92 lines
2.7 KiB
Python
92 lines
2.7 KiB
Python
import cv2
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import math
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from utils.pixel_convert import pixel2robot
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def draw_lines_on_image(image):
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# 存储线段的起点和终点坐标
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lines = []
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start_point = None
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# 鼠标回调函数，用于捕获鼠标事件
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def draw_line(event, x, y, flags, param):
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nonlocal start_point
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if event == cv2.EVENT_LBUTTONDOWN:
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if start_point is None:
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start_point = (x, y)
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else:
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end_point = (x, y)
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lines.append((start_point, end_point))
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cv2.line(image, start_point, end_point, (0, 255, 0), 2)
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start_point = None
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# 创建一个窗口
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cv2.namedWindow('Image')
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cv2.setMouseCallback('Image', draw_line)
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while True:
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cv2.imshow('Image', image)
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key = cv2.waitKey(1) & 0xFF
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if key == 27: # 按下 'ESC' 键退出
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break
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cv2.destroyAllWindows()
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return lines
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def calculate_midpoint_and_angle_2d(start_point, end_point):
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# 计算中点坐标
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mid_point = (
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(start_point[0] + end_point[0]) / 2,
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(start_point[1] + end_point[1]) / 2
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)
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# 计算线段的角度（以度为单位）
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delta_x = end_point[0] - start_point[0]
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delta_y = end_point[1] - start_point[1]
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angle = math.degrees(math.atan2(delta_y, delta_x))
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# 将角度值换算到0-180度范围内
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angle = (angle + 180) % 180
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return mid_point, angle
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def cap_and_mark(cap):
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if not cap.isOpened():
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print("无法打开摄像头。")
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return
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ret, frame = cap.read()
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if not ret:
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print("无法获取图像帧。")
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return
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else:
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lines = draw_lines_on_image(frame)
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robo_lines = []
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for line in lines:
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start_point, end_point = line
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start_point = pixel2robot(start_point[0], start_point[1])
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end_point = pixel2robot(end_point[0], end_point[1])
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# turn array to tuple
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start_point = tuple(start_point)
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end_point = tuple(end_point)
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mid_point, angle = calculate_midpoint_and_angle_2d(start_point, end_point)
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robo_lines.append((mid_point, angle))
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return robo_lines
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# 测试函数
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if __name__ == "__main__":
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# image_path = '1723457093.2643137.jpg'
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# image = cv2.imread(image_path)
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# if image is None:
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# print("图像加载失败！")
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# else:
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# lines = draw_lines_on_image(image)
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# print("绘制的线段坐标:", lines)
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cap = cv2.VideoCapture(1)
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cap.set(6,cv2.VideoWriter.fourcc('M','J','P','G'))
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cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
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cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
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lines = cap_and_mark(cap)
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print(lines) |