36 lines
1.1 KiB
Python
36 lines
1.1 KiB
Python
from hardware.dobot_nova5 import dobot_nova5
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import cv2
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from hardware.remote_cam import ToolCamera
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import threading
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import keyboard
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import numpy as np
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class Getpose:
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def __init__(self):
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self.arm = dobot_nova5("192.168.5.1")
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self.arm.start()
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self.cam = ToolCamera(host='127.0.0.1')
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self.cam.start()
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self.thread1=threading.Thread(target=self.show)
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self.thread1.start()
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self.data=[]
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self.arm.start_drag()
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def show(self):
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while True:
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rgb, depth, intrinsics = self.cam.get_latest_frame()
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cv2.imshow(rgb)
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def add_data(self):
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angle=self.arm.getAngel()
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self.data=self.data.append(angle)
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print(angle)
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def save_data(self):
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data=np.array(self.data)
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np.savetxt('pose.txt', data ,fmt='%.5f')
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if __name__ == "__main__":
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sele=Getpose()
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keyboard.add_hotkey('ctrl+shift+a', lambda: sele.add_data())
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keyboard.add_hotkey('ctrl+shift+s', lambda: sele.save_data())
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keyboard.add_hotkey('ctrl+shift+c', lambda: sele.arm.disableRobot())
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# 阻塞监听（保持程序运行）
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keyboard.wait('esc') # 按ESC退出 |