From ba3c9369e19680d936e4bcf8f725bc9747cc6673 Mon Sep 17 00:00:00 2001
From: Davide Depau <davide@depau.eu>
Date: Thu, 22 Feb 2024 01:04:15 +0100
Subject: [PATCH] Recycle previous corners on timeout
---
bot.py | 21 ++++++++++++++++-----
1 file changed, 16 insertions(+), 5 deletions(-)
diff --git a/bot.py b/bot.py
index 91e9cc7..cb2d7fe 100644
--- a/bot.py
+++ b/bot.py
@@ -12,7 +12,6 @@ import cv2
import numpy as np
import telegram
from aiohttp import BasicAuth
-from cv2 import aruco
from pytapo import Tapo
from telegram import Update, Message
from telegram.ext import Updater
@@ -39,6 +38,8 @@ class Bot:
self.tapo = Tapo(self.camera_ip, self.camera_user, self.camera_password)
self.executor = ThreadPoolExecutor(max_workers=len(os.sched_getaffinity(0)))
+ self.last_aruco_corners = {}
+
def _get_presets(self):
presets = self.tapo.getPresets()
return {v: k for k, v in presets.items()}
@@ -93,13 +94,21 @@ class Bot:
# Iterate until we find all 4 aruco markers or timeout
aruco_corners = {}
annotated_image = None
- aruco_dict = aruco.getPredefinedDictionary(aruco.DICT_6X6_250)
- aruco_params = aruco.DetectorParameters()
+ aruco_dict = a.getPredefinedDictionary(a.DICT_6X6_250)
+ aruco_params = a.DetectorParameters()
t0 = time.time()
print("Taking image with ArUco markers...")
while len(aruco_corners) < 4:
if time.time() - t0 > timeout:
+ a = self.last_aruco_corners.copy()
+ a.update(aruco_corners)
+ aruco_corners = a
+
+ if len(aruco_corners) == 4:
+ print("Timeout waiting for ArUco markers, using cached corners")
+ break
+
print(
"Timeout waiting for ArUco markers, returning only original image"
)
@@ -112,7 +121,7 @@ class Bot:
continue
# Detect the markers
- corners, ids, rejected = aruco.detectMarkers(
+ corners, ids, rejected = a.detectMarkers(
annotated_image, aruco_dict, parameters=aruco_params
)
for corner, i in zip(corners, ids):
@@ -129,7 +138,7 @@ class Bot:
corners = [aruco_corners[i] for i in range(1, 5)]
ids = np.array([[i] for i in range(1, 5)])
- aruco.drawDetectedMarkers(annotated_image, corners, ids)
+ a.drawDetectedMarkers(annotated_image, corners, ids)
# Annotate the image with the detected markers and apply the perspective transform to the pretty image
@@ -173,6 +182,8 @@ class Bot:
matrix = cv2.getPerspectiveTransform(expanded_rectangle_points, dst_pts)
warped = cv2.warpPerspective(pretty_image, matrix, (width, height))
+ self.last_aruco_corners = aruco_corners
+
return [warped, annotated_image]
async def _photo_command(self, chat_id: int, adjust_perspective: bool = True):