def calibrate_from_package_return_handrail_filter():
detector = Detector()
handrail_filter = HandrailFilter()
cal1 = cv2.imread("Calibration_Images/cal_1m_0degrees.jpg")
height, width, channels = cal1.shape
cal_pckg = CalibrationPackage(width, height)
det1 = detector.get_rects_from_bgr(cal1)[0]
cal2 = cv2.imread("Calibration_Images/cal_80cm_0degrees.jpg")
det2 = detector.get_rects_from_bgr(cal1)[0]
cal_pckg.add_detection(det1, 100).add_detection(det2, 80)
handrail_filter.calibrate_from_package(cal_pckg)
return handrail_filter
def test_package_calibration():
detector = Detector()
handrail_filter = calibrate_from_package_return_handrail_filter()
test_img = cv2.imread("Calibration_Images/cal_80cm_45degrees.jpg")
detection = detector.get_rects_from_bgr(test_img)[0]
print(handrail_filter.get_distance_from_detection(detection))
def test_cam_dist_calculator():
detector = Detector()
handrail_filter = calibrate_from_package_return_handrail_filter()
cam = CameraController()
test_img = cam.get_image()
cv2.imshow("before", test_img)
cv2.waitKey(0)
detections = detector.get_rects_from_bgr(test_img)
out = handrail_filter.get_valid_detections_and_distances_list(detections)
class HandrailFilter:
def __init__(self):
self.known_height = 3.50266 # cm
self.known_width = 25.5 # cm
self.focal_length_width = -1
self.focal_length_height = -1
self.image_width = 0
self.image_height = 0
self.detector = Detector()
def calibrate_from_package(self, calibration_pckg):
# [self.calibrate_from_detection(rect, dist) for rect, dist in calibration_pckg.detection_distances]
focal_lengths_list = [
(self.get_focal_length_from_detection_width(width, dist),
self.get_focal_length_from_detection_height(height, dist))
for width, height, dist in calibration_pckg.dimension_distance_list
]
self.focal_length_width = sum(
pair[0] for pair in focal_lengths_list) / len(focal_lengths_list)
self.focal_length_height = sum(
pair[1] for pair in focal_lengths_list) / len(focal_lengths_list)
self.image_height = calibration_pckg.image_height
self.image_width = calibration_pckg.image_width
def calibrate_from_detection(self, rotatedRect, known_distance):
dims = rotatedRect[1]
width = max(dims)
height = min(dims)
self.focal_length_width = self.get_focal_length_from_detection_width(
width, known_distance)
self.focal_length_height = self.get_focal_length_from_detection_height(
height, known_distance)
def get_focal_length_from_detection_height(self, height, known_distance):
return height * known_distance / self.known_height
def get_focal_length_from_detection_width(self, width, known_distance):
return width * known_distance / self.known_width
def get_distance_from_detection(self, rotatedRect):
dims = rotatedRect[1]
width = max(dims)
height = min(dims)
distance_h = self.get_distance_from_detection_height(height)
distance_w = self.get_distance_from_detection_width(width)
return min(distance_h, distance_w)
def get_distance_from_detection_height(self, height):
return self.known_height * self.focal_length_height / height
def get_distance_from_detection_width(self, width):
return self.known_width * self.focal_length_width / width
def is_handrail(self, rotatedRect):
dims = rotatedRect[1]
width = max(dims)
height = min(dims)
return width / height >= 3 # placeholder comparison
def remove_non_handrail_detections(self, rotatedRects):
filtered_rects = [
rect for rect in rotatedRects if self.is_handrail(rect)
]
return filtered_rects
def get_valid_detections_and_distances_list(self, rotatedRects):
return [(rect, self.get_distance_from_detection(rect))
for rect in self.remove_non_handrail_detections(rotatedRects)]
def get_vector_to_handrail(self, detection, distance):
pixel_to_m_conv = self.focal_length_width / distance
x_coord = detection[0][0]
x_offset_cm = abs(self.image_width / 2 - x_coord) / pixel_to_m_conv
return distance, x_offset_cm
# This is the function that will be called by the MainController
def get_handrail_vectors(self, image):
detections = self.detector.get_rects_from_bgr(image)
detection_distance_pairs = self.get_valid_detections_and_distances_list(
detections)
handrail_vector_list = []
for detection, distance in detection_distance_pairs:
handrail_vector_list += self.get_vector_to_handrail(
detection, distance)
return handrail_vector_list
