def __call__(self, frame, camera):
contours = self._full_pipeline(frame)
return list(
map(
lambda cnt: self.game_object.location_by_params(
camera, self.area_scalar * np.sqrt(cv2.contourArea(cnt)),
contour_center(cnt)), contours))
def location_by_contours(self, camera: Camera, cnt):
"""
:param camera: the camera, can be either Camera or CameraList
:param cnt: the contours of this object in the frame
:return: a 3d vector of the relative [x y z] location between the object and the camera (in meters)
"""
return self.location_by_params(camera, np.sqrt(cv2.contourArea(cnt)),
contour_center(cnt))
def shape_center(shape: Polygon) -> Point:
return contour_center(shape)
def shape_center(shape: Contour) -> Point:
return contour_center(shape)