def mergeBlobs():
global rawBlobs
merged = {}
for b in rawBlobs.blobs:
mergeTarget = Blob()
mergeNeeded = False
#check to see if there is an existing blob to merge with
if b.name in merged.keys():
for m in merged[b.name]:
if overlaps(b, m):
mergeTarget = m
mergeNeeded = True
break
else: # no blobs by that name
merged[b.name] = []
# merge
if not mergeNeeded:
merged[b.name].append(b)
else: # merge needed
mergeTarget.left = min(mergeTarget.left, b.left)
mergeTarget.right = max(mergeTarget.right, b.right)
mergeTarget.top = min(mergeTarget.top, b.top)
mergeTarget.bottom = max(mergeTarget.bottom, b.bottom)
mergeTarget.area = (mergeTarget.right - mergeTarget.left) * (
mergeTarget.bottom - mergeTarget.top)
for m in merged.keys():
merged[m].sort(key=lambda x: x.area, reverse=True)
return merged
def mergeBlobs(blobs):
x = 0;
y = 0;
left = 0;
right = 0;
top = 0;
bottom = 0;
area = 0;
for b in blobs:
x = x + (b.x * b.area)
y = y + (b.y * b.area)
left = left + (b.left * b.area)
right = right + (b.right * b.area)
top = top + (b.top * b.area)
bottom = bottom + (b.bottom * b.area)
area = area + b.area
result = Blob()
result.x = x / area
result.y = y / area
result.left = left / area
result.right = right / area
result.top = top / area
result.bottom = bottom / area
result.area = x * y
return result
def mergeBlobs(blobs):
global tempBlobs3
x = 0;
y = 0;
left = 0;
right = 0;
top = 0;
bottom = 0;
area = 0;
bigBlob = Blob()
result = Blob()
tempBlobs = copy.deepcopy(blobs)
tempBlobs = [x for x in tempBlobs if x.name == "Green"]
temp2Blobs = copy.deepcopy(tempBlobs)
tempBlobs3 = copy.deepcopy(tempBlobs)
endBlobs = []
xDistance = 0
yDistance = 0
maxXDistance = 0
maxYDistance = 0
while len(tempBlobs) > 0:
for b in tempBlobs:
if b.area > area:
area = b.area
bigBlob = copy.deepcopy(b)
area = 0
size = len(tempBlobs)
counter = 0
while counter < size:
counter = 0
size = len(tempBlobs)
for c in tempBlobs:
xDistance = abs(((bigBlob.right - bigBlob.left)/2 + bigBlob.left) - ((c.right - c.left)/2 + c.left))
yDistance = abs(((bigBlob.bottom - bigBlob.top)/2 + bigBlob.top) - ((c.bottom - c.top)/2 + c.top))
maxXDistance = abs(abs((bigBlob.right - bigBlob.left)/2) + abs((c.right - c.left)/2))
maxYDistance = abs(abs((bigBlob.bottom - bigBlob.top)/2) + abs((c.bottom - c.top)/2))
if (maxXDistance >= xDistance and maxYDistance >= yDistance) and bigBlob.left > c.left:
bigBlob.left = c.left
if (maxXDistance >= xDistance and maxYDistance >= yDistance) and bigBlob.right < c.right:
bigBlob.right = c.right
if (maxXDistance >= xDistance and maxYDistance >= yDistance) and bigBlob.top > c.top:
bigBlob.top = c.top
if (maxXDistance >= xDistance and maxYDistance >= yDistance) and bigBlob.bottom < c.bottom:
bigBlob.bottom = c.bottom
if (maxXDistance >= xDistance and maxYDistance >= yDistance):
temp2Blobs.remove(c)
else:
counter = counter + 1
bigBlob.area = abs((bigBlob.right - bigBlob.left)*(bigBlob.top - bigBlob.bottom))
bigBlob.x = (bigBlob.right - bigBlob.left)/2 + bigBlob.left
bigBlob.y = (bigBlob.bottom - bigBlob.top)/2 + bigBlob.top
tempBlobs = copy.deepcopy(temp2Blobs)
endBlobs.append(copy.deepcopy(bigBlob))
area = 0
for d in endBlobs:
if d.area > area:
area = d.area
result = copy.deepcopy(d)
return result
def mergeBlobs(blobsInfo):
x = 0
y = 0
left = 0
right = 0
top = 0
bottom = 0
area = 0
overlapsFound = 1
blobs = blobsInfo.blobs
for b in blobs:
blobs2 = copy.deepcopy(blobs)
for b2 in blobs2:
if (b.name == b2.name and b != b2):
overlapping = 0
blobx = b2.left
while blobx < b2.right and overlapping == 0:
bloby = b2.top
while bloby < b2.bottom and overlapping == 0:
if blobx >= b.left and blobx <= b.right and bloby >= b.top and bloby <= b.bottom:
overlapping = 1
bloby = bloby + 1
blobx = blobx + 1
if overlapping == 1:
x = b.x + (b2.x * b2.area)
y = b.y + (b2.y * b2.area)
left = b.left + (b2.left * b2.area)
right = b.right + (b2.right * b2.area)
top = b.top + (b2.top * b2.area)
bottom = b.bottom + (b2.bottom * b2.area)
area = b.area + b2.area
result = Blob()
result.x = x / area
result.y = y / area
result.left = left / area
result.right = right / area
result.top = top / area
result.bottom = bottom / area
result.area = x * y
b = result
blobs.remove(b2)
return blobs
def mergeBlobs(blobs):
global bigBlob, pub
x = 0
y = 0
left = 0
right = 0
top = 0
bottom = 0
area = 0
# Sort the blobs and find the big blob
bBA = 0
for blob in blobs:
if blob.area > bBA:
bBA = blob.area
bigBlob = blob
# Filter blobs, remove all blobs not within area
blobs = filter(filterBlob, blobs)
if len(blobs) == 0:
blobs.append(bigBlob)
firstBlob = blobs[0]
maxLeft = firstBlob.left
maxRight = firstBlob.right
maxTop = firstBlob.top
maxBottom = firstBlob.bottom
for blob in blobs:
maxLeft = blob.left if blob.left < maxLeft else maxLeft
maxRight = blob.right if blob.right > maxRight else maxRight
maxTop = blob.top if blob.top < maxTop else maxTop
maxBottom = blob.bottom if blob.bottom > maxBottom else maxBottom
# Create new blob based on prior blobs (i.e. merged)
result = Blob()
result.x = (maxLeft + maxRight) / 2
result.y = (maxTop + maxBottom) / 2
result.left = maxLeft
result.right = maxRight
result.top = maxTop
result.bottom = maxBottom
result.area = x * y
pub.publish(result.x)
print "Error: ", result.x - 320
return result
def mergeBlobs(blobs):
x = 0
y = 0
left = 0
right = 0
top = 0
bottom = 0
area = 0
bigBlob = Blob()
result = Blob()
blobCopy = copy.deepcopy(blobs)
tempBlobs = [x for x in blobCopy if x.name == "Out"]
temp2Blobs = copy.deepcopy(tempBlobs)
tempBlobs2 = [x for x in blobCopy if x.name == "In"]
temp2Blobs2 = copy.deepcopy(tempBlobs2)
endBlobs = []
endBlobs2 = []
endBlobs3 = []
xDistance = 0
yDistance = 0
maxXDistance = 0
maxYDistance = 0
while len(tempBlobs) > 0:
for b in tempBlobs:
if b.area > area:
area = b.area
bigBlob = copy.deepcopy(b)
area = 0
size = len(tempBlobs)
counter = 0
while counter < size:
counter = 0
size = len(tempBlobs)
for c in tempBlobs:
xDistance = abs((
(bigBlob.right - bigBlob.left) / 2 + bigBlob.left) -
((c.right - c.left) / 2 + c.left))
yDistance = abs((
(bigBlob.bottom - bigBlob.top) / 2 + bigBlob.top) -
((c.bottom - c.top) / 2 + c.top))
maxXDistance = abs(
abs((bigBlob.right - bigBlob.left) / 2) +
abs((c.right - c.left) / 2))
maxYDistance = abs(
abs((bigBlob.bottom - bigBlob.top) / 2) +
abs((c.bottom - c.top) / 2))
if (maxXDistance >= xDistance and
maxYDistance >= yDistance) and bigBlob.left > c.left:
bigBlob.left = c.left
if (maxXDistance >= xDistance and
maxYDistance >= yDistance) and bigBlob.right < c.right:
bigBlob.right = c.right
if (maxXDistance >= xDistance
and maxYDistance >= yDistance) and bigBlob.top > c.top:
bigBlob.top = c.top
if (maxXDistance >= xDistance and maxYDistance >= yDistance
) and bigBlob.bottom < c.bottom:
bigBlob.bottom = c.bottom
if (maxXDistance >= xDistance and maxYDistance >= yDistance):
temp2Blobs.remove(c)
else:
counter = counter + 1
bigBlob.area = abs((bigBlob.right - bigBlob.left) *
(bigBlob.top - bigBlob.bottom))
bigBlob.x = (bigBlob.right - bigBlob.left) / 2 + bigBlob.left
bigBlob.y = (bigBlob.bottom - bigBlob.top) / 2 + bigBlob.top
tempBlobs = copy.deepcopy(temp2Blobs)
endBlobs.append(copy.deepcopy(bigBlob))
while len(tempBlobs2) > 0:
for b in tempBlobs2:
if b.area > area:
area = b.area
bigBlob = copy.deepcopy(b)
area = 0
size = len(tempBlobs2)
counter = 0
while counter < size:
counter = 0
size = len(tempBlobs2)
for c in tempBlobs2:
xDistance = abs((
(bigBlob.right - bigBlob.left) / 2 + bigBlob.left) -
((c.right - c.left) / 2 + c.left))
yDistance = abs((
(bigBlob.bottom - bigBlob.top) / 2 + bigBlob.top) -
((c.bottom - c.top) / 2 + c.top))
maxXDistance = abs(
abs((bigBlob.right - bigBlob.left) / 2) +
abs((c.right - c.left) / 2))
maxYDistance = abs(
abs((bigBlob.bottom - bigBlob.top) / 2) +
abs((c.bottom - c.top) / 2))
if (maxXDistance >= xDistance and
maxYDistance >= yDistance) and bigBlob.left > c.left:
bigBlob.left = c.left
if (maxXDistance >= xDistance and
maxYDistance >= yDistance) and bigBlob.right < c.right:
bigBlob.right = c.right
if (maxXDistance >= xDistance
and maxYDistance >= yDistance) and bigBlob.top > c.top:
bigBlob.top = c.top
if (maxXDistance >= xDistance and maxYDistance >= yDistance
) and bigBlob.bottom < c.bottom:
bigBlob.bottom = c.bottom
if (maxXDistance >= xDistance and maxYDistance >= yDistance):
temp2Blobs2.remove(c)
else:
counter = counter + 1
bigBlob.area = abs((bigBlob.right - bigBlob.left) *
(bigBlob.top - bigBlob.bottom))
bigBlob.x = (bigBlob.right - bigBlob.left) / 2 + bigBlob.left
bigBlob.y = (bigBlob.bottom - bigBlob.top) / 2 + bigBlob.top
tempBlobs2 = copy.deepcopy(temp2Blobs2)
endBlobs2.append(copy.deepcopy(bigBlob))
area = 0
for d in endBlobs:
for e in endBlobs2:
if (d.left < e.left and d.right > e.right and d.top < e.top
and d.bottom > e.bottom):
endBlobs3.append(d)
area = 0
for f in endBlobs3:
if f.area > area:
area = f.area
result = copy.deepcopy(f)
return result
def mergeBlobs(blobs):
global bigRedBlob,bigPinkBlob, pub
x = 0
y = 0
left = 0
right = 0
top = 0
bottom = 0
area = 0
pinkBlobs = []
redBlobs = []
for blob in blobs:
if blob.name == "BallRed":
redBlobs.append(blob)
elif blob.name == "GoalPink":
pinkBlobs.append(blob)
# Sort the blobs and find the big blob
bBA = 0
for blob in redBlobs:
if blob.area > bBA:
bBA = blob.area
bigRedBlob = blob
bBA = 0
for blob in pinkBlobs:
if blob.area > bBA:
bBA = blob.area
bigPinkBlob = blob
# Filter blobs, remove all blobs not within area
pBlobs = filter(filterBlob, pinkBlobs)
rBlobs = filter(filterBlob, redBlobs)
if len(pBlobs) == 0:
pBlobs.append(bigPinkBlob)
if len(rBlobs) == 0:
rBlobs.append(bigRedBlob)
firstPinkBlob = pBlobs[0]
maxLeft = firstPinkBlob.left
maxRight = firstPinkBlob.right
maxTop = firstPinkBlob.top
maxBottom = firstPinkBlob.bottom
for blob in pBlobs:
maxLeft = blob.left if blob.left < maxLeft else maxLeft
maxRight = blob.right if blob.right > maxRight else maxRight
maxTop = blob.top if blob.top < maxTop else maxTop
maxBottom = blob.bottom if blob.bottom > maxBottom else maxBottom
# Create new blob based on prior blobs (i.e. merged)
pResult = Blob()
pResult.x = (maxLeft + maxRight) / 2
pResult.y = (maxTop + maxBottom) / 2
pResult.left = maxLeft
pResult.right = maxRight
pResult.top = maxTop
pResult.bottom = maxBottom
pResult.area = x * y
pResult.name = firstPinkBlob.name
firstRedBlob = rBlobs[0]
maxLeft = firstRedBlob.left
maxRight = firstRedBlob.right
maxTop = firstRedBlob.top
maxBottom = firstRedBlob.bottom
for blob in rBlobs:
maxLeft = blob.left if blob.left < maxLeft else maxLeft
maxRight = blob.right if blob.right > maxRight else maxRight
maxTop = blob.top if blob.top < maxTop else maxTop
maxBottom = blob.bottom if blob.bottom > maxBottom else maxBottom
rResult = Blob()
rResult.x = (maxLeft + maxRight) / 2
rResult.y = (maxTop + maxBottom) / 2
rResult.left = maxLeft
rResult.right = maxRight
rResult.top = maxTop
rResult.bottom = maxBottom
rResult.area = x * y
rResult.name = firstRedBlob.name
blobArray = Blobs()
blobArray.blobs = [pResult, rResult]
pub.publish(blobArray)
return blobArray