def process(x):
# load the image and resize it to a smaller factor so that
# the shapes can be approximated better
image = cv2.imread(x)
resized = imutils.resize(image, width=300)
ratio = image.shape[0] / float(resized.shape[0])
adjusted = adjust_gamma(resized, gamma=1.0)
# blur the resized image slightly, then convert it to both
# grayscale and the L*a*b* color spaces
blurred = cv2.GaussianBlur(adjusted, (5, 5), 0)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
thresh = cv2.threshold(gray, 100, 255, cv2.THRESH_BINARY_INV)[1]
# find contours in the thresholded image
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# initialize the shape detector and color labeler
# sd = ShapeDetector()
cl = ColorLabeler()
# loop over the contours
for c in cnts:
# compute the center of the contour
M = cv2.moments(c)
if M["m00"] == 0:
# M["m00"] = 1
continue
cX = int((M["m10"] / M["m00"]) * ratio)
cY = int((M["m01"] / M["m00"]) * ratio)
# detect the shape of the contour and label the color
# shape = sd.detect(c)
color = cl.label(lab, c)
# multiply the contour (x, y)-coordinates by the resize ratio,
# then draw the contours and the name of the shape and labeled
# color on the image
c = c.astype("float")
c *= ratio
c = c.astype("int")
text = "{}".format(color)
if text != "NaN":
cv2.drawContours(image, [c], -1, (255, 255, 255), 2)
cv2.putText(image, text, (cX, cY), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 2)
else:
cv2.drawContours(image, [c], -1, (255, 255, 255), 2)
# show the output image
cv2.imwrite(x, image)
# blur the resized image slightly, then convert it to both
# grayscale and the L*a*b* color spaces
blurred = cv2.GaussianBlur(resized, (5, 5), 0)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
thresh = cv2.threshold(gray, 60, 255, cv2.THRESH_BINARY)[1]
# find contours in the thresholded image
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# initialize the shape detector and color labeler
sd = ShapeDetector()
cl = ColorLabeler()
# loop over the contours
for c in cnts:
# compute the center of the contour
M = cv2.moments(c)
cX = int((M["m10"] / M["m00"]) * ratio)
cY = int((M["m01"] / M["m00"]) * ratio)
# detect the shape of the contour and label the color
shape = sd.detect(c)
color = cl.label(lab, c)
# multiply the contour (x, y)-coordinates by the resize ratio,
# then draw the contours and the name of the shape and labeled
# color on the image
def getGPSPos(image, ROBOT='blue'):
blurred = cv2.GaussianBlur(image, (5, 5), 0)
## convert to hsv
hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
if ROBOT == 'blue':
#Blue
mask = cv2.inRange(hsv, (177 / 2, 100, 40), (197 / 2, 255, 255))
if ROBOT == 'red':
#Red
mask = cv2.inRange(hsv, (340 / 2, 100, 40), (360 / 2, 255, 255))
blurred = cv2.bitwise_and(image, image, mask=mask)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
thresh = cv2.threshold(gray, 60, 255, cv2.THRESH_BINARY)[1]
# find contours in the thresholded image
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
if cnts is None:
return 0, 0, 0
cnts = cnts[1]
# initialize the shape detector and color labeler
sd = ShapeDetector()
cl = ColorLabeler()
_, ySize = mask.shape[:2]
if isinstance(cnts, Iterable):
# loop over the contours
for c in cnts:
# compute the center of the contour
M = cv2.moments(c)
if M["m00"] != 0:
cX = int(M["m10"] / M["m00"])
cY = int(M["m01"] / M["m00"])
else:
cX = 0
cY = 0
# detect the shape of the contour and label the color
shape = sd.detect(c)
color = cl.label(lab, c)
if shape == "triangle" and color == ROBOT:
# multiply the contour (x, y)-coordinates by the resize ratio,
# then draw the contours and the name of the shape and labeled
# color on the image
c = c.astype("float")
c = c.astype("int")
# Find sticky point
maxDistance = 0
for point in c:
distance = euclideanDistance(point[0], [cX, cY])
if distance > maxDistance:
maxDistance = distance
stickyPoint = point
pixelAngle = math.atan2(
(ySize - cY) - (ySize - stickyPoint[0][1]),
cX - stickyPoint[0][0])
if pixelAngle < 0:
pixelAngle = 2 * math.pi + pixelAngle
return cX, cY, pixelAngle
else:
return 0, 0, 0
else:
return 0, 0, 0
contours_r = cv2.findContours(thresh_r.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours_g = cv2.findContours(thresh_g.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours_b = cv2.findContours(thresh_b.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours_r = imutils.grab_contours(contours_r)
contours_g = imutils.grab_contours(contours_g)
contours_b = imutils.grab_contours(contours_b)
# initialize the sahpe detector and color labeler
cl = ColorLabeler()
for c in contours_r:
if cv2.contourArea(c) > 0:
M = cv2.moments(c)
red_label = cl.label(lab_r, c) # label color of object
c = c.astype("int") # change to type int
text = "{}".format(red_label)
cv2.drawContours(median_red, [c], -1, (0, 255, 0), 2)
cv2.drawContours(median_red, [c], -1, (0, 255, 0), 3)
if red_label == "red":
red_detector = 1
robot_move = 1
robot_text = "red"
# blur the resized image slightly, then convert it to both
# grayscale and the L*a*b* color spaces
blurred = cv2.GaussianBlur(resized, (5, 5), 0)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
thresh = cv2.threshold(gray, 60, 255, cv2.THRESH_BINARY)[1]
cv2.imshow("Thresh", thresh)
# find contours in the thresholded image
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# initialize the shape detector and color labeler
sd = ShapeDetector()
cl = ColorLabeler()
# loop over the contours
for c in cnts:
# compute the center of the contour
M = cv2.moments(c)
cX = int((M["m10"] / M["m00"]) * ratio)
cY = int((M["m01"] / M["m00"]) * ratio)
# detect the shape of the contour and label the color
shape = sd.detect(c)
color = cl.label(lab, c)
# multiply the contour (x, y)-coordinates by the resize ratio,
# then draw the contours and the name of the shape and labeled
# color on the image
# convert the resized image to grayscale, blur it slightly,
# and threshold it
blurred = cv2.GaussianBlur(resized, (5, 5), 0)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
thresh = cv2.threshold(gray, 60, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)[1]
#
# find contours in the thresholded image and initialize the
# shape detector
cnts = cv2.findContours(thresh.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
sd = ShapeDetector()
cl = ColorLabeler()
# loop over the contours
for c in cnts:
# compute the center of the contour, then detect the name of the
# shape using only the contour
M = cv2.moments(c)
cX = int((M["m10"] / M["m00"]) * ratio)
cY = int((M["m01"] / M["m00"]) * ratio)
shape = sd.detect(c)
color = cl.label(image, c)
# multiply the contour (x, y)-coordinates by the resize ratio,
# then draw the contours and the name of the shape on the image
c = c.astype("float")
c *= ratio
ratio = image.shape[0] / float(resized.shape[0])
blurred = cv2.GaussianBlur(resized, (5, 5), 0)
lab = cv2.cvtColor(blurred.copy(), cv2.COLOR_BGR2HSV)
h, s, gray = cv2.split(lab)
gray = cv2.GaussianBlur(gray, (5, 5), 0)
_, thresh = cv2.threshold(gray, 127, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
cv2.imshow("Thresh", thresh)
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
sd = ShapeDetector()
cl = ColorLabeler()
for c in cnts:
peri = cv2.arcLength(c, True)
if(peri < 50):
continue
M = cv2.moments(c)
if(M["m00"] != 0):
shape = sd.detect(c)
color = cl.label(blurred, c)
c = c.astype("float")
c *= ratio
def ProcessImage(self, image, colour):
# View the original image seen by the camera.
if debug:
cv2.imshow('original', image)
time.sleep(0.3)
#cv2.waitKey(0)
# convert the resized image to grayscale, blur it slightly,
# and threshold it
blurred_img = cv2.GaussianBlur(image, (7, 7), 0)
#if debug:
# cv2.imshow('GaussianBlur', blurred_img)
# cv2.waitKey(0)
grey_img = cv2.cvtColor(blurred_img, cv2.COLOR_BGR2GRAY)
#if debug:
# cv2.imshow('cvtColor GRAY', grey_img)
# cv2.waitKey(0)
lab_img = cv2.cvtColor(blurred_img, cv2.COLOR_BGR2LAB)
#if debug:
# cv2.imshow('cvtColor LAB', lab_img)
# cv2.waitKey(0)
#thresh_img = cv2.threshold(grey_img, 60, 255, cv2.THRESH_BINARY)[1]
thresh_img = cv2.adaptiveThreshold(grey_img, 255,
cv2.ADAPTIVE_THRESH_GAUSSIAN_C,
cv2.THRESH_BINARY, 11, 2)
if debug:
cv2.imshow('threshold', thresh_img)
time.sleep(0.3)
#cv2.waitKey(0)
## Blur the image
#image = cv2.medianBlur(image, 5)
#if debug:
# cv2.imshow('blur', image)
# cv2.waitKey(0)
## Convert the image from 'BGR' to HSV colour space
#image = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
#if debug:
# cv2.imshow('cvtColour', image)
# cv2.waitKey(0)
## We want to extract the 'Hue', or colour, from the image. The 'inRange'
## method will extract the colour we are interested in (between 0 and 180)
## In testing, the Hue value for red is between 95 and 125
## Green is between 50 and 75
## Blue is between 20 and 35
## Yellow is... to be found!
#if colour == "red":
# imrange = cv2.inRange(image, numpy.array((95, 127, 64)), numpy.array((125, 255, 255)))
#elif colour == "green":
# imrange = cv2.inRange(image, numpy.array((40, 127, 64)), numpy.array((75, 255, 255)))
#elif colour == 'blue':
# imrange = cv2.inRange(image, numpy.array((20, 64, 64)), numpy.array((35, 255, 255)))
# View the filtered image found by 'imrange'
#if debug:
# cv2.imshow('imrange', imrange)
# cv2.waitKey(0)
# I used the following code to find the approximate 'hue' of the ball in
# front of the camera
# for crange in range(0,170,10):
# imrange = cv2.inRange(image, numpy.array((crange, 64, 64)), numpy.array((crange+10, 255, 255)))
# print(crange)
# cv2.imshow('range',imrange)
# cv2.waitKey(0)
# Find the contours
#contour_img, contours, hierarchy = cv2.findContours(thresh_img.copy(), cv2.RETR_LIST,
# cv2.CHAIN_APPROX_SIMPLE)
#if debug:
# cv2.imshow('contour', contour_img)
# cv2.waitKey(0)
# cv2.RETR_EXTERNAL - just outermost contour
# cv2.RETR_LIST - all contours, no heirarchy
contours = cv2.findContours(thresh_img.copy(), cv2.RETR_LIST,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if imutils.is_cv2() else contours[1]
print('count of contours={}'.format(len(contours)))
sd = ShapeDetector()
cl = ColorLabeler()
# Go through each contour
#foundArea = -1
#foundX = -1
#foundY = -1
squares = []
sc = []
for idx, contour in enumerate(contours):
#print('contour={}'.f5ormat(contour))
x, y, w, h = cv2.boundingRect(contour)
if w <= 15 or h <= 15 or w > 50 or h > 50:
continue
sc.append(contour)
print('x={} y={} w={} h={}'.format(x, y, h, w))
cx = x + (w / 2)
cy = y + (h / 2)
area = w * h
print(' cx={} cy={} area={}'.format(cx, cy, area))
shape = sd.detect(contour)
colour = cl.label(lab_img, contour)
print(' shape={} color={}'.format(shape, colour))
squares.append([idx, x, y, h, w, cx, cy, area, colour])
#if foundArea < area:
# foundArea = area
# foundX = cx
# foundY = cy
#if foundArea > 0:
# ball = [foundX, foundY, foundArea]
#else:
# ball = None
## Set drives or report ball status
#self.SetSpeedFromBall(ball)
print('Found {} shapes.'.format(len(squares)))
print('Shapes={}'.format(squares))
#print([i[0] for i in squares])
for sq in squares:
cv2.rectangle(image, (sq[1], sq[2]),
(sq[1] + sq[3], sq[2] + sq[4]),
(0, 0, 255) if sq[8] == 'red' else (255, 0, 0),
cv2.FILLED)
cv2.drawContours(image, sc, -1, (255, 0, 0), cv2.FILLED)
cv2.imshow('filled', image)
cv2.waitKey(0)
cv2.destroyAllWindows()
#sort by cy
ysorted_sqs = OrderedDict()
min_x = squares[0][0]
min_y = squares[0][1]
for sq in squares:
# add cx, cy, h, v, colour
ysorted_sqs[sq[6]] = (sq[5], sq[6], sq[3], sq[4], sq[8])
if sq[0] < min_x:
min_x = sq[0]
if sq[1] < min_y:
min_y = sq[1]
#group by rows, centres differ by less than a 3rd.
rows = []
for idx, ssq in enumerate(ysorted_sqs):
if idx != 0:
# 0=cx, 1=cy, 2=h, 3=v, 4=colour
if abs(ssq[1] -
ysorted_sqs[idx - 1][1]) > ysorted_sqs[idx - 1][3] / 3:
# not same row, add to new row
rows.append([ssq])
# add square to current row
rows.extend([ssq])
#sort by cx
for row in rows:
xsorted_sqs = OrderedDict()
for ssq in row:
xsorted_sqs[ssq[0]] = ssq
def main(argv):
# Read the image data from argument
image = cv2.imread(argv[1])
# Resize if it is necessary(faster but not accurate)
resized = imutils.resize(image, width=800)
ratio = image.shape[0] / float(resized.shape[0])
blurred = cv2.GaussianBlur(resized, (5, 5), 0)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
lab = cv2.cvtColor(blurred, cv2.COLOR_BGR2LAB)
thresh = cv2.threshold(gray, 60, 255, cv2.THRESH_BINARY)[1]
# Get the edge by canny effect
canny = cv2.Canny(gray.copy(), 80, 120)
# Set the kernel for dilation(make the white line thicker)
kernel = np.ones((3, 3), np.uint8)
dilation = cv2.dilate(canny.copy(), kernel, iterations=7)
cv2.imwrite('dilate.jpg', dilation)
# Get the contour from dilated picture, EXTERNAL contour used
cnts = cv2.findContours(dilation.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_NONE)
cnts = imutils.grab_contours(cnts)
# ColorLabel
# initialize the ShapeDetector class
sd = ShapeDetector()
cl = ColorLabeler()
oracle = []
for c in cnts:
try:
# Do if the contourarea is larger than specific area
if cv2.contourArea(
c) > np.shape(image)[0] / 40 * np.shape(image)[1] / 40:
# Get the moments of the shapes
M = cv2.moments(c)
cX = int(M['m10'] / M['m00'])
cY = int(M['m01'] / M['m00'])
# Detect the shape
shape = sd.detect(c)
color = cl.label(lab, c)
# Put additional information in the image
c = c.astype('float')
c *= ratio
c = c.astype('int')
cv2.drawContours(image, [c], -1, (0, 255, 0), 2)
cv2.putText(
image,
shape,
(cX, cY),
cv2.FONT_HERSHEY_SIMPLEX,
0.5,
(0, 0, 255),
2,
)
# Store the shape information to oracle
oracle.append([shape, np.array([cX, cY]), color])
except:
continue
# Save the image file
cv2.imwrite('Shape_recognized.jpg', image)
alsoOracle = oracle
oracle = np.array(oracle)
#print(oracle)
# Create the json file to return the following value to PHP
# ["Type of shape", "RowID", "number of shape in the same row"]
jsonfile = get_block(image, oracle, (6, 6), alsoOracle)
print(jsonfile)
