def process_frame_for_line(frame, image_format="PIL", process_image_width=320):
cv2 = import_opencv()
cv_frame = ImageFunctions.convert(frame, format="OpenCV")
from imutils import resize
resized_frame = resize(cv_frame, width=process_image_width)
hsv_lower, hsv_upper = calculate_blue_limits()
image_mask = color_mask(resized_frame, hsv_lower, hsv_upper)
line_contour = find_largest_contour(image_mask)
centroid = None
scaled_image_centroid = None
rectangle_dimensions = None
angle = None
if line_contour is not None:
# find centroid of contour
scaled_image_centroid = find_centroid(line_contour)
centroid = center_reposition(scaled_image_centroid, resized_frame)
bounding_rectangle = cv2.boundingRect(line_contour)
rectangle_dimensions = bounding_rectangle[2:5]
angle = get_object_target_lock_control_angle(centroid, resized_frame)
robot_view_img = robot_view(resized_frame, image_mask, line_contour,
scaled_image_centroid)
if image_format.lower() != "opencv":
robot_view_img = ImageFunctions.convert(robot_view_img, format="PIL")
return DotDict({
"line_center": centroid,
"robot_view": robot_view_img,
"rectangle_dimensions": rectangle_dimensions,
"angle": angle,
})
def __import_libs(self):
global cv2, dlib, imutils, face_utils
if cv2 is None:
cv2 = import_opencv()
if dlib is None:
dlib = import_dlib()
if face_utils is None:
face_utils = import_face_utils()
if imutils is None:
imutils = import_imutils()
def __init__(self, callback_on_motion, moving_object_minimum_area):
self.cv2 = import_opencv()
self.__motion_detect_previous_frame = None
self.__motion_detect_threshold = moving_object_minimum_area**2
self.__motion_detect_callback = callback_on_motion
self.__event_executor = ThreadPoolExecutor()
callback_signature = signature(callback_on_motion)
self.callback_has_argument = len(callback_signature.parameters) > 0
def robot_view(frame, image_mask, line_contour, centroid):
cv2 = import_opencv()
masked_image = cv2.bitwise_and(frame, frame, mask=image_mask)
# draw contour lines on robot view
if line_contour is not None:
cv2.drawContours(masked_image, [line_contour], 0, (100, 60, 240), 2)
draw_contour_bound(masked_image, line_contour)
if centroid:
cv2.drawMarker(
masked_image,
(centroid[0], centroid[1]),
(100, 60, 240),
markerType=cv2.MARKER_CROSS,
markerSize=20,
thickness=4,
line_type=cv2.FILLED,
)
return masked_image
def import_libs():
global cv2, face_utils
if cv2 is None:
cv2 = import_opencv()
if face_utils is None:
face_utils = import_face_utils()
def draw_contour_bound(image, contour):
cv2 = import_opencv()
x, y, w, h = cv2.boundingRect(contour)
cv2.rectangle(image, (x, y), (x + w, y + h), (0, 255, 0), 2)
def import_libs():
global cv2, imutils
if cv2 is None:
cv2 = import_opencv()
if imutils is None:
imutils = import_imutils()