DuOtto
61 lines
1.9 KiB
Python
61 lines
1.9 KiB
Python
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
|
||
|
||
# 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 |