示例#1
0
    def draw_fake_balloon(self, frame, veh_pos, balloon_pos, vehicle_roll,
                          vehicle_pitch, vehicle_yaw):
        # calculate bearing to balloon
        bearing_to_balloon = PositionVector.get_bearing(veh_pos, balloon_pos)
        yaw_to_balloon = balloon_utils.wrap_PI(bearing_to_balloon -
                                               vehicle_yaw)

        # calculate earth frame pitch angle from vehicle to balloon
        pitch_to_balloon = vehicle_pitch + PositionVector.get_elevation(
            veh_pos, balloon_pos)

        #print "Fake Balloon Bearing:%f Pitch:%f Dist:%f" % (math.degrees(bearing_to_balloon), math.degrees(pitch_to_balloon), dist_to_balloon_xy)

        # calculate pixel position of balloon
        balloon_x = balloon_video.angle_to_pixels_x(
            yaw_to_balloon) + balloon_video.img_center_x
        balloon_y = balloon_video.angle_to_pixels_y(
            pitch_to_balloon) + balloon_video.img_center_y

        # calculate size of balloon in pixels from distance and size
        dist_to_balloon_xyz = PositionVector.get_distance_xyz(
            veh_pos, balloon_pos)
        balloon_radius = balloon_utils.get_pixels_from_distance(
            dist_to_balloon_xyz, balloon_finder.balloon_radius_expected)

        # store balloon radius
        self.last_balloon_radius = balloon_radius

        # draw balloon
        cv2.circle(frame, (balloon_x, balloon_y), balloon_radius,
                   self.fake_balloon_colour_bgr_scalar, -1)
    def draw_fake_balloon(self, frame, veh_pos, balloon_pos, vehicle_roll, vehicle_pitch, vehicle_yaw):
        # calculate bearing to balloon
        bearing_to_balloon = PositionVector.get_bearing(veh_pos, balloon_pos)
        yaw_to_balloon = balloon_utils.wrap_PI(bearing_to_balloon-vehicle_yaw)

        # calculate earth frame pitch angle from vehicle to balloon
        pitch_to_balloon = vehicle_pitch + PositionVector.get_elevation(veh_pos, balloon_pos)

        #print "Fake Balloon Bearing:%f Pitch:%f Dist:%f" % (math.degrees(bearing_to_balloon), math.degrees(pitch_to_balloon), dist_to_balloon_xy)

        # calculate pixel position of balloon
        balloon_x = balloon_video.angle_to_pixels_x(yaw_to_balloon) + balloon_video.img_center_x
        balloon_y = balloon_video.angle_to_pixels_y(pitch_to_balloon) + balloon_video.img_center_y

        # calculate size of balloon in pixels from distance and size
        dist_to_balloon_xyz = PositionVector.get_distance_xyz(veh_pos, balloon_pos)
        balloon_radius = balloon_utils.get_pixels_from_distance(dist_to_balloon_xyz, balloon_finder.balloon_radius_expected)

        # store balloon radius
        self.last_balloon_radius = balloon_radius

        # draw balloon
        cv2.circle(frame,(balloon_x,balloon_y), balloon_radius, self.fake_balloon_colour_bgr_scalar, -1)
def get_pixels_from_distance(distance, actual_size):
    return balloon_video.angle_to_pixels_x(actual_size / distance)
示例#4
0
def get_pixels_from_distance(distance, actual_size):
    return balloon_video.angle_to_pixels_x(actual_size / distance)