nav_algo.computer_vision.detectors.boatDetector module

class nav_algo.computer_vision.detectors.boatDetector.BoatDetector(img_height=480, img_width=640)

Bases: object

BOAT_SIZE = 2500

class BlurType(value)

Bases: enum.Enum

An enumeration.

Bilateral_Filter = 4

Box_Blur = 1

Gaussian_Blur = 2

Median_Filter = 3

find_distance_largest_contour()

Calculates the distance of the largest contour.

Returns

the obstacle distance float: the x-offset in the image

Return type

float

find_distances()

Calculates distances from each contour and creates list of obstacle distances from camera.

Parameters

img_height – height of image passed in, in pixels

Returns

A list where each element represents an obstacle distance list: A list where each element represents an x-offset in the image.

Return type

list

get_boat_coords(direction, curr_x, curr_y)

get_boat_coords(distance, x_displacement, direction, curr_x, curr_y) returns the x and y coordinates of a boat detected by a boat detector.

Returns

x, y coordinates representing the center of the front projection of another boat.

Return type

list

process(source0)

Runs the pipeline and sets all outputs to new values.