def loop():
frame = capture.get_frame()
if frame is None:
return
(cap_height, cap_width, cap_channels) = frame.shape
# print(width, height, channels)
global markerDict
(corners, ids, rejects) = aruco.detectMarkers(frame, markerDict)
# print(corners)
frame = aruco.drawDetectedMarkers(frame, corners, ids)
detected_markers = np.array([]).reshape(0, 3)
for i in range(len(corners)):
corner = corners[i][0]
p1 = corner[0]
p2 = corner[1]
p3 = corner[2]
p4 = corner[3]
x = p1[0] - ((p1[0] - p3[0]) / 2)
y = p1[1] - ((p1[1] - p3[1]) / 2)
x = int(x)
y = int(y)
# print(x, y, cap_width, cap_height)
detected_markers = np.vstack(
(detected_markers,
np.array([ids[i][0], x / cap_width, y / cap_height])))
cv2.circle(frame, (x, y), 10, (255, 255, 255), 2)
global sock
if not sock.is_available():
sock.connect()
else:
send_data = Markers()
for row in detected_markers:
marker = Marker(int(row[0]), row[1], row[2])
send_data.append(marker)
sock.send(str(send_data))
