network = Network()
network.userServer()
while (
True
): # while loop for continuous analyzation of frames through video capture
network.waitForPing()
ret, frame = cam.read()
h, w = frame.shape[:
2] # gets the height and width of the frame for analyzation purposes
imgXcenter = w / 2
imgYcenter = h / 2
det = Detector() # makes a new TargetDetector object
proc = Processor() # makes a new TargetProcessor object
if not ret: # checks if boolean value ret is false
continue
threshold = det.threshold(minThreshold, maxThreshold,
frame) # getting thresholded frame
det.Contours(threshold) # finding contours based on thresholded frame
det.filterContours() # filtering the contours by size and number
contours, index, corners, isCross, isRect = det.getContours(
) # getting the contours, specific index, and array of corners
if (corners
is not None): # checking if the corners array returned is not null
target = Target(corners) # making a new Target object
Imagewidth = target.getWidth()
Xmid, Ymid = target.getCenter()
maxThreshold = np.array([255, 100, 255], np.uint8)
#----------------------------- FOR STILL FRAMES -------------------------------#
frame = cv2.imread("ReflectiveRectangle.JPG")
h, w = frame.shape[:2]
imgXcenter = w / 2
imgYcenter = h / 2
det = Detector()
threshold = det.getThreshold(minThreshold, maxThreshold, frame)
corners = det.getContours(threshold, frame)
target = Target(corners)
Xmid, Ymid = target.center()
processor = Processor()
d, az, al = processor.findDistanceAzimuth(focalLength, actualWidth,
target.width(), Xmid - imgXcenter,
imgYcenter - Ymid)
processor.displayValues(d, az, al)
cv2.imshow("drawContours", frame)
cv2.waitKey(0)
#-------------------- FOR LIVE VIDEO (comment above code) ---------------------#
# cam = cv2.VideoCapture(0)
#
# while(True):
# ret, frame = cam.read()
# h,w = frame.shape[:2]