nav_algo.computer_vision.detectors.buoyDetector.buoyDetectorPi module¶

class nav_algo.computer_vision.detectors.buoyDetector.buoyDetectorPi.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_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_buoy_coords(direction, curr_x, curr_y)¶

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

Returns: x, y coordinates representing the center of the front projection of another buoy.
Return type: list

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