Beispiel #1
0
    def __init__(self, pictureNumber):
        resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
        frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
        image = cv2.imread(frameFileName)
        self.geometricalImage = WorldImage()
        self.geometricalImage.buildMap(image)
        self.geometricalImage.updateRobotPosition(image)
        resultFile = open(resultFileName, 'r')
        centerOfMassLine = resultFile.readline()
        centerOfMassLine = centerOfMassLine[13:]
        self.centersOfMass = []
        xPosition = ""
        yPosition = ""
        isFirstNumber = True

        for character in centerOfMassLine:
            if character != '(' and character != ',' and character != ')':
                if isFirstNumber:
                    xPosition += character
                else:
                    yPosition += character

            if character == '(':
                isFirstNumber = True

            if character == ',':
                isFirstNumber = False

            if character == ')':
                self.centersOfMass.append((int(xPosition), int(yPosition)))
                xPosition = ""
                yPosition = ""
Beispiel #2
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class ResultChecker:
    def __init__(self, pictureNumber):
        resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
        frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
        image = cv2.imread(frameFileName)
        self.geometricalImage = WorldImage()
        self.geometricalImage.buildMap(image)
        self.geometricalImage.updateRobotPosition(image)
        resultFile = open(resultFileName, 'r')
        centerOfMassLine = resultFile.readline()
        centerOfMassLine = centerOfMassLine[13:]
        self.centersOfMass = []
        xPosition = ""
        yPosition = ""
        isFirstNumber = True

        for character in centerOfMassLine:
            if character != '(' and character != ',' and character != ')':
                if isFirstNumber:
                    xPosition += character
                else:
                    yPosition += character

            if character == '(':
                isFirstNumber = True

            if character == ',':
                isFirstNumber = False

            if character == ')':
                self.centersOfMass.append((int(xPosition), int(yPosition)))
                xPosition = ""
                yPosition = ""

    def checkNumberOfShapesFound(self):
        shapeFound = 0
        for shape in self.geometricalImage.getMap().getShapesList():
            shapeCenterOfMassX, shapeCenterOfMassY = shape.findCenterOfMass()
            for centerOfMass in self.centersOfMass:
                if abs(shapeCenterOfMassX - centerOfMass[0]) < 10 and abs(
                        shapeCenterOfMassY - centerOfMass[1]) < 10:
                    shapeFound += 1
        if shapeFound != len(self.centersOfMass) or len(
                self.geometricalImage.getMap().getShapesList()) != len(
                    self.centersOfMass):
            print("Number of shapes found : " +
                  str(len(self.geometricalImage.getMap().getShapesList())))
            print("Number of real shapes found : " + str(shapeFound))
            print("Number of shapes present : " + str(len(self.centersOfMass)))
        return shapeFound, len(self.centersOfMass)

    def checkIfLimitFound(self):
        if self.geometricalImage.getMap().getMapLimit().getArea() < 1:
            print("Limit not found")

    def checkIfRobotFound(self):
        if self.geometricalImage.getMap().robot.square.getArea() < 1:
            print("Robot not found")
    def __init__(self, pictureNumber):
        resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
        frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
        image = cv2.imread(frameFileName)
        self.geometricalImage = WorldImage()
        self.geometricalImage.buildMap(image)
        self.geometricalImage.updateRobotPosition(image)
        resultFile = open(resultFileName, 'r')
        centerOfMassLine = resultFile.readline()
        centerOfMassLine = centerOfMassLine[13:]
        self.centersOfMass = []
        xPosition = ""
        yPosition = ""
        isFirstNumber = True

        for character in centerOfMassLine:
            if character != '(' and character != ',' and character != ')':
                if isFirstNumber:
                    xPosition += character
                else:
                    yPosition += character

            if character == '(':
                isFirstNumber = True

            if character == ',':
                isFirstNumber = False

            if character == ')':
                self.centersOfMass.append((int(xPosition), int(yPosition)))
                xPosition = ""
                yPosition = ""
class ResultChecker:

    def __init__(self, pictureNumber):
        resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
        frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
        image = cv2.imread(frameFileName)
        self.geometricalImage = WorldImage()
        self.geometricalImage.buildMap(image)
        self.geometricalImage.updateRobotPosition(image)
        resultFile = open(resultFileName, 'r')
        centerOfMassLine = resultFile.readline()
        centerOfMassLine = centerOfMassLine[13:]
        self.centersOfMass = []
        xPosition = ""
        yPosition = ""
        isFirstNumber = True

        for character in centerOfMassLine:
            if character != '(' and character != ',' and character != ')':
                if isFirstNumber:
                    xPosition += character
                else:
                    yPosition += character

            if character == '(':
                isFirstNumber = True

            if character == ',':
                isFirstNumber = False

            if character == ')':
                self.centersOfMass.append((int(xPosition), int(yPosition)))
                xPosition = ""
                yPosition = ""

    def checkNumberOfShapesFound(self):
        shapeFound = 0
        for shape in self.geometricalImage.getMap().getShapesList():
            shapeCenterOfMassX, shapeCenterOfMassY = shape.findCenterOfMass()
            for centerOfMass in self.centersOfMass:
                if abs(shapeCenterOfMassX - centerOfMass[0]) < 10 and abs(shapeCenterOfMassY - centerOfMass[1]) < 10:
                    shapeFound += 1
        if shapeFound != len(self.centersOfMass) or len(self.geometricalImage.getMap().getShapesList()) != len(self.centersOfMass):
            print("Number of shapes found : " + str(len(self.geometricalImage.getMap().getShapesList())))
            print("Number of real shapes found : " + str(shapeFound))
            print("Number of shapes present : " + str(len(self.centersOfMass)))
        return shapeFound, len(self.centersOfMass)

    def checkIfLimitFound(self):
        if self.geometricalImage.getMap().getMapLimit().getArea() < 1:
            print("Limit not found")

    def checkIfRobotFound(self):
        if self.geometricalImage.getMap().robot.square.getArea() < 1:
            print("Robot not found")
Beispiel #5
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def myMain():
    #frame = cv2.imread('Photo-Test/Frames/Picture 500.jpg')
    geometricalImage = WorldImage()

    camera = cv2.VideoCapture(1)

    while(True):

        ret, frame = camera.read()
        #frame = cv2.imread('Photo-Test/Frames/Picture 500.jpg')
        frame = cv2.resize(frame, (960, 720))
        copyF = copy.copy(frame)

        geometricalImage.buildMap(frame)
        geometricalImage.updateRobotPosition(frame)
        geometricalImage.addLabels(frame)
        worldImage = geometricalImage.drawMapOnFrame(frame)
        cv2.imshow("resized", worldImage)

        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
Beispiel #6
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        #     return m * (X - x1) + y1
        #
        # line = np.vectorize(line_eq)
        #
        # x = np.arange(0, 1200)
        # y = line(x).astype(np.uint)
        #
        # cv2.line(frame, (x[0], y[0]), (x[-1], y[-1]), (0,0,0))
        # cv2.imshow("foo",frame)
        # cv2.waitKey()

    while (True):
        ret, frame = camera.read()
        #frame = cv2.imread('Photos/3105/table 5/Jour/rideau ferme/Picture 1.jpg')
        cv2.resize(frame, (960, 720))
        geometricalImage = WorldImage()
        geometricalImage.buildMap(frame)
        geometricalImage.updateRobotPosition(frame)
        geometricalImage.addLabels(frame)
        # worldV = worldVision()
        # map = worldV.getCurrentImage()
        worldImage = geometricalImage.drawMapOnFrame(frame)
        #print(geometricalImage.getMap().robot.findCenterOfMass())

        cv2.imshow('Picture ' + str(x), worldImage)

        # geometricalImage = WorldImage(frame)
        # geometricalImage.setMap()
        # geometricalImage.addLabels()
        # worldImage = geometricalImage.drawMapOnImage()
Beispiel #7
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def myMain2():

    camera = cv2.VideoCapture(0)
    camera.set(3, 3264)
    camera.set(4, 2448)

    #frame = cv2.imread('Photo-Test/Frames/Picture 500.jpg')
    geometricalImage = WorldImage()
    #ret, frame = camera.read()
    frame = cv2.imread('Photo-Test/Frames/Picture 501.jpg')
    frame = cv2.resize(frame, (960, 720))
    # copyF = copy.copy(frame)
    geometricalImage.buildMap(frame)
    geometricalImage.updateRobotPosition(frame)
    geometricalImage.defineTreasures([88, 30])
    #geometricalImage.findBestTresor()
    geometricalImage.addLabels(frame)
    myTarget = ShapeTarget("pentagone")
    geometricalImage.getIslandPositioning(myTarget)

    geometricalImage.drawMapOnFrame(frame)
    cv2.imshow("resized", frame)
    cv2.waitKey(0)
        # line = np.vectorize(line_eq)
        #
        # x = np.arange(0, 1200)
        # y = line(x).astype(np.uint)
        #
        # cv2.line(frame, (x[0], y[0]), (x[-1], y[-1]), (0,0,0))
        # cv2.imshow("foo",frame)
        # cv2.waitKey()



    while(True):
        ret, frame = camera.read()
        #frame = cv2.imread('Photos/3105/table 5/Jour/rideau ferme/Picture 1.jpg')
        cv2.resize(frame, (960,720))
        geometricalImage = WorldImage()
        geometricalImage.buildMap(frame)
        geometricalImage.updateRobotPosition(frame)
        geometricalImage.addLabels(frame)
        # worldV = worldVision()
        # map = worldV.getCurrentImage()
        worldImage = geometricalImage.drawMapOnFrame(frame)
        #print(geometricalImage.getMap().robot.findCenterOfMass())

        cv2.imshow('Picture ' + str(x), worldImage)


        # geometricalImage = WorldImage(frame)
        # geometricalImage.setMap()
        # geometricalImage.addLabels()
        # worldImage = geometricalImage.drawMapOnImage()