def set_erode_iteration(self, erode_iterations):
InfraredModel.set_erode_iterations(erode_iterations=erode_iterations)
def set_dilate_iteration(self, dilate_iterations):
InfraredModel.set_dilate_iterations(
dilate_iterations=dilate_iterations)
def set_blur_kernalsize(self, blur_kernalsize):
InfraredModel.set_blur_kernalsize(blur_kernalsize=blur_kernalsize)
def set_infrared_lower_boundary_value(self, value):
InfraredModel.set_infrared_lower_boundary_value(value=value)
def set_infrared_lower_boundary_saturation(self, saturation):
InfraredModel.set_infrared_lower_boundary_saturation(
saturation=saturation)
def set_infrared_lower_boundary_hue(self, hue):
InfraredModel.set_infrared_lower_boundary_hue(hue=hue)
def tracking_loop(self):
while self.is_tracking:
if self.infrared_camera is not None:
# Get a frame from camera
ret, frame = self.infrared_camera_get_frame()
if ret:
# Resize(downsize) the frame for better processing performance
# Current natively using 320x240 frame, no downsizing it needed
frame = imutils.resize(frame, width=320)
# Process the frame
ir_result = InfraredModel.find_candidate_targets(
frame=frame)
result = ir_result["result"]
pro_processing_frame = ir_result["pro_processing_frame"]
if result:
targets = ir_result["targets"]
if len(targets) == 1:
x, y = targets[0].x, targets[0].y
cv2.circle(pro_processing_frame, (x, y), 6,
(0, 0, 255), -1)
else:
# sort the candidates by radius
targets.sort(key=Target.get_radius, reverse=True)
# if the largest candidates is larger than the second largest candidates by a lot (* 0.??, hence ??% )
# We can assume that the anything other than the largest candidates should be considered.
if targets[1].radius < (targets[0].radius * 0.15):
x, y = targets[0].x, targets[0].y
cv2.circle(pro_processing_frame, (x, y), 6,
(0, 0, 255), -1)
else:
# Both first and second largest candidates are large enough, compare to each other, hence consider both.
x, y = Target.find_2_targets_middle(
target0=targets[0], target1=targets[1])
cv2.circle(pro_processing_frame,
(targets[0].x, targets[0].y), 6,
(0, 0, 255), -1)
cv2.circle(pro_processing_frame,
(targets[1].x, targets[1].y), 6,
(0, 0, 255), -1)
cv2.circle(pro_processing_frame, (x, y), 4,
(0, 255, 0), -1)
pix = GuiModel.frame_to_pixmap(pro_processing_frame)
self.controller.main_gui_set_label_infrared_camera_preview_frame(
pixmap=pix)
# Calculate the distance from center to target, in X-axis and Y-axis
dx = x - 160
dy = y - 160
# print("Before: dx: " + str(dx) + "\tdy: " + str(dy))
abs_dx = abs(dx)
abs_dy = abs(dy)
if abs_dx < self.effective_x:
dx = 0
if abs_dy < self.effective_y:
dy = 0
# print("After : dx: " + str(dx) + "\tdy: " + str(dy))
if not (dx == 0 and dy == 0):
# 0 = Negative, 2 = Positive, this value will be minus 1 in Arduino board, 0-> -1; 2-> 1
# target on left to center
if dx < 0:
direction_x = 0
# target on right to center
else:
direction_x = 2
# target above center
if dy < 0:
direction_y = 0
# target below center
else:
direction_y = 2
# TODO: Set package type
# Build the message string
# First integer is package type
message = "0" + str(direction_x) + str(
abs(dx)
).zfill(3) + str(direction_y) + str(abs(dy)).zfill(
3) + ";" # print("Sent Message: " + message)
# Send message
self.send_serial_message(message=message)
print(message)
else:
pix = GuiModel.frame_to_pixmap(pro_processing_frame)
self.controller.main_gui_set_label_infrared_camera_preview_frame(
pixmap=pix)
else:
print("Tracking Ended With ret=False")
self.stop_tracking() # self.infrared_camera = None
else:
print("Tracking Ended With infrared_camera is None")
self.stop_tracking()
print("Tracking Ended")
self.controller.main_gui_clear_label_infrared_camera_preview_frame()