Frame.py

PARTITION_NUM = 4

import cv2
import math
from Fragment import Fragment
from FragmentProcessor import FragmentProcessor

class Frame:
    """ A Frame holds a raw and processed image capture

    Attributes:
        height (int): Frame height.
        width (int): Frame width.
        image (np.ndarry): Raw image capture.
        fragments (list[Fragment]): Partitioned and processed fragments.
        processedFrame (np.ndarry): Consolidated and processed fragments.
    """
    def __init__(self, image):
        """ Inits Frame 
        
        Args:
            image (np.ndarry): Image capture received from Video Camera.
        """
        if (image.shape[0] != 480 and image.shape[1] != 640):
            raise Exception(str(image.shape[0]) + "x" + str(image.shape[1]) + " is not 480x640")

        self.height = image.shape[0]
        self.width = image.shape[1]
        
        self.image = image

        self.fragments = FragmentProcessor.partition(image)
        self.processedFrame = FragmentProcessor.consolidate(self.fragments)

    def calculateVariation(self):
        """ Calculate variation between expected center point and skewed point.
        """

        # Tentative/Placeholder algorithm

        # Obtain top-most and bottom-most center points
        top = self.fragments[0]
        bottom = self.fragments[PARTITION_NUM - 1]

        # Draw line between expected center point (top) and skewed point (bottom)
        cv2.line(self.processedFrame, (top.relativeContourCtrX, top.relativeContourCtrY), (bottom.relativeImageCtrX, bottom.relativeImageCtrY), (255, 0, 0), 2)
        
        # Calculate variation (distance away from center)
        currentError = (-1) * int(math.degrees(math.atan((top.relativeContourCtrX - bottom.relativeImageCtrX) / (top.relativeContourCtrY- bottom.relativeImageCtrY))))
        return currentError