def test_current_frame_does_not_block(self):
c = Camera(4)
start = perf_counter()
c.current_frame()
c.current_frame()
end = perf_counter()
self.assertTrue(end - start < 0.01)
def test_start_handling_frames_fails_when_using_incorrect_callback(self):
c = Camera()
def callback(a, b):
return
with self.assertRaises(ValueError):
c.start_handling_frames(callback)
def test_start_detecting_motion_fails_when_using_incorrect_callback(self):
c = Camera()
def callback(a, b):
return
with self.assertRaises(ValueError):
c.start_detecting_motion(callback)
def test_get_frame_does_block(self):
c = Camera(4)
c._new_frame_event.clear()
start = perf_counter()
c.get_frame()
c.get_frame()
end = perf_counter()
self.assertTrue(end - start > 0.01)
def test_start_handling_frames_registers_action_on_frame_handler(self):
c = Camera()
def callback(frame):
return
c.start_handling_frames(callback)
self.assertTrue(
c._frame_handler.is_running_action(CaptureActions.HANDLE_FRAME))
def test_start_detecting_motion_registers_action_on_frame_handler(self):
c = Camera()
def callback(frame):
return
c.start_detecting_motion(callback)
self.assertTrue(
c._frame_handler.is_running_action(CaptureActions.DETECT_MOTION))
def test_stop_video_capture_removes_action_on_frame_handler(self):
c = Camera()
c.start_video_capture()
c.stop_video_capture()
self.assertFalse(
c._frame_handler.is_running_action(
CaptureActions.CAPTURE_VIDEO_TO_FILE))
def test_stop_handling_frames_motion_removes_action_on_frame_handler(self):
c = Camera()
def callback(frame):
return
c.start_handling_frames(callback)
c.stop_handling_frames()
self.assertFalse(
c._frame_handler.is_running_action(CaptureActions.HANDLE_FRAME))
def test_from_file_system_classmethod(self):
c = Camera.from_file_system(path_to_images="/")
self.assertIsInstance(c._camera, FileSystemCamera)
def test_current_frame_opencv(self):
c = Camera(4)
frame = c.current_frame(format="OpenCV")
self.assertIsInstance(frame, Mock)
def test_stops_background_thread_by_changing_an_attribute(self):
c = Camera()
c._continue_processing = False
sleep(1)
self.assertFalse(c._process_image_thread.is_alive())
def test_stops_background_thread_if_camera_is_not_opened(self):
c = Camera()
c._camera.is_opened = Mock()
c._camera.is_opened.return_value = False
sleep(1)
self.assertFalse(c._process_image_thread.is_alive())
def test_runs_thread_to_process_images(self):
c = Camera()
self.assertIsInstance(c._process_image_thread, Thread)
self.assertTrue(c._process_image_thread.is_alive())
def test_has_frame_handler_attribute(self):
c = Camera()
self.assertIsInstance(c._frame_handler, FrameHandler)
def test_uses_usb_camera_by_default(self):
c = Camera(4)
self.assertIsInstance(c._camera, UsbCamera)
def test_capture_image_registers_action_on_frame_handler(self):
c = Camera()
c.capture_image()
self.assertTrue(
c._frame_handler.is_running_action(
CaptureActions.CAPTURE_SINGLE_FRAME))
def test_uses_file_system_camera_if_required(self):
c = Camera(camera_type=CameraTypes.FILE_SYSTEM_CAMERA,
path_to_images="/")
self.assertIsInstance(c._camera, FileSystemCamera)
def test_from_usb(self):
c = Camera.from_usb()
self.assertIsInstance(c._camera, UsbCamera)
red_ball = detected_balls.red
if red_ball.found:
print(f"Red ball center: {red_ball.center}")
print(f"Red ball radius: {red_ball.radius}")
print(f"Red ball angle: {red_ball.angle}")
print()
green_ball = detected_balls.green
if green_ball.found:
print(f"Green ball center: {green_ball.center}")
print(f"Green ball radius: {green_ball.radius}")
print(f"Green ball angle: {green_ball.angle}")
print()
blue_ball = detected_balls.blue
if blue_ball.found:
print(f"Blue ball center: {blue_ball.center}")
print(f"Blue ball radius: {blue_ball.radius}")
print(f"Blue ball angle: {blue_ball.angle}")
print()
cv2.imshow("Image", detected_balls.robot_view)
cv2.waitKey(1)
ball_detector = BallDetector()
camera = Camera(resolution=(640, 480))
camera.on_frame = process_frame
pause()