def __init__(self):
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-v",
"--video",
help="path to the (optional) video file")
args = vars(ap.parse_args())
self.recordedVideo = args.get("video", False)
if self.recordedVideo:
self.videoFilenanme = args["video"]
# Get config
config = Config()
self.debugPrint = config.get("minesweeper.analysis.debugPrint", False)
self.analysis_width = config.get("minesweeper.analysis.imagewidth",
480)
self.blur_radius = config.get("minesweeper.analysis.burrradius", 11)
#self.minSize = config.get("minesweeper.analysis.minsize", 10)
self.minWidth = config.get("minesweeper.analysis.minWidth", 15)
self.minHeight = config.get("minesweeper.analysis.minHeight", 10)
# Scale factors for real-world measures
self.angleAdjustment = config.get("minesweeper.analysis.anglescale",
2.6) #1.3#0.55
# define the lower and upper boundaries of the target
# colour in the HSV color space, then initialize the
useCalibrationColours = config.get(
"minesweeper.analysis.useCalibrationColours", True)
if not useCalibrationColours:
useLEDColours = config.get("minesweeper.analysis.useLEDColours",
False)
if useLEDColours:
# For LED:
self.colourTargetLower = tuple(
config.get("minesweeper.analysis.colourTargetLowerLED",
[155, 24, 200
])) #(165,90,100)#(158,60,90) #(160,128,24)
self.colourTargetUpper = tuple(
config.get("minesweeper.analysis.colourTargetUpperLED",
[175, 255, 255])) #(175,255,255) #(180,255,255)
else:
# For test biscuit tin lid
self.colourTargetLower = tuple(
config.get("minesweeper.analysis.colourTargetLowerTest",
[165, 94, 69]))
self.colourTargetUpper = tuple(
config.get("minesweeper.analysis.colourTargetUpperTest",
[180, 255, 255]))
self.showImage = config.get("minesweeper.display.image", True)
self.trailSize = config.get("minesweeper.display.trail", 25)
self.frameDelayMs = config.get("minesweeper.analysis.frameDelayMs",
20) # delay after each frame analysis
config.save()
# Load calibration values
configCal = Config("calibrationMinesweeper.json")
if useCalibrationColours:
self.colourTargetLower = tuple(
configCal.get("minesweeper.analysis.colourTargetLower", None))
self.colourTargetUpper = tuple(
configCal.get("minesweeper.analysis.colourTargetUpper", None))
self.cameraNearestVisibleDistance = configCal.get(
"distance.analysis.nearest", 130)
self.cameraNearestVisiblePixels = int(
self.cameraNearestVisibleDistance *
3.5) # Rough approximation equivallent!!
self.cameraFurthestVisiblePixel = configCal.get(
"distance.analysis.horizon", 500)
self.cameraHeightDistance = configCal.get(
"distance.analysis.cameraHeight", 170)
calibrationResolution = configCal.get(
"distance.analysis.calibrationResolution", [480, 640])
self.cameraHeightAdjustment = np.sqrt(
self.cameraHeightDistance * self.cameraHeightDistance +
self.cameraNearestVisibleDistance * self.
cameraNearestVisibleDistance) / self.cameraNearestVisibleDistance
# Adjust for the analysis picture resolution being different to the calibrator
self.cameraFurthestVisiblePixel = self.cameraFurthestVisiblePixel * self.analysis_width // calibrationResolution[
1]
# Results IPC
self.resultsIpc = ImageAnalysisSharedIPC()
self.resultsIpc.create()
# Yaw reading accessor
self.sensors = SensorAccessFactory.getSingleton()
self.yawAccessor = self.sensors.yaw()
def __init__(self): # Initialise the IPC classes self.lineIPC = LineAnalysisSharedIPC() self.lineIPC.read() self.imageIPC = ImageAnalysisSharedIPC() self.imageIPC.read()