def find(self, image: Image) -> Tuple[Rectangle, Angle]:
play_area = self._play_area_finder.find(image)
image.crop(play_area).process(self._process)
self._goal = Rectangle(
self._goal.top_left_corner.x + play_area.top_left_corner.x,
self._goal.top_left_corner.y + play_area.top_left_corner.y,
self._goal.width, self._goal.height)
return self._goal, self._orientation
def take_picture(self) -> Image:
count = self._buffer_size
while count > 0:
self._video_capture.grab()
count -= 1
has_captured, cv_image = self._video_capture.read()
if not has_captured:
raise AcquisitionError()
return Image(cv_image)
def draw(self, image: Image, path: Path) -> Image:
image_content = image.content
for movement in path.movements:
start_relative_coords = self._get_coord_relative_to_table(
image, movement.start)
end_relative_coords = self._get_coord_relative_to_table(
image, movement.end)
start_coords = (start_relative_coords.x, start_relative_coords.y)
end_coords = (end_relative_coords.x, end_relative_coords.y)
cv2.line(image_content, start_coords, end_coords, (255, 0, 0), 5)
return Image(image_content)
def take_picture(self) -> Image:
blank_image = np.zeros((self._height, self._width, 3), np.uint8)
blank_image[:, 0:self._width // 6] = (255, 0, 0)
blank_image[:,
1 * self._width // 6:2 * self._width // 6] = (255, 255, 0)
blank_image[:, 2 * self._width // 6:3 * self._width // 6] = (0, 255, 0)
blank_image[:,
3 * self._width // 6:4 * self._width // 6] = (0, 255, 255)
blank_image[:, 4 * self._width // 6:5 * self._width // 6] = (0, 0, 255)
blank_image[:, 5 * self._width // 6:self._width] = (255, 0, 255)
return Image(blank_image)
def take_picture(self) -> Image:
count = self._buffer_size
while count > 0:
self._video_capture.grab()
count -= 1
has_captured, cv_image = self._video_capture.read()
if not has_captured:
raise AcquisitionError()
self.image_display.display_debug_image('[OpenCvCamera] take_picture',
cv_image)
return Image(cv_image)
def main():
camera = OpenCvCamera(0)
image = Image(cv2.imread('my_photo-4.jpg'))
item_finder = HSVItemFinder()
should_continue = True
while should_continue:
items = item_finder.find_items(image)
for item in items.items:
print('Color: {}, Shape: {}, Position: ({}, {})'.format(item.item.color, item.item.shape,
item.camera_coordinate.x, item.camera_coordinate.y))
key = cv2.waitKey(0)
if key == ord('q'):
should_continue = False
cv2.destroyAllWindows()
def draw_robot(self, image: Image, position: Position) -> Image:
image_content = image.content
self._old_points.append(position)
for i in range(len(self._old_points)):
try:
relative_position_start = self._get_coord_relative_to_table(
image, self._old_points[i].coordinate)
relative_position_end = self._get_coord_relative_to_table(
image, self._old_points[i + 1].coordinate)
except IndexError:
continue
cv2.line(image_content,
(relative_position_start.x, relative_position_start.y),
(relative_position_end.x, relative_position_end.y),
(100, 100, 100), 1)
start_relative_coords = self._get_coord_relative_to_table(
image, position.coordinate)
start_coords = (start_relative_coords.x, start_relative_coords.y)
calculated_coords = self._calculate_coords_with_orientation(position)
end_relative_coords = self._get_coord_relative_to_table(
image, calculated_coords)
end_coords = (end_relative_coords.x, end_relative_coords.y)
cv2.line(image_content, start_coords, end_coords, (255, 0, 255), 4)
return Image(image_content)
def find(self, image: Image) -> Tuple[Coord, Angle]:
image.process(self._process)
return self._robot, self._orientation
def find_items(self, image: Image) -> ItemRelativePositions:
image.process(self._process)
return self._items_relative_positions
def rectify_image(self, image: Image) -> Image:
rectified_image = image.process(self._process_rectify)
self._image_display.display_debug_image(
'[OpenCvCameraCalibration] rectified_image',
rectified_image.content)
return rectified_image
def take_picture(self) -> Image:
data = cv2.imread(self._path)
return Image(data)
def find(self, image: Image) -> Tuple[Rectangle, Angle]:
image.process(self._process)
return self._source, self._orientation
class TestVisionService(TestCase):
valid_camera_ids_int = [0, 2]
valid_camera_ids_str = ['0', '2']
invalid_camera_id_int = 1
invalid_camera_id_str = '1'
calibration_file_path = 'path'
image = Image(np.zeros((50, 50, 3)))
def setUp(self) -> None:
self.camera_factory = Mock()
self.play_area_finder = Mock()
self.goal_finder = Mock()
self.source_finder = Mock()
self.obstacle_finder = Mock()
self.robot_finder = Mock()
self.camera_calibration_factory = Mock()
self.camera_calibration = Mock()
self.camera_drawer = Mock()
self.vision_service = VisionService(
self.camera_factory, self.camera_calibration_factory,
self.camera_drawer, self.play_area_finder, self.goal_finder,
self.source_finder, self.obstacle_finder, self.robot_finder)
def initialiseService(self) -> None:
self.camera = Mock()
self.camera_factory.create_camera = Mock(return_value=self.camera)
self.camera.take_picture = Mock(return_value=self.image)
self.camera_calibration_factory.load_calibration_from_file = Mock(
return_value=self.camera_calibration)
self.camera_calibration.rectify_image = Mock(return_value=self.image)
self.vision_service.set_camera(self.valid_camera_ids_str[0],
self.calibration_file_path)
def test_when_service_first_created_then_it_is_not_initialized(
self) -> None:
self.assertFalse(self.vision_service._initialized.is_set())
def test_when_camera_ids_requested_then_ids_from_camera_factory_returned_as_string(
self) -> None:
self.camera_factory.get_cameras = Mock(
return_value=self.valid_camera_ids_int)
expected_values = self.valid_camera_ids_str
actual_values = self.vision_service.get_camera_ids()
self.assertListEqual(expected_values, actual_values)
def test_when_camera_set_with_valid_id_then_service_is_initialized(
self) -> None:
self.initialiseService()
self.camera_factory.create_camera.assert_called_with(
self.valid_camera_ids_int[0])
self.camera.take_picture.assert_called_once()
self.camera_calibration_factory.load_calibration_from_file.assert_called_with(
self.calibration_file_path, self.image)
self.camera_calibration.rectify_image.assert_called_once()
self.assertTrue(self.vision_service._initialized.is_set())
def test_when_camera_set_with_invalid_id_then_CameraDoesNotExistError_is_raised(
self) -> None:
self.camera_factory.create_camera = Mock(
side_effect=CameraDoesNotExistError(self.invalid_camera_id_int))
self.assertRaises(CameraDoesNotExistError,
self.vision_service.set_camera,
self.invalid_camera_id_str,
self.calibration_file_path)
def test_when_updated_then_attached_observers_are_notified(self) -> None:
self.initialiseService()
observer = Mock()
self.vision_service.attach(observer)
self.vision_service.update()
observer.update.assert_called_once()
def test_when_get_goal_then_center_of_goal_and_orientation_are_returned_as_real_coordinate(
self) -> None:
self.initialiseService()
expected_coord = Coord(0, 0)
expected_angle = Angle(0)
self.goal_finder.find = Mock(return_value=(Rectangle(0, 0, 10, 8),
expected_angle))
self.camera_calibration.convert_table_pixel_to_real = Mock(
return_value=Coord(0, 0))
position = self.vision_service.get_goal()
actual_coord = position.coordinate
actual_angle = position.orientation
self.camera_calibration.convert_table_pixel_to_real.assert_called_with(
Coord(5, 4))
self.assertEqual(expected_coord, actual_coord)
self.assertEqual(expected_angle, actual_angle)
def test_when_get_source_then_center_of_source_and_orientation_are_returned_as_real_coordinate(
self) -> None:
self.initialiseService()
expected_coord = Coord(0, 0)
expected_angle = Angle(0)
self.source_finder.find = Mock(return_value=(Rectangle(0, 0, 10, 8),
expected_angle))
self.camera_calibration.convert_table_pixel_to_real = Mock(
return_value=Coord(0, 0))
position = self.vision_service.get_source()
actual_coord = position.coordinate
actual_angle = position.orientation
self.camera_calibration.convert_table_pixel_to_real.assert_called_with(
Coord(5, 4))
self.assertEqual(expected_coord, actual_coord)
self.assertEqual(expected_angle, actual_angle)
def find_destination(self, image: Image,
destination: int) -> CameraCoordinate:
self._destination_to_find = destination
image.process(self._process)
return self._destination_coordinate
def draw_source(self, image: Image, source: Rectangle) -> Image:
if source is not None:
self._color = (0, 255, 0)
self._rectangle = source
image = image.process(self._draw_rectangle)
return image
def draw_obstacles(self, image: Image, obstacles: List[Rectangle]) -> Image:
for obstacle in obstacles:
self._color = (0, 0, 255)
self._rectangle = obstacle
image = image.process(self._draw_rectangle)
return image
def draw_goal(self, image: Image, goal: Rectangle) -> Image:
if goal is not None:
self._color = (255, 0, 0)
self._rectangle = goal
image = image.process(self._draw_rectangle)
return image
def find(self, image: Image) -> List[Rectangle]:
image.process(self._process)
return self._obstacles
def rectify_image(self, image: Image) -> Image:
return image.process(self._process_rectify)
def read_qr_code(self, image: Image) -> str:
image.process(self._process)
return self._code
def find(self, image: Image) -> Rectangle:
image.process(self._process)
return self._play_area
def to_image(image_string: str) -> Image:
with io.StringIO(image_string) as file_stream:
encoded_image = numpy.loadtxt(file_stream, dtype='uint8')
decoded_image = cv2.imdecode(encoded_image, cv2.IMREAD_COLOR)
return Image(decoded_image)
def get_image(self) -> Image:
return Image(self._image.content)