def find_c_height(img):
frame1 = copy.copy(img)
frame2=copy.copy(frame1)
frame2[0:359,:]=(0,0,0)
frame1[360:720,:]=(0,0,0)
a1,check1= findCheckerboardCoordinates(frame1)
a2,check2=findCheckerboardCoordinates(frame2)
# print([check1,check2])
if check1 and check2:
y1 = min([a1[i][1] for i in range(len(a1)) ])
y2 = max([a2[i][1] for i in range(len(a1)) ])
# cv2.line(img,(0,y1),(1920,y1),(0,255,255),2)
# cv2.line(img,(0,y2),(1920,y2),(0,255,255),2)
# cv2.imshow("img",rescale(img,20))
height = y2-y1
print(height)
return True,height
return False,0
def find_checker_height2(img):
frame1 = copy.copy(img)
frame1[360:719,:]=(0,0,0)
a1,check1= findCheckerboardCoordinates(frame1)
a=[]
if check1:
for i in range(0,44,9):
a.append(two_point_distance(a1[i],a1[i+9]))
return True, a
return False, a
return True, a
return False, a
def find_checker_height2(img):
frame1 = copy.copy(img)
frame1[360:719,:]=(0,0,0)
a1,check1= findCheckerboardCoordinates(frame1)
a=[]
if check1:
for i in range(0,44,9):
a.append(two_point_distance(a1[i],a1[i+9]))
return True, a
return False, a
a1,check1= findCheckerboardCoordinates(color_image)
_,p2 = find_checker_height2(color_image)
_,p = find_checker_height(color_image)
print("-----------")
for i in p2:
print(i)
# print(i*s.mean(answer)/916.364501953125)
print("-----------")
for i in p:
print(i)
# print(i*s.mean(answer)/916.364501953125)
aligned_depth_frame.get_data()) #Getting final depth image
#Colorize the depth image
colorized_depth = np.asanyarray(
colorizer.colorize(aligned_depth_frame).get_data())
# #See the depth image
# cv2.imshow("colorized depth",rescale(colorized_depth,50))
color_image = np.asanyarray(
color_frame.get_data()) #Getting final RGB frame
#UPPER CHECKER BOARD
img1 = color_image.copy() #Create Copy
img1[230:719, :] = (0, 0, 0) #Threshold remaining area
a1, check1 = findCheckerboardCoordinates(img1) #FInd the cordinates
if not check1: #if we don't find the checkerboard
print("Check 1")
cv2.imshow('Found Red', rescale(color_image, 50))
continue
# #Visualise the color image with a drawn rectangle. NOTE: Turn it off when processing the RGB Image. Only for debugging.
cv2.rectangle(color_image, tuple(a1[53]), tuple(a1[43]), (0, 255, 0),
5)
cv2.rectangle(color_image, tuple(a1[46]), tuple(a1[36]), (0, 255, 0),
5)
# Repeating the procedure for other checkerboard
#BOTTOM Checkerboard
img2 = color_image.copy()
img2[0:450, :] = (0, 0, 0)
