLoc = [None]*2
|
||||
pixelsAtBed = [None]*2
|
||||
refPointsAtBed = [None]*2
|
||||
|
||||
########################################
|
||||
# Determine vertical homography at left (i=0) and right (i=1) side of CNC machine
|
||||
########################################
|
||||
for i in range(0, 2):
|
||||
pixelLoc[i], locations[i], frame = boxes_to_point_and_location_list(boxes, ids, frame, i == 1)
|
||||
print(ids)
|
||||
for location in locations[i]:
|
||||
print(location)
|
||||
|
||||
########################################
|
||||
#Determine forward and backward transformation through homography
|
||||
########################################
|
||||
pixelToPhysicalLoc[i], status = cv2.findHomography(np.array(pixelLoc[i]), np.array(locations[i]))
|
||||
physicalToPixelLoc[i], status = cv2.findHomography(np.array(locations[i]), np.array(pixelLoc[i]))
|
||||
|
||||
#############################################################
|
||||
# Draw vertical box on left and right vertical region of CNC
|
||||
#############################################################
|
||||
refPointsAtBed[i], pixelsAtBed[i] = pixel_loc_at_cnc_bed(physicalToPixelLoc[i])
|
||||
display_4_lines(pixelsAtBed[i], frame)
|
||||
|
||||
#out = cv2.perspectiveTransform(np.array([[32.8125*7,32.8125*1],[32.8125*8,32.8125*1],[32.8125*8,32.8125*2],[32.8125*7,32.8125*2]]).reshape(-1,1,2), backward)
|
||||
|
||||
##########################################################################
|
||||
# Get forward and backward homography from bed location to pixel location
|
||||
##########################################################################
|
||||
bedPixelCorners = np.array([[float(frame.shape[1]),0.0],[float(frame.shape[1]),float(frame.shape[0])],[0.0,0.0],[0.0,float(frame.shape[0])]])
|
||||
refPixels = np.array([pixelsAtBed[0][1],pixelsAtBed[0][2],pixelsAtBed[1][1],pixelsAtBed[1][2]])
|
||||
bedPhysicalToPixelLoc, status = cv2.findHomography(bedPixelCorners, refPixels)
|
||||
bedPixelToPhysicalLoc, status = cv2.findHomography(refPixels, bedPixelCorners)
|
||||
|
||||
#############################################################
|
||||
# Draw box on CNC bed
|
||||
#############################################################
|
||||
pixels = cv2.perspectiveTransform(bedPixelCorners.reshape(-1,1,2), bedPhysicalToPixelLoc)
|
||||
display_4_lines(pixels, frame, flip=True)
|
||||
|
||||
#############################################################
|
||||
# Display bed on original image
|
||||
#############################################################
|
||||
gray = cv2.resize(frame, (1280, 700))
|
||||
cv2.imshow('image',gray)
|
||||
cv2.waitKey()
|
||||
|
||||
######################################################################
|
||||
# Warp perspective to perpendicular to bed view, create overlay calss
|
||||
######################################################################
|
||||
gCodeFile = 'test.nc'
|
||||
cv2Overhead = cv2.warpPerspective(frame, bedPixelToPhysicalLoc, (frame.shape[1], frame.shape[0]))
|
||||
cv2Overhead = cv2.resize(cv2Overhead, (bedViewSizePixels, bedViewSizePixels))
|
||||
GCodeOverlay = OverlayGcode(cv2Overhead, gCodeFile, False)
|
||||
|
||||
########################################
|
||||
# Detect box location in overhead image
|
||||
########################################
|
||||
#Change overhead image to gray for box detection
|
||||
refPixelLoc = get_id_loc(frame, boxes, ids, 66)
|
||||
refPhysicalLoc = cv2.perspectiveTransform(refPixelLoc.reshape(-1,1,2), bedPixelToPhysicalLoc)
|
||||
bedPercent = refPhysicalLoc / [frame.shape[1], frame.shape[0]]
|
||||
bedLoc = []
|
||||
for a in bedPercent:
|
||||
bedLoc.append(a[0] * [bedSize.X, bedSize.Y])
|
||||
print("Bed Loc: " + str(bedLoc))
|
||||
GCodeOverlay.set_ref_loc(bedLoc)
|
||||
|
||||
######################################################################
|
||||
# Create a G Code sender now that overlay is created
|
||||
######################################################################
|
||||
|
||||
plt.show()
|
||||
|
||||
# When everything done, release the capture
|
||||
cap.release()
|
||||
cv2.destroyAllWindows()
|
||||
Ładowanie…
Reference in New Issue