def detect3dblue(self, img1, img2):
a1 = image1.pixel2meter(img1)
a2 = image1.pixel2meter(img2)
blueYZ = a1 * image1.detect_blue(img1)
blueXZ = a2 * image2.detect_blue(img2)
xyz = np.array([blueXZ[0], blueYZ[0], (blueYZ[1] + blueXZ[1]) / 2])
return xyz
def detect3dyellow(self, img1, img2):
a1 = image1.pixel2meter(img1)
a2 = image1.pixel2meter(img2)
yellowYZ = a1 * image1.detect_yellow(img1)
yellowXZ = a2 * image2.detect_yellow(img2)
xyz = np.array(
[yellowXZ[0], yellowYZ[0], (yellowYZ[1] + yellowXZ[1]) / 2])
return xyz
def detect3dgreen(self, img1, img2):
a1 = image1.pixel2meter(img1)
a2 = image1.pixel2meter(img2)
greenYZ = a1 * image1.detect_green(img1)
greenXZ = a2 * image2.detect_green(img2)
xyz = np.array([greenXZ[0], greenYZ[0], (greenYZ[1] + greenXZ[1]) / 2])
if (np.array([0, 0, 0]) == xyz).any():
xyz = self.green
self.green = xyz
return xyz
def detect3dred(self, img1, img2):
a1 = image1.pixel2meter(img1)
a2 = image1.pixel2meter(img2)
redYZ = a1 * image1.detect_red(img1)
redXZ = a2 * image2.detect_red(img2)
xyz = np.array([redXZ[0], redYZ[0], (redYZ[1] + redXZ[1]) / 2])
if (np.array([0, 0, 0]) == xyz).any():
xyz = self.red
self.red = xyz
return xyz
def detect3dtarget(self, img1, img2):
a1 = image1.pixel2meter(img1)
a2 = image1.pixel2meter(img2)
targetYZ = a1 * image1.detect_target(img1)
targetXZ = a2 * image2.detect_target(img2)
if targetYZ[0] == 0 and targetYZ[1] == 0:
targetYZ = self.lastYZPosition
else:
self.lastYZPosition = targetYZ
if targetXZ[0] == 0 and targetXZ[1] == 0:
targetXZ = self.lastXZPosition
else:
self.lastXZPosition = targetXZ
xyz = np.array(
[targetXZ[0], targetYZ[0], ((targetYZ[1] + targetXZ[1]) / 2)])
return xyz