def run_one_step(cap1,a,b, newcameramtx, roi, mtx, dist):
ret1, frame1 = cap1.read()
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
if ret1:
corners1, ids1 = detectAruco(frame1)
aruco.drawDetectedMarkers(frame1, corners1, ids1)
if not(ids1 is None) and len(ids1)> 0 and (boatAV in ids1 and boatAR in ids1): #le bateau est sur la cam1 ou la cam2 (ou les deux en meme temps)
theta = getCap(corners1, ids1)
xBoat, yBoat = getPosition(corners1, ids1, frame1)
# drawBoat(frame1, xBoat, yBoat)
else: #le bateau n'est sur aucune camera
print("ERROR : No boat detected")
print("bordBasssin = ", bordBassin)
print("ids = ", ids1)
return None, None, None, 255
else: #le bateau n'est sur aucune camera
print("ERROR : No image")
return None, None, None, 255
# aruco.drawDetectedMarkers(frame1, corners1, ids1)
cv2.imshow("Webcam", frame1)
key = cv2.waitKey(1) & 0xFF
if math.isnan(theta):
return -1,-1,-1, key
return xBoat, yBoat,theta, key
# -*- coding: utf-8 -*-
"""
Created on Wed Aug 14 10:53:47 2019
@author: Quentin
"""
from calibrate_camera import calibration, undistort
import cv2
if __name__ == "__main__":
adressCam1 = 'http://*****:*****@169.254.206.22/mjpg/video.mjpg'
newcameramtx, roi, mtx, dist = calibration()
cap1 = cv2.VideoCapture()
cap1.open(adressCam1)
ret, frame1 = cap1.read()
if ret:
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
cv2.imwrite('fondPlot.png', frame1)
else:
print("No Cam 1")
plt.xlim(-1, 5)
plt.ylim(-1, 4)
plt.xlabel('Red = No Calib, Green = Calib')
plt.grid()
plt.gca().set_aspect('equal', adjustable='box')
plt.gca().invert_xaxis() #on inverse l'axe x (correspond au y de l'image)
ax.yaxis.tick_right()
while (True):
key = cv2.waitKey(1) & 0xFF
ret, frameNC = cap.read()
frameC = undistort(frameNC, newcameramtx, roi, mtx, dist)
cornerNC, idsNC = detectAruco(frameNC)
aruco.drawDetectedMarkers(frameNC, cornerNC, idsNC)
cornerC, idsC = detectAruco(frameC)
aruco.drawDetectedMarkers(frameC, cornerC, idsC)
cv2.imshow('Frame No Calib', resizeFrame(frameNC))
cv2.imshow('Frame Calib', resizeFrame(frameC))
xnc, ync = getPosition(cornerNC, idsNC, frameNC)
xc, yc = getPosition(cornerC, idsC, frameC)
if xc is None or xnc is None:
print("xc or xnc is None")
y = bordBassin[2][1] - 10
h = abs(bordBassin[12][1] - bordBassin[2][1]) + 10
w = abs(bordBassin[2][0] - bordBassin[3][0]) + 10
crop_img = frame[x:x + w, y:y + h]
return crop_img
if __name__ == "__main__":
newcameramtx, roi, mtx, dist = calibration()
cap1 = cv2.VideoCapture()
cap1.open(adressCam1)
ret, frame1 = cap1.read()
if ret:
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
corner, ids = detectAruco(frame1)
cap1.release()
crop1 = cutImage(frame1, corner, ids, 1)
# cv2.imshow("Frame 1", resizeFrame(crop1))
else:
crop1 = np.ones((2000, 2000))
cap2 = cv2.VideoCapture()
cap2.open(adressCam2)
ret, frame2 = cap2.read()
if ret:
frame2 = undistort(frame2, newcameramtx, roi, mtx, dist)
corner, ids = detectAruco(frame2)
cap2.release()
crop2 = cutImage(frame2, corner, ids, 2)
def chooseCap(newcameramtx, roi, mtx, dist, oldCap, x):
"""
mise en place d'un oldCap pour optimiser le temps de compilation
/!\ Ouvrir et fermer des cap prends bcp de temps /!\
Ne va laguer que lors du changment de caméra
renvoie le cap qui a le bateau sur son image
"""
if oldCap == 1:
cap1 = cv2.VideoCapture()
cap1.open(adressCam1)
ret1, frame1 = cap1.read()
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
corners1, ids1 = detectAruco(frame1)
cap1.release()
if 4 in ids1 and 5 in ids1:
return frame1, corners1, ids1, 1
cap2 = cv2.VideoCapture()
cap2.open(adressCam2)
ret2, frame2 = cap2.read()
frame2 = undistort(frame2, newcameramtx, roi, mtx, dist)
corners2, ids2 = detectAruco(frame2)
cap2.release()
if 4 in ids2 and 5 in ids2:
return frame2, corners2, ids2, 2
cap3 = cv2.VideoCapture()
cap3.open(adressCam3)
ret3, frame3 = cap3.read()
frame3 = undistort(frame3, newcameramtx, roi, mtx, dist)
corners3, ids3 = detectAruco(frame3)
cap3.release()
if 4 in ids3 and 5 in ids3:
return frame3, corners3, ids3, 3
elif oldCap == 2:
if x <= bordBassin[str(1)][0]:
cap1 = cv2.VideoCapture()
cap1.open(adressCam1)
ret1, frame1 = cap1.read()
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
corners1, ids1 = detectAruco(frame1)
cap1.release()
if 4 in ids1 and 5 in ids1:
return frame1, corners1, ids1, 1
cap2 = cv2.VideoCapture()
cap2.open(adressCam2)
ret2, frame2 = cap2.read()
frame2 = undistort(frame2, newcameramtx, roi, mtx, dist)
corners2, ids2 = detectAruco(frame2)
cap2.release()
if 4 in ids2 and 5 in ids2:
return frame2, corners2, ids2, 2
cap3 = cv2.VideoCapture()
cap3.open(adressCam3)
ret3, frame3 = cap3.read()
frame3 = undistort(frame3, newcameramtx, roi, mtx, dist)
corners3, ids3 = detectAruco(frame3)
cap3.release()
if 4 in ids3 and 5 in ids3:
return frame3, corners3, ids3, 3
#on ne l'atteint jamais ???
cap1 = cv2.VideoCapture()
cap1.open(adressCam1)
ret1, frame1 = cap1.read()
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
corners1, ids1 = detectAruco(frame1)
cap1.release()
if 4 in ids1 and 5 in ids1:
return frame1, corners1, ids1, 1
elif oldCap == 3:
if x <= bordBassin[str(2)][0]:
cap2 = cv2.VideoCapture()
cap2.open(adressCam2)
ret2, frame2 = cap2.read()
frame2 = undistort(frame2, newcameramtx, roi, mtx, dist)
corners2, ids2 = detectAruco(frame2)
cap2.release()
if 4 in ids2 and 5 in ids2:
return frame2, corners2, ids2, 2
cap3 = cv2.VideoCapture()
cap3.open(adressCam3)
ret3, frame3 = cap3.read()
frame3 = undistort(frame3, newcameramtx, roi, mtx, dist)
corners3, ids3 = detectAruco(frame3)
cap3.release()
if 4 in ids3 and 5 in ids3:
return frame3, corners3, ids3, 3
cap2 = cv2.VideoCapture()
cap2.open(adressCam2)
ret2, frame2 = cap2.read()
frame2 = undistort(frame2, newcameramtx, roi, mtx, dist)
corners2, ids2 = detectAruco(frame2)
cap2.release()
if 4 in ids2 and 5 in ids2:
return frame2, corners2, ids2, 2
cap1 = cv2.VideoCapture()
cap1.open(adressCam1)
ret1, frame1 = cap1.read()
frame1 = undistort(frame1, newcameramtx, roi, mtx, dist)
corners1, ids1 = detectAruco(frame1)
cap1.release()
if 4 in ids1 and 5 in ids1:
return frame1, corners1, ids1, 1
return None, None, None, None