def handle_pic(image, show=False):
if image is None:
logging.warning("Image is null")
return None, None
cropped, w, h = prepare_pic(image)
if cropped is None:
return None, None
cont, box = find_main_countour(cropped)
if cont is None:
return None, None
p1, p2 = geom.calc_box_vector(box)
if p1 is None:
return None, None
angle = geom.get_vert_angle(p1, p2, w, h)
shift = geom.get_horz_shift(p1[0], w)
draw = image is not None and show
if draw:
cv.drawContours(image, [cont], -1, (0, 0, 255), 3)
cv.drawContours(image, [box], 0, (255, 0, 0), 2)
cv.line(image, p1, p2, (0, 255, 0), 3)
msg_a = "Angle {0}".format(int(angle))
msg_s = "Shift {0}".format(int(shift))
cv.putText(image, msg_a, (10, 20), cv.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 1)
cv.putText(image, msg_s, (10, 40), cv.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 1)
return angle, shift
def handle_frame(image, fout=None, show=False):
# image = cv2.imread(path)
if image is None:
# logging.warning(("File not found", path))
return None, None, None, None, None
cropped, w, h = prepare_frame(image)
if cropped is None:
return None, None, None, None, None
cont, box = find_main_countour(cropped)
if cont is None:
return None, None, None, None, None
p1, p2 = geom.calc_box_vector(box)
if p1 is None:
return None, None, None, None, None
angle = geom.get_vert_angle(p1, p2, w, h)
shift = geom.get_horz_shift(p1[0], w)
draw = fout is not None or show
if draw:
cv2.drawContours(image, [cont], -1, (0,0,255), 3)
cv2.drawContours(image,[box],0,(255,0,0),2)
cv2.line(image, p1, p2, (0, 255, 0), 3)
msg_a = "Angle {0}".format(int(angle))
msg_s = "Shift {0}".format(int(shift))
cv2.putText(image, msg_a, (10, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255,255,255), 1)
cv2.putText(image, msg_s, (10, 40), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255,255,255), 1)
if fout is not None:
cv2.imwrite(fout, image)
if show:
cv2.imshow("image", image)
cv2.imshow("cropped", cropped)
cv2.waitKey(1)
return image, angle, shift, w, h
def handle_pic(path, fout=None, show=False):
image = cv.imread(path)
# crop the top half of the image so it's as if the car were halfway up the track
#height, _ = image.shape[:2] # added
#image = image[:int(height/2),:] # added
if image is None:
logging.warning(("File not found", path))
print("1")
return None, None
cropped, w, h = prepare_pic(image)
if cropped is None:
print("2")
return None, None
cont, box = find_main_countour(cropped)
if cont is None:
print("3")
return None, None
p1, p2 = geom.calc_box_vector(box)
if p1 is None:
print("4")
return None, None
angle = geom.get_vert_angle(p1, p2, w, h)
shift = geom.get_horz_shift(p1[0], w)
draw = fout is not None or show
if draw:
cv.drawContours(image, [cont], -1, (0, 0, 255), 3)
cv.drawContours(image, [box], 0, (255, 0, 0), 2)
cv.line(image, p1, p2, (0, 255, 0), 3)
msg_a = "Angle {0}".format(int(angle))
msg_s = "Shift {0}".format(int(shift))
print(int(angle))
print(int(shift))
#RPIComm.comm(chr(angle))
cv.putText(image, msg_a, (10, 20), cv.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 0), 1) # changed color from (255,255,255)
cv.putText(image, msg_s, (10, 40), cv.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 0), 1) # changed color from (255,255,255)
if fout is not None:
cv.imwrite(fout, image)
if show:
cv.imshow("Image", image)
cv.waitKey(0)
return angle, shift
def handle_pic2(path, fout=None, show=False):
image = cv.imread(path)
if image is None:
logging.warning(("File not found", path))
print("1")
return None, None
height, width = image.shape[:2]
cropped, w, h = prepare_pic2(image)
if cropped is None:
print("2")
return None, None
cont, box = find_main_countour(cropped)
if cont is None:
print("3")
return None, None
p1, p2 = geom.calc_box_vector(box)
if p1 is None:
print("4")
return None, None
angle = geom.get_vert_angle(p1, p2, w, h)
shift = geom.get_horz_shift(p1[0], w)
draw = fout is not None or show
if draw:
w_offset = (width - w) / 2
h_offset = (height - h)
dbox = geom.shift_box(box, w_offset, h_offset)
#cv.drawContours(image,[dbox],0,(255,0,0),2)
#dp1 = (p1[0] + w_offset, p1[1] + h_offset)
#dp2 = (p2[0] + w_offset, p2[1] + h_offset)
#cv.line(image, dp1, dp2, (0, 255, 0), 3)
msg_a = "Angle {0}".format(int(angle))
msg_s = "Shift {0}".format(int(shift))
#cv.putText(image, msg_a, (10, 20), cv.FONT_HERSHEY_SIMPLEX, 0.5, (255,255,255), 1)
#cv.putText(image, msg_s, (10, 40), cv.FONT_HERSHEY_SIMPLEX, 0.5, (255,255,255), 1)
#if fout is not None:
#cv.imwrite(fout, image)
#if show:
#cv.imshow("Image", image)
#cv.waitKey(0)
return angle, shift
def handle_pic(path, fout=None, show=False):
image = cv.imread(path)
if image is None:
logging.warning(("File not found", path))
return None, None
cropped, w, h = prepare_pic(image)
if cropped is None:
return None, None
cont, box = find_main_countour(cropped)
if cont is None:
return None, None
p1, p2 = geom.calc_box_vector(box)
if p1 is None:
return None, None
angle = geom.get_vert_angle(p1, p2, w, h)
shift = geom.get_horz_shift(p1[0], w)
return angle, shift
elif DIRECTION_STATE == bconf.DIRECTION.RIGHT:
angle = geom.get_horz_angle(p1, p2, W, H)
shift = geom.get_vert_shift(p1[0], H)
if angle < 45:
DIRECTION_STATE = bconf.DIRECTION.UP
elif angle > 135:
DIRECTION_STATE = bconf.DIRECTION.DOWN
gc_x = centerPos[0]
gc_y = centerPos[1] - crop_LRFB[1]
elif DIRECTION_STATE == bconf.DIRECTION.UP:
angle = geom.get_vert_angle(p1, p2, W, H)
shift = geom.get_horz_shift(p1[0], W)
if angle < 45:
DIRECTION_STATE = bconf.DIRECTION.RIGHT
elif angle > 135:
DIRECTION_STATE = bconf.DIRECTION.LEFT
gc_x = centerPos[0] - crop_LRFB[2]
gc_y = (centerPos[1] - crop_LRFB[3])
elif DIRECTION_STATE == bconf.DIRECTION.DOWN:
angle = geom.get_vert_angle(p1, p2, W, H)
shift = geom.get_horz_shift(p1[0], W)
if angle < 45:
DIRECTION_STATE = bconf.DIRECTION.LEFT
