nav_algo.computer_vision.detectors.buoyDetector.buoyDetector module¶

class nav_algo.computer_vision.detectors.buoyDetector.buoyDetector.BuoyDetector(img_height=480, img_width=640)¶

Bases: object

A detector for buoys.

This uses a standard webcam to output visual feedback on the camera screen and an outline of the buoys. It returns the coordinates of the largest buoy found.

Parameters

img_height – the height of the camera output.
img_width – the width of the camera output.

BUOY_HEIGHT = 1016¶

class BlurType(value)¶

Bases: enum.Enum

An enumeration.

Bilateral_Filter = 4¶

Box_Blur = 1¶

Gaussian_Blur = 2¶

Median_Filter = 3¶

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_buoy_coords(direction, curr_x, curr_y)¶

Calculates all visible buoy coordinates.

Parameters

direction (float) – Boat’s current direction (an angle)
curr_x (float) – Boat’s current x-coordinate
curr_y (float) – Boat’s current y-coordinate

Returns

A list of coordinate pairs (x, y) representing the center of each detected buoy.

Return type

list

process(source0)¶: Runs the pipeline and sets all outputs to new values.