FieldDetecter.py 文件源码

def get_angle(self, calibration_image):
        """

        :param calibration_image: The HSV-image to use for calculation
        :return: Rotation angle of the field in image
        """
        # TODO: correct return value comment?
        rgb = cv2.cvtColor(calibration_image, cv2.COLOR_HSV2BGR)
        angle = 0
        count = 0

        gray = cv2.cvtColor(cv2.cvtColor(calibration_image, cv2.COLOR_HSV2BGR), cv2.COLOR_BGR2GRAY)
        edges = cv2.Canny(gray, 50, 150, apertureSize=3)

        lines = cv2.HoughLines(edges, 1, np.pi/180, 110)

        if lines.shape[0]:
            line_count = lines.shape[0]
        else:
            raise Exception('field not detected')

        for x in range(line_count):

            for rho, theta in lines[x]:
                a = np.cos(theta)
                b = np.sin(theta)
                # print(theta)
                x0 = a * rho
                y0 = b * rho
                x1 = int(x0 + 1000*(-b))
                y1 = int(y0 + 1000*a)
                x2 = int(x0 - 1000*(-b))
                y2 = int(y0 - 1000*a)

                corr_angle = np.degrees(b)
                if corr_angle < 5:
                    # print(CorrAngle)
                    angle = angle + corr_angle
                    count = count + 1
                    cv2.line(rgb, (x1, y1), (x2, y2), (0, 0, 255), 2)
        print(angle)
        if isinstance(angle, int) and isinstance(count, int):
            angle = angle / count
            self.angle = angle
            return angle
        else:
            self.angle = 0.1
            return False