class TestAlignementStation(TestCase):
def setUp(self):
self.alignementStation = AlignementStation()
def test_distance_laterale_negative_retourne_deplacement_gauche(self):
distance_x = -2
commande, _ = self.alignementStation.ajusterPositionLaterale_CM(distance_x)
self.assertEqual('left', commande, "Station se trouvant a gauche, mais retourne un deplacement a droite")
def test_distance_laterale_positive_retourne_deplacement_droite(self):
distance_x = 3
commande, _ = self.alignementStation.ajusterPositionLaterale_CM(distance_x)
self.assertEqual('right', commande, "Station se trouvant a droite, mais retourne un deplacement a gauche")
def test_distance_frontale_positive_retourne_deplacement_avant(self):
distance_y = 3
commande, _ = self.alignementStation.ajusterPositionY(distance_y)
self.assertEqual('forward', commande, "Station se trouvant en avant, mais retourne un deplacement recule")
def test_distance_elevee_retourne_deux_ajustements(self):
distance_x = 4
distance_y = 3
ajustements = self.alignementStation.calculerAjustement(distance_x, distance_y)
self.assertEqual(len(ajustements), 2, "Station mal alignee, mais ne retourne pas le bon nombre d'ajustement")
def test_distance_laterale_en_mm_negligeable_retourne_aucun_ajustements_en_mm(self):
distance_x = 1.2
distance_y = 3
self.alignementStation.ajusterPositionLaterale_MM = MagicMock()
ajustements = self.alignementStation.calculerAjustement(distance_x, distance_y)
self.assertFalse(self.alignementStation.ajusterPositionLaterale_MM.called)
def test_distance_laterale_minimale_retourne_ajustements_en_mm(self):
distance_x = 1.4
distance_y = 5
self.alignementStation.ajusterPositionLaterale_MM = MagicMock()
ajustements = self.alignementStation.calculerAjustement(distance_x, distance_y)
self.assertTrue(self.alignementStation.ajusterPositionLaterale_MM.called)
def test_distance_laterale_grande_retourne_ajustements_en_cm_seulement(self):
distance_x = 32.8
distance_y = 5
self.alignementStation.ajusterPositionLaterale_MM = MagicMock()
ajustements = self.alignementStation.calculerAjustement(distance_x, distance_y)
self.assertFalse(self.alignementStation.ajusterPositionLaterale_MM.called)
class DetectionStation(object):
def __init__(self):
self.alignementStation = AlignementStation()
self.positionZone = (820, 730)
self.rayonZone = 20
self._definirIntervallesCouleurs()
self.ajustements = None
def trouverAjustements(self, image):
self.imageCamera = image
contoursCible = self.detecterFormeCouleur(self.intervalleOrange)
if contoursCible is not None:
distance_y = self._trouverDistanceStation(contoursCible, KNOWN_WIDTH_ORANGE)
distance_x = self._trouverOffsetLateral(contoursCible)
self.ajustements = self.alignementStation.calculerAjustement(distance_x, distance_y)
else:
self.ajustements = None
def _trouverDistanceStation(self, contoursCible, largeurConnue):
zoneTresor = cv2.minAreaRect(contoursCible)
distance_y = self._calculerDistanceCamera(largeurConnue, FOCAL_LENGTH, zoneTresor[1][0]) * 2.54
return distance_y
def _trouverOffsetLateral(self, contoursCible):
position_x, position_y = self._trouverCentreForme(contoursCible)
positionZone_x, positionZone_y = self.positionZone
distance_x = (positionZone_x - position_x) / RATIO_PIXEL_CM
return distance_x
def _calculerDistanceCamera(self, largeurTresor, longueurFocale, referenceLargeur):
return (largeurTresor * longueurFocale) / referenceLargeur
def detecterFormeCouleur(self, intervalleCouleur):
intervalleFonce, intervalleClair, couleurForme = intervalleCouleur
masqueCouleur = cv2.inRange(self.imageCamera, intervalleFonce, intervalleClair)
_, contoursCouleur, _ = cv2.findContours(masqueCouleur.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if len(contoursCouleur) > 0:
contoursCible = self._obtenirFormeInteret(contoursCouleur)
if contoursCible is not None:
return contoursCible
else:
return None
def _dessinerInformations(self, contoursCible, distanceStation):
zoneTresor = cv2.minAreaRect(contoursCible)
boiteTresor = np.int0(cv2.boxPoints(zoneTresor))
cv2.drawContours(self.imageCamera, [boiteTresor], -1, (0, 255, 0), 2)
cv2.putText(
self.imageCamera,
"%.2f cm" % (distanceStation),
(self.imageCamera.shape[1] - 300, self.imageCamera.shape[0] - 20),
cv2.FONT_HERSHEY_SIMPLEX,
2.0,
(0, 255, 0),
3,
)
def _trouverCentreForme(self, contoursForme):
MatriceCentreMasse = cv2.moments(contoursForme)
centre_x = int(MatriceCentreMasse["m10"] / MatriceCentreMasse["m00"])
centre_y = int(MatriceCentreMasse["m01"] / MatriceCentreMasse["m00"])
return centre_x, centre_y
def _obtenirFormeInteret(self, contoursCouleur):
contoursNegligeable = []
for contours in range(len(contoursCouleur)):
aire = cv2.contourArea(contoursCouleur[contours])
if aire < MAX_AIRE_SIGNE_STATON:
contoursNegligeable.append(contours)
if len(contoursNegligeable) > 0:
contoursCouleur = np.delete(contoursCouleur, contoursNegligeable)
if contoursCouleur is not None:
return contoursCouleur[0]
else:
return None
def _definirIntervallesCouleurs(self):
self.intervalleBleuMarin = np.array([120, 80, 40]), np.array([180, 150, 100]), "Bleu"
self.intervalleOrange = np.array([0, 50, 140]), np.array([60, 150, 255]), "Orange"
def _dessinerZoneCible(self):
cv2.circle(self.imageCamera, self.positionZone, self.rayonZone, (0, 255, 0), 2)
def _dessinerZoneForme(self, position, rayon):
cv2.line(self.imageCamera, self.positionZone, position, (255, 0, 0), 5)
cv2.circle(self.imageCamera, position, int(rayon), (0, 0, 255), 2)
print(position)
cv2.circle(self.imageCamera, position, 10, (0, 0, 255), 2)