def test_bottom_lane_4():
cube_detector = CubeDetector()
frame = cv2.imread("../anki_object_detection/images/cube_up_lane_4.jpg")
max_left_lane = Line(294, 181, 68, 415)
max_right_lane = Line(490, 654, 61, 400)
max_horizontal_upper_lane = Line(106, 700, 130, 116)
max_horizontal_lower_lane = Line(10, 795, 247, 223)
cube = cube_detector.detect(frame)
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane)
assert 4 == horizontal_lane
assert -1 == vertical_lane
def test_bottom_lane_4():
cube_detector = CubeDetector()
frame = cv2.imread(
"../anki_object_detection/images/camera_top_bottom_4.jpg")
max_left_lane = Line(306, 312, 5, 486)
max_right_lane = Line(484, 496, 2, 481)
max_horizontal_upper_lane = Line(154, 638, 154, 143)
max_horizontal_lower_lane = Line(157, 646, 337, 328)
cube = cube_detector.detect(frame)
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane)
assert 4 == horizontal_lane
assert -1 == vertical_lane
def test_bottom_lane_3():
cube_detector = CubeDetector()
frame = cv2.imread(
"../anki_object_detection/images/camera_top_bottom_3.jpg")
max_left_lane = Line(306, 312, 5, 486)
max_right_lane = Line(484, 496, 2, 481)
max_horizontal_upper_lane = Line(154, 638, 154, 143)
max_horizontal_lower_lane = Line(157, 646, 337, 328)
cube = cube_detector.detect(frame)
horizontal_lane, vertical_lane = LaneCalculator.get_lane_for_cube(
frame, cube, max_left_lane, max_right_lane, max_horizontal_upper_lane,
max_horizontal_lower_lane)
cv2.namedWindow('test', cv2.WINDOW_NORMAL)
cv2.imshow('test', frame)
cv2.waitKey(0)
assert 3 == horizontal_lane
assert -1 == vertical_lane
def main():
settings.init()
parser = argparse.ArgumentParser(description='Detect a blue cube')
parser.add_argument('configFile', nargs='?', default='config.json')
#parser.add_argument('verticalRightLane', type=int, nargs=4,
# help='the vertical right lane x1 y1 x2 y2')
#parser.add_argument('horizontalTopLane', type=int, nargs=4,
# help='the horizontal top lane x1 y1 x2 y2')
#parser.add_argument('horizontalBottomLane', type=int, nargs=4,
# help='the horizontal bottom lane x1 y1 x2 y2')
args = parser.parse_args()
with open(args.configFile) as json_data:
config = json.load(json_data)
print(config)
#kafka = Kafka()
#loop = asyncio.get_event_loop()
#messageGateway = Websocket(loop)
max_left_lane = Line(config['maxLeftLane']['x1'], config['maxLeftLane']['x2'], config['maxLeftLane']['y1'], config['maxLeftLane']['y2'])
max_right_lane = Line(config['maxRightLane']['x1'], config['maxRightLane']['x2'], config['maxRightLane']['y1'], config['maxRightLane']['y2'])
max_horizontal_upper_lane = Line(config['maxHorizontalUpperLane']['x1'], config['maxHorizontalUpperLane']['x2'], config['maxHorizontalUpperLane']['y1'],
config['maxHorizontalUpperLane']['y2'])
max_horizontal_lower_lane = Line(config['maxHorizontalLowerLane']['x1'], config['maxHorizontalLowerLane']['x2'], config['maxHorizontalLowerLane']['y1'],
config['maxHorizontalLowerLane']['y2'])
lower_color_range = np.array([config['lowerColorRange']['hue'], config['lowerColorRange']['saturation'], config['lowerColorRange']['luminance']])
upper_color_range = np.array([config['upperColorRange']['hue'], config['upperColorRange']['saturation'], config['upperColorRange']['luminance']])
ankiCamera = AnkiCamera(config["cameraDeviceId"])
ankiCamera.run(max_left_lane, max_right_lane, max_horizontal_upper_lane, max_horizontal_lower_lane, lower_color_range, upper_color_range)
def _interpolate_vetical_lines(self, lines, threshold=10):
""" Returns all the aggregated vertical lines that point to the same direction
:param self:
:param lines: The lines found with hough transform
:param threshold: Direction threshold for aggregating same lines
:return:
"""
interpolated_lines = {}
# interpolate lines by aggregating all the vertical lines that point in the same direction (+, - threshold
for line in lines:
for x1, y1, x2, y2 in line:
# swap orientation if line goes bottom up (not up down)
if y1 > y2:
x1, x2, y1, y2 = self._swap_line_orientation(
x1, x2, y1, y2)
# calculate the angle
angle = int(self._calc_angle((x2 - x1, y2 - y1)))
# ignore lines that do not point vertically
if angle < 110 and angle > 80:
print(angle)
closest_line = None
for keyAngle in interpolated_lines:
if abs(keyAngle - angle) < threshold:
closest_line = interpolated_lines[keyAngle]
if closest_line.in_area(x1, x2, y1, y2):
# Calculate x values (for horizontally aligned lines)
if closest_line.y1 > y1:
closest_line.x1 = x1
if closest_line.y2 < y2:
closest_line.x2 = x2
closest_line.y1 = min(y1, closest_line.y1)
closest_line.y2 = max(y2, closest_line.y2)
break
if closest_line is None:
interpolated_lines[angle] = Line(x1, x2, y1, y2)
return interpolated_lines