def __init__(self, pictureNumber):
resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
image = cv2.imread(frameFileName)
self.geometricalImage = WorldImage()
self.geometricalImage.buildMap(image)
self.geometricalImage.updateRobotPosition(image)
resultFile = open(resultFileName, 'r')
centerOfMassLine = resultFile.readline()
centerOfMassLine = centerOfMassLine[13:]
self.centersOfMass = []
xPosition = ""
yPosition = ""
isFirstNumber = True
for character in centerOfMassLine:
if character != '(' and character != ',' and character != ')':
if isFirstNumber:
xPosition += character
else:
yPosition += character
if character == '(':
isFirstNumber = True
if character == ',':
isFirstNumber = False
if character == ')':
self.centersOfMass.append((int(xPosition), int(yPosition)))
xPosition = ""
yPosition = ""
class ResultChecker:
def __init__(self, pictureNumber):
resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
image = cv2.imread(frameFileName)
self.geometricalImage = WorldImage()
self.geometricalImage.buildMap(image)
self.geometricalImage.updateRobotPosition(image)
resultFile = open(resultFileName, 'r')
centerOfMassLine = resultFile.readline()
centerOfMassLine = centerOfMassLine[13:]
self.centersOfMass = []
xPosition = ""
yPosition = ""
isFirstNumber = True
for character in centerOfMassLine:
if character != '(' and character != ',' and character != ')':
if isFirstNumber:
xPosition += character
else:
yPosition += character
if character == '(':
isFirstNumber = True
if character == ',':
isFirstNumber = False
if character == ')':
self.centersOfMass.append((int(xPosition), int(yPosition)))
xPosition = ""
yPosition = ""
def checkNumberOfShapesFound(self):
shapeFound = 0
for shape in self.geometricalImage.getMap().getShapesList():
shapeCenterOfMassX, shapeCenterOfMassY = shape.findCenterOfMass()
for centerOfMass in self.centersOfMass:
if abs(shapeCenterOfMassX - centerOfMass[0]) < 10 and abs(
shapeCenterOfMassY - centerOfMass[1]) < 10:
shapeFound += 1
if shapeFound != len(self.centersOfMass) or len(
self.geometricalImage.getMap().getShapesList()) != len(
self.centersOfMass):
print("Number of shapes found : " +
str(len(self.geometricalImage.getMap().getShapesList())))
print("Number of real shapes found : " + str(shapeFound))
print("Number of shapes present : " + str(len(self.centersOfMass)))
return shapeFound, len(self.centersOfMass)
def checkIfLimitFound(self):
if self.geometricalImage.getMap().getMapLimit().getArea() < 1:
print("Limit not found")
def checkIfRobotFound(self):
if self.geometricalImage.getMap().robot.square.getArea() < 1:
print("Robot not found")
def __init__(self, pictureNumber):
resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
image = cv2.imread(frameFileName)
self.geometricalImage = WorldImage()
self.geometricalImage.buildMap(image)
self.geometricalImage.updateRobotPosition(image)
resultFile = open(resultFileName, 'r')
centerOfMassLine = resultFile.readline()
centerOfMassLine = centerOfMassLine[13:]
self.centersOfMass = []
xPosition = ""
yPosition = ""
isFirstNumber = True
for character in centerOfMassLine:
if character != '(' and character != ',' and character != ')':
if isFirstNumber:
xPosition += character
else:
yPosition += character
if character == '(':
isFirstNumber = True
if character == ',':
isFirstNumber = False
if character == ')':
self.centersOfMass.append((int(xPosition), int(yPosition)))
xPosition = ""
yPosition = ""
class ResultChecker:
def __init__(self, pictureNumber):
resultFileName = 'Results/Picture ' + str(pictureNumber) + '.txt'
frameFileName = 'Frames/Picture ' + str(pictureNumber) + '.jpg'
image = cv2.imread(frameFileName)
self.geometricalImage = WorldImage()
self.geometricalImage.buildMap(image)
self.geometricalImage.updateRobotPosition(image)
resultFile = open(resultFileName, 'r')
centerOfMassLine = resultFile.readline()
centerOfMassLine = centerOfMassLine[13:]
self.centersOfMass = []
xPosition = ""
yPosition = ""
isFirstNumber = True
for character in centerOfMassLine:
if character != '(' and character != ',' and character != ')':
if isFirstNumber:
xPosition += character
else:
yPosition += character
if character == '(':
isFirstNumber = True
if character == ',':
isFirstNumber = False
if character == ')':
self.centersOfMass.append((int(xPosition), int(yPosition)))
xPosition = ""
yPosition = ""
def checkNumberOfShapesFound(self):
shapeFound = 0
for shape in self.geometricalImage.getMap().getShapesList():
shapeCenterOfMassX, shapeCenterOfMassY = shape.findCenterOfMass()
for centerOfMass in self.centersOfMass:
if abs(shapeCenterOfMassX - centerOfMass[0]) < 10 and abs(shapeCenterOfMassY - centerOfMass[1]) < 10:
shapeFound += 1
if shapeFound != len(self.centersOfMass) or len(self.geometricalImage.getMap().getShapesList()) != len(self.centersOfMass):
print("Number of shapes found : " + str(len(self.geometricalImage.getMap().getShapesList())))
print("Number of real shapes found : " + str(shapeFound))
print("Number of shapes present : " + str(len(self.centersOfMass)))
return shapeFound, len(self.centersOfMass)
def checkIfLimitFound(self):
if self.geometricalImage.getMap().getMapLimit().getArea() < 1:
print("Limit not found")
def checkIfRobotFound(self):
if self.geometricalImage.getMap().robot.square.getArea() < 1:
print("Robot not found")
def myMain():
#frame = cv2.imread('Photo-Test/Frames/Picture 500.jpg')
geometricalImage = WorldImage()
camera = cv2.VideoCapture(1)
while(True):
ret, frame = camera.read()
#frame = cv2.imread('Photo-Test/Frames/Picture 500.jpg')
frame = cv2.resize(frame, (960, 720))
copyF = copy.copy(frame)
geometricalImage.buildMap(frame)
geometricalImage.updateRobotPosition(frame)
geometricalImage.addLabels(frame)
worldImage = geometricalImage.drawMapOnFrame(frame)
cv2.imshow("resized", worldImage)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# return m * (X - x1) + y1
#
# line = np.vectorize(line_eq)
#
# x = np.arange(0, 1200)
# y = line(x).astype(np.uint)
#
# cv2.line(frame, (x[0], y[0]), (x[-1], y[-1]), (0,0,0))
# cv2.imshow("foo",frame)
# cv2.waitKey()
while (True):
ret, frame = camera.read()
#frame = cv2.imread('Photos/3105/table 5/Jour/rideau ferme/Picture 1.jpg')
cv2.resize(frame, (960, 720))
geometricalImage = WorldImage()
geometricalImage.buildMap(frame)
geometricalImage.updateRobotPosition(frame)
geometricalImage.addLabels(frame)
# worldV = worldVision()
# map = worldV.getCurrentImage()
worldImage = geometricalImage.drawMapOnFrame(frame)
#print(geometricalImage.getMap().robot.findCenterOfMass())
cv2.imshow('Picture ' + str(x), worldImage)
# geometricalImage = WorldImage(frame)
# geometricalImage.setMap()
# geometricalImage.addLabels()
# worldImage = geometricalImage.drawMapOnImage()
def myMain2():
camera = cv2.VideoCapture(0)
camera.set(3, 3264)
camera.set(4, 2448)
#frame = cv2.imread('Photo-Test/Frames/Picture 500.jpg')
geometricalImage = WorldImage()
#ret, frame = camera.read()
frame = cv2.imread('Photo-Test/Frames/Picture 501.jpg')
frame = cv2.resize(frame, (960, 720))
# copyF = copy.copy(frame)
geometricalImage.buildMap(frame)
geometricalImage.updateRobotPosition(frame)
geometricalImage.defineTreasures([88, 30])
#geometricalImage.findBestTresor()
geometricalImage.addLabels(frame)
myTarget = ShapeTarget("pentagone")
geometricalImage.getIslandPositioning(myTarget)
geometricalImage.drawMapOnFrame(frame)
cv2.imshow("resized", frame)
cv2.waitKey(0)
# line = np.vectorize(line_eq)
#
# x = np.arange(0, 1200)
# y = line(x).astype(np.uint)
#
# cv2.line(frame, (x[0], y[0]), (x[-1], y[-1]), (0,0,0))
# cv2.imshow("foo",frame)
# cv2.waitKey()
while(True):
ret, frame = camera.read()
#frame = cv2.imread('Photos/3105/table 5/Jour/rideau ferme/Picture 1.jpg')
cv2.resize(frame, (960,720))
geometricalImage = WorldImage()
geometricalImage.buildMap(frame)
geometricalImage.updateRobotPosition(frame)
geometricalImage.addLabels(frame)
# worldV = worldVision()
# map = worldV.getCurrentImage()
worldImage = geometricalImage.drawMapOnFrame(frame)
#print(geometricalImage.getMap().robot.findCenterOfMass())
cv2.imshow('Picture ' + str(x), worldImage)
# geometricalImage = WorldImage(frame)
# geometricalImage.setMap()
# geometricalImage.addLabels()
# worldImage = geometricalImage.drawMapOnImage()
