def test_params_import(self):
"""
Tests importing params from json
Settings
--------
sample_config: dict{string: dict{string: value}}
config for setting params for SimpleBlobDetector
Returns
-------
list[bool]
whether each configuration matches the expected value
"""
sample_config = {
"filterByArea": {
"enable": True,
"minArea": 200
},
"filterByColor": {
"enable": False,
"blobColor": 100
}
}
params = import_params(sample_config)
for category, settings in sample_config.items():
with self.subTest(i=category):
enabled = sample_config[category]['enable']
for param, value in settings.items():
if param == 'enable':
self.assertEqual(getattr(params, category), value, msg=f"Expected attribute '{category}' to have value '{value}', got '{getattr(params, category)}' instead")
elif enabled:
self.assertEqual(getattr(params, param), value, msg=f"Expected attribute '{param}' to have value '{value}', got '{getattr(params, param)}' instead")
## Ensure does not modify original parameter
config_original = {
"filterByArea": {
"enable": True,
"minArea": 200
},
"filterByColor": {
"enable": False,
"blobColor": 100
}
}
config_parameter = deepcopy(config_original)
import_params(config_parameter)
self.assertDictEqual(config_original, config_parameter)
def __init__(self, vision_communication, flight_communication, camera):
warnings.filterwarnings("ignore")
##
self.vision_communication = vision_communication
self.flight_communication = flight_communication
self.camera = camera.__iter__()
##
if os.path.isdir("vision"):
prefix = "vision"
elif os.path.isdir("integration_tests"):
prefix = "../vision"
else:
prefix = ""
#
config_filename = os.path.join(prefix, "obstacle", "config.json")
with open(config_filename, "r") as config_file:
config = json.load(config_file)
self.obstacle_finder = ObstacleFinder(params=import_params(config))
self.obstacle_tracker = ObstacleTracker()
self.text_detector = TextDetector()
self.module_location = ModuleLocation()
self.vision_flags = Queue()
def setup(self):
"""
Setup obstacle detector
"""
prefix = '' if os.path.isdir("times") else '..'
config_filename = os.path.join(prefix, '..', 'obstacle', 'config.json')
with open(config_filename, 'r') as config_file:
config = json.load(config_file)
self.blob_finder = ObstacleFinder(params=import_params(config))
def setup(self) -> None:
"""
Setup obstacle detector via json file.
Returns
-------
None
"""
config_filename = os.path.join("vision", "obstacle", "config.json")
with open(config_filename, "r") as config_file:
config = json.load(config_file)
self.obstacle_finder = ObstacleFinder(params=import_params(config))
self.obstacle_tracker = ObstacleTracker()
def setup(self):
"""
Configure blob detector and initialize images.
"""
## Generate images
self.PARAMETERS = {}
self.PARAMETERS.update(common.blank_dimensions())
base_color, base_depth = common.blank_dimensions(self.DEFAULT_DIMS)
#
for radius in [25, 50, 100, 250]:
color_image, depth_image = np.copy(base_color), np.copy(base_depth)
cv2.circle(color_image, (640, 360), radius, (255, 255, 255), thickness=-1)
cv2.circle(depth_image, (640, 360), radius, (255), thickness=-1)
self.PARAMETERS.update({f'radius={radius}': (color_image, depth_image)})
# One to each corner
for n_obj in range(4):
color_image, depth_image = np.copy(base_color), np.copy(base_depth)
for location in [(320, 180), (320, 540), (960, 180), (960, 540)][:n_obj]:
cv2.circle(color_image, location, self.DEFAULT_RADIUS, (255, 255, 255), thickness=-1)
cv2.circle(depth_image, location, self.DEFAULT_RADIUS, (255), thickness=-1)
self.PARAMETERS.update({f'n_obj={n_obj}': (color_image, depth_image)})
# On default noise specturm
for title, (color_image, depth_image) in common.noise().items():
cv2.circle(color_image, (640, 360), self.DEFAULT_RADIUS, (255, 255, 255), thickness=-1)
cv2.circle(depth_image, (640, 360), self.DEFAULT_RADIUS, (255), thickness=-1)
self.PARAMETERS.update({f'{title} single': (color_image, depth_image)})
## Read current params & setup obstacle detector
prefix = '' if os.path.isdir("times") else '..'
config_filename = os.path.join(prefix, '..', 'obstacle', 'config.json')
with open(config_filename, 'r') as config_file:
config = json.load(config_file)
self.blob_finder = ObstacleFinder(params=import_params(config))
def __init__(self, vision_communication, flight_communication, camera):
##
self.vision_communication = vision_communication
self.flight_communication = flight_communication
self.camera = camera.__iter__()
##
prefix = 'vision' if os.path.isdir("vision") else ''
#
config_filename = os.path.join(prefix, 'obstacle', 'config.json')
with open(config_filename, 'r') as config_file:
config = json.load(config_file)
self.obstacle_finder = ObstacleFinder(params=import_params(config))
self.module_location = ModuleLocation()
bottom_left_near
] # , top_left_far, top_right_far, bottom_right_far, bottom_left_far]
# create Rectangle and add to list of bounding boxes
bbox = BoundingBox(vertices, ObjectType.AVOID)
bounding_boxes.append(bbox)
return bounding_boxes
if __name__ == '__main__':
from vision.common.box_plotter import plot_box
prefix = 'vision' if os.path.isdir("vision") else ''
img_folder = os.path.join(prefix, 'vision_images', 'obstacle')
config_filename = os.path.join(prefix, 'obstacle', 'config.json')
with open(config_filename, 'r') as config_file:
config = json.load(config_file)
for img in os.listdir(img_folder):
if img[-4:] not in ['.png', '.jpg']:
continue
image = cv2.imread(os.path.join(img_folder, os.fsdecode(img)))
obstacle_finder = ObstacleFinder(params=import_params(config))
bboxes = obstacle_finder.find(image, None)
plot_box(bboxes, image)