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<li class="toctree-l4"><a class="reference internal" href="#aruco-marker-erkennen">ArUco Marker Erkennen</a></li>
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<div class="section" id="camera-und-opencv">
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<span id="lib-camera"></span><h1>Camera und OpenCV<a class="headerlink" href="#camera-und-opencv" title="Link zu dieser Überschrift"></a></h1>
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<div class="section" id="dokumentation-des-camera-moduls">
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<h2>Dokumentation des Camera Moduls<a class="headerlink" href="#dokumentation-des-camera-moduls" title="Link zu dieser Überschrift"></a></h2>
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<dl class="py class">
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<dt id="compLib.Camera.Marker">
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<em class="property">class </em><code class="sig-prename descclassname">compLib.Camera.</code><code class="sig-name descname">Marker</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">id</span><span class="p">:</span> <span class="n">int</span></em>, <em class="sig-param"><span class="n">x</span><span class="p">:</span> <span class="n">float</span></em>, <em class="sig-param"><span class="n">y</span><span class="p">:</span> <span class="n">float</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Camera.Marker" title="Link zu dieser Definition"></a></dt>
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<dd></dd></dl>
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<dl class="py class">
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<dt id="compLib.Camera.Camera">
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<em class="property">class </em><code class="sig-prename descclassname">compLib.Camera.</code><code class="sig-name descname">Camera</code><a class="headerlink" href="#compLib.Camera.Camera" title="Link zu dieser Definition"></a></dt>
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<dd><dl class="py method">
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<dt id="compLib.Camera.Camera.detect_markers">
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<code class="sig-name descname">detect_markers</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em><span class="sig-paren">)</span> → Any<a class="headerlink" href="#compLib.Camera.Camera.detect_markers" title="Link zu dieser Definition"></a></dt>
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<dd><p>Funktion um die ArUco Marker in einem Bild zu erkennen.</p>
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<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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<dd class="field-odd"><p><strong>image</strong> – Bild, welches die Kamera aufgenommen hat.</p>
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</dd>
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<dt class="field-even">Rückgabe</dt>
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<dd class="field-even"><p>Gibt drei Variablen zurueck. Erstens eine Liste an Postionen der „Ecken“ der erkannten Markern. Zweitens eine Liste an IDs der erkannten Markern und dritten noch Debug Informationen (diese können ignoriert werden).</p>
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</dd>
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</dl>
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</dd></dl>
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<dl class="py method">
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<dt id="compLib.Camera.Camera.detect_markers_midpoint">
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<code class="sig-name descname">detect_markers_midpoint</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em><span class="sig-paren">)</span> → Tuple<span class="p">[</span>List<span class="p">[</span><a class="reference internal" href="#compLib.Camera.Marker" title="compLib.Camera.Marker">compLib.Camera.Marker</a><span class="p">]</span><span class="p">, </span>Any<span class="p">]</span><a class="headerlink" href="#compLib.Camera.Camera.detect_markers_midpoint" title="Link zu dieser Definition"></a></dt>
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||
<dd><p>Funktion um die ArUco Marker in einem Bild zu erkennen, einzuzeichnen und den Mittelpunkt der Marker auszurechnen.</p>
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||
<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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||
<dd class="field-odd"><p><strong>image</strong> – Bild, welches die Kamera aufgenommen hat.</p>
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</dd>
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<dt class="field-even">Rückgabe</dt>
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<dd class="field-even"><p>Gibt zwei Variablen zurueck. Erstens eine Liste an „Markern“ und zweitens das Bild mit den eigezeichneten Marken.</p>
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</dd>
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<dt class="field-odd">Rückgabetyp</dt>
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<dd class="field-odd"><p>Tuple[List[<a class="reference internal" href="#compLib.Camera.Marker" title="compLib.Camera.Marker">Marker</a>], Any]</p>
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</dd>
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</dl>
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</dd></dl>
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||
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||
<dl class="py method">
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||
<dt id="compLib.Camera.Camera.draw_markers">
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||
<code class="sig-name descname">draw_markers</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em>, <em class="sig-param"><span class="n">corners</span></em>, <em class="sig-param"><span class="n">ids</span></em><span class="sig-paren">)</span> → Any<a class="headerlink" href="#compLib.Camera.Camera.draw_markers" title="Link zu dieser Definition"></a></dt>
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||
<dd><p>Zeichnet die erkannten Markern mit ihren IDs in das Bild.</p>
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||
<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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||
<dd class="field-odd"><ul class="simple">
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||
<li><p><strong>image</strong> – Original Bild, in dem die Marker erkannt wurden.</p></li>
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<li><p><strong>corners</strong> – List der Positionen der Ecken der erkannten Marker.</p></li>
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<li><p><strong>ids</strong> – IDs der erkannten Markern.</p></li>
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</ul>
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</dd>
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<dt class="field-even">Rückgabe</dt>
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<dd class="field-even"><p>Neues Bild mit den eigezeichneten Markern.</p>
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||
</dd>
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</dl>
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||
</dd></dl>
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||
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<dl class="py method">
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||
<dt id="compLib.Camera.Camera.get_frame">
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||
<code class="sig-name descname">get_frame</code><span class="sig-paren">(</span><span class="sig-paren">)</span> → Any<a class="headerlink" href="#compLib.Camera.Camera.get_frame" title="Link zu dieser Definition"></a></dt>
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||
<dd><p>Die Funktion gibt das neuste Bild, welches die Kamera aufgenommen, hat zurück.</p>
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<dl class="field-list simple">
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<dt class="field-odd">Rückgabe</dt>
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<dd class="field-odd"><p>Ein „opencv image frame“</p>
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</dd>
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</dl>
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||
</dd></dl>
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||
|
||
<dl class="py method">
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||
<dt id="compLib.Camera.Camera.publish_frame">
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||
<code class="sig-name descname">publish_frame</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Camera.Camera.publish_frame" title="Link zu dieser Definition"></a></dt>
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||
<dd><p>Sendet das Bild, welches der Funktion übergeben wird, an den Webserver, damit es der Nutzer in seinem Browser ansehen kann.</p>
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||
<dl class="field-list simple">
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<dt class="field-odd">Parameter</dt>
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||
<dd class="field-odd"><p><strong>image</strong> – Opencv Bild, welches dem Nutzer angezeigt werden soll.</p>
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||
</dd>
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<dt class="field-even">Rückgabe</dt>
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||
<dd class="field-even"><p>None</p>
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</dd>
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||
</dl>
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||
</dd></dl>
|
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</dd></dl>
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</div>
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<div class="section" id="beispiele">
|
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<h2>Beispiele<a class="headerlink" href="#beispiele" title="Link zu dieser Überschrift"></a></h2>
|
||
<div class="section" id="bild-anzeigen">
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||
<h3>Bild Anzeigen<a class="headerlink" href="#bild-anzeigen" title="Link zu dieser Überschrift"></a></h3>
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||
<p>Das folgende Programm fragt Bilder von der Kamera ab und schickt sie an den Webserver, der im Hintergrund läuft. Der Benutzer kann dann auf die Webseite: <a class="reference external" href="http://raspi_ip:9898">http://raspi_ip:9898</a> gehen und die Ausgabe der Kamera sehen.</p>
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||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Camera</span> <span class="kn">import</span> <span class="o">*</span>
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<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">()</span>
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<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
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<span class="n">image</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
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<span class="n">camera</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
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</pre></div>
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</div>
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||
</div>
|
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<div class="section" id="aruco-marker-erkennen">
|
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<h3>ArUco Marker Erkennen<a class="headerlink" href="#aruco-marker-erkennen" title="Link zu dieser Überschrift"></a></h3>
|
||
<p>In diesem Programm werden die ArUco Marker, die sich am Spielfeld befinden, erkannt. Diese „QR-Code“ ähnlichen Marker finden sich in den Logistikzonen und können dazu verwendet werden zu erkennen, wo der Roboter hinfahren sollt etc.</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Camera</span> <span class="kn">import</span> <span class="o">*</span>
|
||
|
||
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">()</span>
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||
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||
<span class="n">image</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
|
||
|
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<span class="n">markers</span><span class="p">,</span> <span class="n">image</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">detect_markers_midpoint</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="n">markers</span><span class="p">)</span>
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<span class="nb">print</span><span class="p">(</span><span class="s2">"-----------------"</span><span class="p">)</span>
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<span class="n">camera</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Hier ist z.B. der ArUco Marker mit der ID 0. Führe das Programm aus und lass den Roboter auf den Bildschirm schauen. Das Programm sollte die 2D Position ausgeben, welcher der ArUco Marker (genauer sein Mittelpunkt) im Camera Bild hat.</p>
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<p><img alt="ArucoExample" src="../../_images/6x6_1000-0.png" /></p>
|
||
<p>Um die Positionen zu verarbeiten, muss dann nur noch das „markers“ array durchgegangen werden. Das könnte z.B. so gemacht werden:</p>
|
||
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Camera</span> <span class="kn">import</span> <span class="o">*</span>
|
||
|
||
<span class="n">camera</span> <span class="o">=</span> <span class="n">Camera</span><span class="p">()</span>
|
||
<span class="k">while</span> <span class="kc">True</span><span class="p">:</span>
|
||
<span class="n">image</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
|
||
|
||
<span class="n">markers</span><span class="p">,</span> <span class="n">image</span> <span class="o">=</span> <span class="n">camera</span><span class="o">.</span><span class="n">detect_markers_midpoint</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="n">markers</span><span class="p">)</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="s2">"-----------------"</span><span class="p">)</span>
|
||
|
||
<span class="k">for</span> <span class="n">marker</span> <span class="ow">in</span> <span class="n">markers</span><span class="p">:</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"Marker mit der id: </span><span class="si">{</span><span class="n">marker</span><span class="o">.</span><span class="n">id</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"Ist auf der X Position: </span><span class="si">{</span><span class="n">marker</span><span class="o">.</span><span class="n">x</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"und auf der Y Position: </span><span class="si">{</span><span class="n">marker</span><span class="o">.</span><span class="n">y</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
|
||
<span class="nb">print</span><span class="p">(</span><span class="s2">"-----------------"</span><span class="p">)</span>
|
||
|
||
<span class="n">camera</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">image</span><span class="p">)</span>
|
||
</pre></div>
|
||
</div>
|
||
<p>Wichtig ist noch zu beachten, dass die X und Y Positionen ihren Ursprung in der linken oberen Ecke des Bildes haben. D.h. die Position (0,0) ist im oberen linken Bildrand.</p>
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