idk

hud.py

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+import cv2, numpy as np
+from config import LOWER_SHAPE, UPPER_SHAPE
+import cv2
+import numpy as np
+import time
+import fitz  # PyMuPDF for PDF rendering
+
+
+
+def find_hud_placement(frame_vis):
+    # ----- Arrow Shape Detection & HUD Placement -----
+    # 1) Build a clean orange mask
+    hsv = cv2.cvtColor(frame_vis, cv2.COLOR_BGR2HSV)
+    mask = cv2.inRange(hsv, LOWER_SHAPE, UPPER_SHAPE)
+    kern = cv2.getStructuringElement(cv2.MORPH_RECT, (5,5))
+    mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kern)
+    mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kern)
+
+    # 2) Find and filter contours
+    contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+    for cnt in contours:
+        area = cv2.contourArea(cnt)
+        if area < 1000:
+            continue
+
+        # Approximate to polygon and require exactly 5 corners
+        peri = cv2.arcLength(cnt, True)
+        approx = cv2.approxPolyDP(cnt, 0.02 * peri, True)
+        if len(approx) != 5:
+            continue
+
+        pts = approx.reshape(-1,2)
+        centroid = np.mean(pts, axis=0)
+
+        # Find the arrow tip as the corner farthest from centroid
+        dists = [np.linalg.norm(pt - centroid) for pt in pts]
+        tip_pt = pts[int(np.argmax(dists))]
+        arrow_tip = (int(tip_pt[0]), int(tip_pt[1]))
+
+        # Place the HUD box in the arrow’s pointing direction
+        dir_vec = tip_pt - centroid
+
+        #ToDo remove
+        cv2.drawContours(frame_vis, [pts], -1, (0,255,255), 2)
+
+        return arrow_tip, dir_vec
+
+# ——————————————————————————————————————————————
+# PDF loading / rasterization at import time
+# ——————————————————————————————————————————————
+PDF_PATH = "DarkAngles.pdf"   # change this to your file
+PDF_DPI  = 600           # controls resolution of rasterization
+
+_doc = fitz.open(PDF_PATH)
+_pdf_pages = []
+for page in _doc:
+    # render page to pixmap at desired zoom
+    zoom = PDF_DPI / 72.0
+    mat  = fitz.Matrix(zoom, zoom)
+    pix  = page.get_pixmap(matrix=mat, alpha=False)
+    # convert pixmap to ndarray
+    img = np.frombuffer(pix.samples, dtype=np.uint8)
+    img = img.reshape(pix.height, pix.width, pix.n) 
+    if pix.n == 4:
+        img = cv2.cvtColor(img, cv2.COLOR_RGBA2BGR)
+    _pdf_pages.append(img)
+_doc.close()
+
+# ——————————————————————————————————————————————
+# HUD drawing routines
+# ——————————————————————————————————————————————
+
+# rotated rectangle → 4 pts
+def _rect_to_pts(center, size, angle_rad):
+    cx, cy = center
+    w, h  = size
+    # local corners
+    pts = np.array([
+        [-w/2, -h/2],
+        [ w/2, -h/2],
+        [ w/2,  h/2],
+        [-w/2,  h/2],
+    ])
+    # rotation
+    c, s = np.cos(angle_rad), np.sin(angle_rad)
+    R = np.array([[c, -s],[s, c]])
+    pts = pts.dot(R.T)
+    pts += np.array([cx, cy])
+    return pts.astype(np.float32)
+
+def draw_hud_box(frame, tip, angle_rad, size=(120, 60), color=(255,0,255), thickness=2):
+    """Draw a rotated HUD rectangle at `tip` pointing along `angle_rad`."""
+    # compute box corners
+    pts = _rect_to_pts(center=tip, size=size, angle_rad=angle_rad)
+    cv2.drawContours(frame, [pts.astype(int)], -1, color, thickness)
+    # label
+    cv2.putText(frame, "HUD", (int(tip[0]+5), int(tip[1]+5)), cv2.FONT_HERSHEY_SIMPLEX, 0.6, color, 2)
+    return pts  # return the quad for PDF warping
+
+def draw_pdf_page(frame, page_index, dst_quad):
+    """
+    Warp PDF page image #page_index into the quadrilateral dst_quad.
+    dst_quad: 4×2 float32 array of destination corners in clock-wise order.
+    """
+    if page_index < 0 or page_index >= len(_pdf_pages):
+        return
+    src = _pdf_pages[page_index]
+    h, w = src.shape[:2]
+
+    # source corners (tl, tr, br, bl)
+    src_quad = np.array([[0,0], [w,0], [w,h], [0,h]], dtype=np.float32)
+    # compute homography
+    M = cv2.getPerspectiveTransform(src_quad, dst_quad)
+    # warp PDF page into place (transparent where outside)
+    warp = cv2.warpPerspective(src, M, (frame.shape[1], frame.shape[0]))
+    mask = cv2.warpPerspective(np.ones((h,w), dtype=np.uint8)*255, M, (frame.shape[1], frame.shape[0]))
+    # composite onto frame
+    inv = cv2.bitwise_not(mask)
+    bg  = cv2.bitwise_and(frame, frame, mask=inv)
+    fg  = cv2.bitwise_and(warp, warp, mask=mask)
+    np.copyto(frame, bg+fg)
+
+# hud.py
+class HUD:
+    def __init__(self, marker_id, pdf_pages, default_page=0):
+        self.id         = marker_id
+        self.page_index = default_page
+        self.pdf_pages  = pdf_pages    # list of preloaded page images
+        self.ref_quad   = None         # the 4-corner quad where to draw the PDF
+        self.last_seen  = 0            # for timeout if arrow goes away
+
+    def update(self, marker):
+        return
+
+    def draw(self, frame):
+        return