def findStartCoef(self):
"""
Od svih pronadjenih krugova pokusa naci onaj koji je zelene boje.
Vraca koeficijente x i y koordinata, odnosno vrijednosti
koordinate x podijeljene sa sirinom i koordinate y podijeljene sa visinom.
Ako nema takvoga vraca None.
"""
"""
if self._grayness == True:
raise StandardError("Za pronalazenje starta, slika mora biti u boji!")
triangles = self._findTriangles()
cts = ig.NumpyImage(self._image).filterColoredTriangles(triangles, ig.RED1)
cts += ig.NumpyImage(self._image).filterColoredTriangles(triangles, ig.RED2)
if len(cts) == 0:
return None
x, y = cts[0].findCenter()
x, y = x + self._width / 2, self._height / 2 - y
return (float(x) / self._width, float(y) / self._height)
"""
hsv_img = cv2.cvtColor(self._image, cv2.COLOR_BGR2HSV)
cmin = ig.RED1_MIN
cmax = ig.RED1_MAX
frame_threshed = cv2.inRange(hsv_img, cmin, cmax)
triangles = ig.NumpyImage(self._image).findPolygon(3)
cmin = ig.RED2_MIN
cmax = ig.RED2_MAX
frame_threshed = cv2.inRange(hsv_img, cmin, cmax)
triangles += ig.NumpyImage(self._image).findPolygon(3)
if len(triangles) == 0:
return None
x, y = triangles[0].findCenter()
x, y = x + self._width / 2, self._height / 2 - y
return (float(x) / self._width, float(y) / self._height)
def findEndCoef(self):
"""
Od svih krugova pokusa naci onaj koji je crvene boje.
Vraca koeficijente x i y koordinata, odnosno vrijednosti
koordinate x podijeljene sa sirinom i koordinate y podijeljene sa visinom.
Ako takvog nema vraca None.
"""
if self._grayness == True:
raise StandardError(
"Za pronalazenje starta, slika mora biti u boji!")
circles = self._findCircles()
ccs = ig.NumpyImage(self._image).filterColoredPolygons(
circles, ig.GREEN)
if len(ccs) == 0:
return None
x, y = ccs[0].getPosition()
x, y = x + self._width / 2, self._height / 2 - y
return (float(x) / self._width, float(y) / self._height)
def _findCircles(self):
"""Pronalazi sve krugove na slici."""
return ig.NumpyImage(self._image).findCircles(self.CENTERDET)
def _findTriangles(self):
"""Pronalazi trokute na slici."""
return ig.NumpyImage(self._image).findPolygon(3)
def locateTezej(npimg, data, locator, imgTagger):
"""
Pronadje globalne koordinate tezeja (crveni trokut).
Vraca (lokacija, smjer).
"""
"""
triangles = npimg.findPolygon(3)
coloredTriangles = npimg.filterColoredPolygons(triangles, ig.RED1)
coloredTriangles += npimg.filterColoredPolygons(triangles, ig.RED2)
if coloredTriangles is not None and len(coloredTriangles) > 0:
triangle = coloredTriangles[0]
imgTagger.markPolygons([triangle])
center = triangle.findCenter()
data.position.position.x = center[0]
data.position.position.y = center[1]
data.pubPoseTrokut.publish(data.position)
location = locator.findLocation(center)
d = triangle.findDirection()
direction = locator.findDirection((d.x, d.y))
return _filterTezejPos(location), _filterTezejAngle(direction.getTuple())
return None, None
"""
hsv_img = cv2.cvtColor(self._image, cv2.COLOR_BGR2HSV)
cmin = ig.RED1_MIN
cmax = ig.RED1_MAX
frame_threshed = cv2.inRange(hsv_img, cmin, cmax)
triangles = ig.NumpyImage(self._image).findPolygon(3)
cmin = ig.RED2_MIN
cmax = ig.RED2_MAX
frame_threshed = cv2.inRange(hsv_img, cmin, cmax)
triangles += ig.NumpyImage(self._image).findPolygon(3)
if len(triangles) == 0:
return None, None
triangle = triangles[0]
imgTagger.markPolygons([triangle])
center = triangle.findCenter()
# publishanje
data.position.position.x = center[0]
data.position.position.y = center[1]
data.pubPoseTrokut.publish(data.position)
# izracun pozicije i smjera
location = locator.findLocation(center)
d = triangle.findDirection()
direction = locator.findDirection((d.x, d.y)).getTuple()
# kroz filtere
ltoc.x, ltoc.y = location
nltoc = filterl.lowpass(ltoc)
location = nltoc.x, nltoc.y
dtoc.x, dtoc.y = direction
ndtoc = filterd.lowpass(dtoc)
direction = ndtoc.x, ndtoc.y
return location, direction