class TargetProcessor: def __init__(self): self.rectHeight = 0.02 self.rectWidth = 0.05 self.focalLen = 480 self.horizCent = 240 self.vertiCent = 320 def loadTarget(self, approx): '''Does all the higher level calculations. Takes an input array of points and sends it to the Target object. Then takes the width and height from the target object and calculates Distance, Azimuth, and Altitude. ''' self.dist = 0 self.azimuth = 0 self.altitude = 0 self.targetType = -1 self.target = Target(approx) imgWidth = self.target.getWidth() imgHeight = self.target.getHeight() imgCenter = self.target.getCenter() rectCentX = imgCenter[0] rectCentY = imgCenter[1] offsetX = float(rectCentX - self.horizCent) offsetY = float(rectCentY - self.vertiCent) self.targetType = self.target.getType() self.dist = self.rectWidth * self.focalLen / imgWidth self.azimuth = np.arctan(offsetX / self.focalLen) * 180 / math.pi self.altitude = np.arctan(offsetY / self.focalLen) * 180 / math.pi def getType(self): '''Returns the target type''' return self.targetType def getAzimuth(self): '''Returns the azimuth''' return self.azimuth
from TargetProcessor import TargetProcessor
from Target import Target
import cv2
cameraID = 1
cam = cv2.VideoCapture(cameraID)
detector = TargetDetector()
target = Target()
processor = TargetProcessor()
while(True):
ret,frame = cam.read()
if not ret:
continue
detector.threshold(frame)
detector.contour()
maxX, minX, maxY, minY = detector.getExtrema()
targetApprox = detector.getTargetApprox()
width = target.getWidth(maxX, minX)
height = target.getHeight(maxY, minY)
centerX, centerY = target.getCenter()
shape = target.getShape(targetApprox)
processor.calculate(width, height, centerX, centerY, frame, shape)
azi = processor.getAzi()
cv2.imshow("Threshed Image", detector.getThreshed())
cv2.imshow("Contoured Image", detector.getContour())
print("Azimuth: " + str(azi))
if (cv2.waitKey(10) == 27):
break
detector = TargetDetector()
target = Target()
processor = TargetProcessor()
plusCount = 0
rectCount = 0
while (True):
ret, frame = cam.read()
if not ret:
continue
detector.threshold(frame)
detector.contour()
targetApprox = detector.getTargetApprox()
width = target.getWidth(targetApprox)
height = target.getHeight(targetApprox)
centerX, centerY = target.getCenter()
shape = target.getShape(targetApprox)
processor.calculate(width, height, centerX, centerY, detector.getHSV(),
shape)
azi = processor.getAzi()
alti = processor.getAlti()
dist = processor.getDist()
cv2.imshow("Threshed Image", detector.getThreshed())
cv2.imshow("Contoured Image", detector.getContour())
print(shape)
print("Azimuth: " + str(azi))
print("Altitude: " + str(alti))
print("Distance: " + str(dist))
if (cv2.waitKey(10) == 27):
break
target = Target()
processor = TargetProcessor()
while (True):
ret, frame = cam.read(
) #Gets the image from the camera (frame) and whether or not it receives a proper image (ret: returns true or false)
if not ret:
continue
detector.threshold(
frame
) #threshold the originial image, the live camera frame in this case
detector.contours(detector.getThreshed(),
frame) #Contour the image using the threshed image
HSV = detector.getHSV(
) #<--- Gets variables from different classes, mainly for parameters in the processor
height = target.getHeight(detector.getApprox()) #<---
width = target.getWidth(detector.getApprox()) #<---
centerX = target.getCenterX() #<---
centerY = target.getCenterY() #<---
processor.calculate(
width, height, centerX, centerY, HSV
) #Calculating azimuth, altitude, and distance using the width, height, centerX, centerY, and the HSV image
dist = processor.getDistance(
) #Receive the distance calculated by processor.calculate()
azi = processor.getAzimuth(
) #Receive the azimuth calculated by processor.calculate()
alti = processor.getAltitude(
) #Receive the altitude calculated by processor.calculate()
print("Distance: " + str(dist)) #Print distance
print("Azimuth: " + str(azi)) #Print azimuth
print("Altitude: " + str(alti)) #Print altitude