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main.py
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main.py
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import math
import json
from pupil_apriltags import Detector
import cv2
import asyncio
import websockets
connections = set()
def in_ellipse(x_p, y_p, x_c, y_c, a, b, angle):
ellipse = (((((math.cos(angle) * (x_p - x_c)) + (math.sin(angle) * (y_p - y_c))) ** 2) / (a**2)) +
((((math.sin(angle) * (x_p - x_c)) - (math.cos(angle) * (y_p - y_c))) ** 2) / (b**2)))
return ellipse <= 1
async def connect(websocket):
connections.add(websocket)
print('Got connection!')
try:
await websocket.wait_closed()
finally:
connections.remove(websocket)
def main():
print('Starting video capture')
vid = cv2.VideoCapture(0)
at_detector = Detector(families='tag36h11',
nthreads=1,
quad_decimate=1.0,
quad_sigma=0.0,
refine_edges=1,
decode_sharpening=0.80,
debug=0)
width = int(vid.get(cv2.CAP_PROP_FRAME_WIDTH))
height = int(vid.get(cv2.CAP_PROP_FRAME_HEIGHT))
while True:
ret, frame = vid.read()
gray_image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
tag_size_cm = 20.5
focal_length = (1, 1)
camera_center = (1, 1)
tags = at_detector.detect(gray_image, estimate_tag_pose=True,
camera_params=[focal_length[0], focal_length[1], camera_center[0], camera_center[1]],
tag_size=(tag_size_cm / 100))
corners = [None, None, None, None]
corner_ids = [3, 1, 2, 0]
for r in tags:
if corner_ids.count(r.tag_id) > 0:
corners[corner_ids.index(r.tag_id)] = r
# extract the bounding box (x, y)-coordinates for the AprilTag
# and convert each of the (x, y)-coordinate pairs to integers
(ptA, ptB, ptC, ptD) = r.corners
ptB = (int(ptB[0]), int(ptB[1]))
ptC = (int(ptC[0]), int(ptC[1]))
ptD = (int(ptD[0]), int(ptD[1]))
ptA = (int(ptA[0]), int(ptA[1]))
# draw the bounding box of the AprilTag detection
cv2.line(frame, ptA, ptB, (0, 255, 0), 2)
cv2.line(frame, ptB, ptC, (0, 255, 0), 2)
cv2.line(frame, ptC, ptD, (0, 255, 0), 2)
cv2.line(frame, ptD, ptA, (0, 255, 0), 2)
# draw the center (x, y)-coordinates of the AprilTag
(cX, cY) = (int(r.center[0]), int(r.center[1]))
cv2.circle(frame, (cX, cY), 5, (0, 0, 255), -1)
# draw the tag family on the image
tagFamily = r.tag_family.decode("utf-8")
cv2.putText(frame, str(r.tag_id), (cX, cY),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
if corners.count(None) > 0:
cv2.putText(frame, 'Corners missing', (5, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
else:
cv2.putText(frame, 'All corners found', (5, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
cv2.line(frame, (int(corners[0].center[0]), int(corners[0].center[1])),
(int(corners[1].center[0]), int(corners[1].center[1])), (0, 0, 0), 2)
cv2.line(frame, (int(corners[1].center[0]), int(corners[1].center[1])),
(int(corners[2].center[0]), int(corners[2].center[1])), (0, 0, 0), 2)
cv2.line(frame, (int(corners[2].center[0]), int(corners[2].center[1])),
(int(corners[3].center[0]), int(corners[3].center[1])), (0, 0, 0), 2)
cv2.line(frame, (int(corners[3].center[0]), int(corners[3].center[1])),
(int(corners[0].center[0]), int(corners[0].center[1])), (0, 0, 0), 2)
midpoint = (int(sum([corners[x].center[0] for x in range(0, 4)])/4), int(sum([corners[x].center[1] for x in range(0, 4)])/4))
cv2.circle(frame, midpoint, 4, (0, 0, 255))
center_left = (int((corners[0].center[0]+corners[3].center[0])/2), int((corners[0].center[1]+corners[3].center[1])/2))
center_right = (int((corners[1].center[0]+corners[2].center[0])/2), int((corners[1].center[1]+corners[2].center[1])/2))
center_top = (int((corners[2].center[0]+corners[3].center[0])/2), int((corners[2].center[1]+corners[3].center[1])/2))
center_bottom = (int((corners[0].center[0]+corners[1].center[0])/2), int((corners[0].center[1]+corners[1].center[1])/2))
cv2.line(frame, center_left, center_right, (0, 0, 0), 1)
cv2.line(frame, center_top, center_bottom, (0, 0, 0), 1)
e_width = int(math.sqrt((abs(center_top[0]-center_bottom[0])**2) + (abs(center_top[1]-center_bottom[1])**2)) / 2)
e_height = int(math.sqrt((abs(center_left[0]-center_right[0])**2) + (abs(center_left[1]-center_right[1])**2)) / 2)
angle = math.atan2(center_right[0]-midpoint[0], center_right[1]-midpoint[1])
cv2.ellipse(frame, midpoint, (e_width, e_height), angle, 0, 360, (255, 0, 0))
#for x in range(0, width, 5):
# for y in range(0, height, 5):
# color = (0, 255, 0) if in_ellipse(x, y, midpoint[0], midpoint[1], e_width, e_height, angle) else (0, 0, 255)
# cv2.circle(frame, (x, y), 3, color)
extra = []
for t in tags:
if corner_ids.count(t.tag_id) == 0:
in_arr = [in_ellipse(int(p[0]), int(p[1]), midpoint[0], midpoint[1], e_width, e_height, angle) for p in t.corners]
in_ell = in_arr.count(False) == 0
color = (0, 255, 0) if in_ell else (0, 0, 255)
extra.append({'x': int(t.center[0]), 'y': int(t.center[1]), 'in': in_ell, 'id': t.tag_id})
# extract the bounding box (x, y)-coordinates for the AprilTag
# and convert each of the (x, y)-coordinate pairs to integers
(ptA, ptB, ptC, ptD) = t.corners
ptB = (int(ptB[0]), int(ptB[1]))
ptC = (int(ptC[0]), int(ptC[1]))
ptD = (int(ptD[0]), int(ptD[1]))
ptA = (int(ptA[0]), int(ptA[1]))
# draw the bounding box of the AprilTag detection
cv2.line(frame, ptA, ptB, color, 2)
cv2.line(frame, ptB, ptC, color, 2)
cv2.line(frame, ptC, ptD, color, 2)
cv2.line(frame, ptD, ptA, color, 2)
# draw the center (x, y)-coordinates of the AprilTag
(cX, cY) = (int(t.center[0]), int(t.center[1]))
cv2.circle(frame, (cX, cY), 5, (0, 0, 255), -1)
# draw the tag family on the image
tagFamily = t.tag_family.decode("utf-8")
cv2.putText(frame, str(t.tag_id), (cX, cY),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
websockets.broadcast(connections, json.dumps(extra))
cv2.imshow('Frame', frame)
# q to quit
if cv2.waitKey(1) & 0xFF == ord('q'):
break
async def main_async(loop):
# None uses the default executor (ThreadPoolExecutor)
await loop.run_in_executor(None, main)
if __name__ == '__main__':
start_server = websockets.serve(connect, 'localhost', 7844)
asyncio.get_event_loop().run_until_complete(start_server)
asyncio.get_event_loop().run_until_complete(main_async(asyncio.get_event_loop()))
asyncio.get_event_loop().run_forever()