vision_processing.py 文件源码

def get_kinect_angles(image):
    """
    Gets angle to goal given an opencv image.
    Parameters:
        :param: `image` - an opencv image
    """
    # print(image)
    cv2.imwrite("out/thing.png", image)
    thresholded_image = threshold_image_for_tape(numpy.copy(image))
    cv2.imwrite("out/threshold.png", thresholded_image)
    contours, box = get_contours(thresholded_image)
    # total_image = cv2.drawContours(image, [contours], -1, (0, 0, 0))
    # random_number = str(int(random.random() * 100))
    # print("random number:", random_number)
    # cv2.imwrite("out/total_image" + random_number + ".png", total_image)
    corners = get_corners_from_contours(contours)
    return get_angles_to_goal(get_top_center(corners), image)