Merge remote-tracking branch 'origin/main' into main

Code/Ball_Detection/PyTorch_with_ESPCAM/imageTread_AT.py

+import cv2
+from urllib.request import urlopen, Request
+import numpy as np
+import time
+
+import apriltag
+
+def nothing(x):
+    pass
+
+
+detector = apriltag.Detector()
+
+
+
+if __name__ == "__main__":
+    #change the IP address below according to the
+    #IP shown in the Serial monitor of Arduino code
+    # url='http://192.168.4.1/cam-hi.jpg'
+    # url='http://192.168.1.107/cam-hi.jpg'
+    url='http://192.168.4.1/cam-mid.jpg'
+
+
+    # cv2.namedWindow("live transmission", cv2.WINDOW_AUTOSIZE)
+
+    cv2.namedWindow("live transmission", cv2.WINDOW_NORMAL)
+
+    while True:
+        header = {"User-Agent": "Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/92.0.4515.159 Safari/537.36."}
+        req = Request(url, headers=header)
+        img_resp = urlopen(req, timeout=60)
+        imgnp=np.array(bytearray(img_resp.read()),dtype=np.uint8)
+        frame=cv2.imdecode(imgnp,-1)
+
+        gray_image = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+        #print(len(gray_image.shape))
+        h,w,_ = frame.shape
+
+        results = detector.detect(gray_image )
+
+        # loop over the AprilTag detection results
+        for r in results:
+            # extract the bounding box (x, y)-coordinates for the AprilTag
+            # and convert each of the (x, y)-coordinate pairs to integers
+            (ptA, ptB, ptC, ptD) = r.corners
+            ptB = (int(ptB[0]), int(ptB[1]))
+            ptC = (int(ptC[0]), int(ptC[1]))
+            ptD = (int(ptD[0]), int(ptD[1]))
+            ptA = (int(ptA[0]), int(ptA[1]))
+            # draw the bounding box of the AprilTag detection
+            cv2.line(frame, ptA, ptB, (0, 255, 0), 5)
+            cv2.line(frame, ptB, ptC, (0, 255, 0), 5)
+            cv2.line(frame, ptC, ptD, (0, 255, 0), 5)
+            cv2.line(frame, ptD, ptA, (0, 255, 0), 5)
+            # draw the center (x, y)-coordinates of the AprilTag
+            (cX, cY) = (int(r.center[0]), int(r.center[1]))
+            cv2.circle(frame, (cX, cY), 5, (0, 0, 255), -1)
+            # draw the tag family on the image
+            tagFamily = r.tag_family.decode("utf-8")
+            cv2.putText(frame, tagFamily, (ptA[0], ptA[1] - 15),
+            cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+            print("[INFO] tag family: {}".format(tagFamily))
+
+        # show the output image after AprilTag detection
+        cv2.imshow("Image", frame)
+
+
+        key=cv2.waitKey(5)
+        if key==ord('q'):
+            break
+
+
+    #cv2.destroyAllWindows()