def threshold(self, frame):
'''Returns a binary image with pixels falling into the appropriate hsv range.'''
mask = cv2.inRange(frame, self.hsv_values[:, 0], self.hsv_values[:, 1])
if self.hsv_values2 is not None:
mask2 = cv2.inRange(frame, self.hsv_values2[:, 0], self.hsv_values2[:, 1])
cv2.bitwise_or(mask, mask2, dst=mask)
return mask
def locate(self, geo_image, image, marked_image):
'''Find sticks in image and return list of FieldItem instances.'''
# Extract out just blue channel from BGR image.
#blue_channel, _, _ = cv2.split(image)
#_, mask = cv2.threshold(blue_channel, 160, 255, 0)
# Convert Blue-Green-Red color space to HSV
hsv_image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
lower_blue = np.array([90, 90, 50], np.uint8)
upper_blue = np.array([130, 255, 255], np.uint8)
mask = cv2.inRange(hsv_image, lower_blue, upper_blue)
# Night time testing
lower_blue = np.array([90, 10, 5], np.uint8)
upper_blue = np.array([142, 255, 255], np.uint8)
mask = cv2.inRange(hsv_image, lower_blue, upper_blue)
filtered_rectangles = []
# Open mask (to remove noise) and then dilate it to connect contours.
kernel = np.ones((5,5), np.uint8)
mask_open = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
mask = cv2.dilate(mask_open, kernel, iterations = 1)
# Find outer contours (edges) and 'approximate' them to reduce the number of points along nearly straight segments.
contours, hierarchy = cv2.findContours(mask.copy(), cv2.cv.CV_RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
#contours = [cv2.approxPolyDP(contour, .1, True) for contour in contours]
# Create bounding box for each contour.
bounding_rectangles = [cv2.minAreaRect(contour) for contour in contours]
if marked_image is not None:
for rectangle in bounding_rectangles:
# Show rectangles using bounding box.
drawRect(marked_image, rectangle, (0,0,0), thickness=2)
# Remove any rectangles that couldn't be a plant based off specified size.
min_stick_size = self.stick_diameter * 0.75 # looking straight down on it
max_stick_size = self.stick_length * 1.25 # laying flat on the ground
filtered_rectangles.extend(filter_by_size(bounding_rectangles, geo_image.resolution, min_stick_size, max_stick_size, enforce_min_on_w_and_h=True))
if ImageWriter.level <= ImageWriter.DEBUG:
# Debug save intermediate images
mask_filename = postfix_filename(geo_image.file_name, 'blue_thresh')
ImageWriter.save_debug(mask_filename, mask)
if marked_image is not None:
for rectangle in filtered_rectangles:
# Show rectangles using colored bounding box.
purple = (255, 0, 255)
drawRect(marked_image, rectangle, purple, thickness=2)
sticks = []
for i, rectangle in enumerate(filtered_rectangles):
# Just give default name for saving image until we later go through and assign to plant group.
stick = FieldItem(name = 'stick' + str(i), bounding_rect = rectangle)
sticks.append(stick)
return sticks
def trackRobot(self, imagePath):
'''this function track the robot and return its coordinates'''
img = cv2.imread(imagePath)
img = cv2.flip(img, 1)
img = cv2.flip(img, 0)
# convert into hsv
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
# Find mask that matches
green_mask = cv2.inRange(hsv, np.array((50., 30., 0.)), np.array((100., 255., 255.)))
green_mask = cv2.erode(green_mask, None, iterations=2)
green_mask = cv2.dilate(green_mask, None, iterations=2)
green_cnts = cv2.findContours(green_mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
green_c = max(green_cnts, key=cv2.contourArea)
# fit an ellipse and use its orientation to gain info about the robot
green_ellipse = cv2.fitEllipse(green_c)
# This is the position of the robot
green_center = (int(green_ellipse[0][0]), int(green_ellipse[0][1]))
red_mask = cv2.inRange(hsv, np.array((0., 100., 100.)), np.array((80., 255., 255.)))
red_mask = cv2.erode(red_mask, None, iterations=2)
red_mask = cv2.erode(red_mask, None, iterations=2)
red_cnts = cv2.findContours(red_mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
red_c = max(red_cnts, key=cv2.contourArea)
red_ellipse = cv2.fitEllipse(red_c)
red_center = (int(red_ellipse[0][0]), int(red_ellipse[0][1]))
return green_center, red_center
def locate_tracker(self, debug):
"""
Returns the (x, y) position of the IR tracker in the camera reference plane.
http://www.pyimagesearch.com/2015/09/14/ball-tracking-with-opencv/
:return: The (x, y) position of the IR tracker in the camera reference plane.
:rtype: (int, int)
"""
# tmp_image =
# tmp_image = cv2.GaussianBlur(self.frame, (11, 11), 0) # Experiment with this
hsv = cv2.cvtColor(self.frame, cv2.COLOR_BGR2HSV) # Convert to HSV Color Space. This is temporary for testing using colored objects)
mask = cv2.inRange(hsv, self.hueLower, self.hueUpper)
try:
mask = cv2.inRange(hsv, self.hueLower2, self.hueUpper2) + mask
except AttributeError:
pass
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
if debug:
tmpMask = imutils.resize(mask, width=1000, height=1000)
cv2.imshow("mask", tmpMask)
# find contours in the mask and initialize the current (x, y) center of the object
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask, then use
# it to compute the minimum enclosing circle and
# centroid
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
# only proceed if the radius meets a minimum size
# if radius > 10:
# # draw the circle and centroid on the frame,
# # then update the list of tracked points
# cv2.circle(frame, (int(x), int(y)), int(radius),
# (0, 255, 255), 2)
# cv2.circle(frame, center, 5, (0, 0, 255), -1)
if debug:
cv2.drawContours(self.frame, c, -1, (0, 255, 0), 20)
return center, radius
# update the points queue
cv2.imshow("mask", imutils.resize(mask, width=1000, height=1000))
cv2.imshow("frame", imutils.resize(self.frame, width=1000, height=1000))
cv2.waitKey(0)
cv2.destroyAllWindows()
raise OpenCVError("Could not find tracker!")
def _run_filter(self, img_bgr=None, img_gray=None):
assert(img_bgr is not None)
assert(len(img_bgr.shape) >= 3)
assert(img_bgr.shape[2] == 3)
assert(len(self._hue_range_to_list(self.hue_range)) == 1) # FIXME
img_hsv = cv2.cvtColor(img_bgr, cv2.COLOR_BGR2HSV)
vis_min = min(self.visibility_range)
vis_max = max(self.visibility_range)
assert(vis_min >= 0)
assert(vis_max <= 256)
for hue_range in self._hue_range_to_list(self.hue_range):
hue_min = min(self.hue_range)
hue_max = max(self.hue_range)
assert(hue_min >= 0)
assert(hue_max <= 256)
#print('vis_min %d vis_max %d hue_min %d hue_max %d' % (vis_min, vis_max, hue_min, hue_max))
img_match_h = cv2.inRange(img_hsv[:, :, 0], hue_min, hue_max)
img_match_v = cv2.inRange(img_hsv[:, :, 2], vis_min, vis_max)
img_match = np.minimum(img_match_h, img_match_v)
return img_match
def green_centroid(image, lower, upper):
hsv = cv2.cvtColor(image, cv2.COLOR_RGB2HSV)
mask = cv2.inRange(hsv, lower, upper)
mask[40:100, 0:150] = 0
#plt.imshow(mask)
M = cv2.moments(mask)
area = M['m00']
if area > 0:
cx = int(M['m10']/area)
cy = int(M['m01']/area)
else:
mask = cv2.inRange(hsv, lower, upper)
mask[70:100, 0:150] = 0
M = cv2.moments(mask)
area = M['m00']
if area > 0:
cx = int(M['m10']/area)
cy = int(M['m01']/area)
else:
mask = cv2.inRange(hsv, lower, upper)
M = cv2.moments(mask)
area = M['m00']
if area > 0:
cx = int(M['m10']/area)
cy = int(M['m01']/area)
else:
cx = None
cy = None
return area, cx, cy
def eliminateBackground(image):
##TODO:
# - Add a discriminator
# - Improve detection under weird lighting conditions
# - Improve reliability of isolation in all areas
##Channels:
#0: Blue Blocks
#1: White Lines
#2: Black Background (Decent - Don't rely on it)
HSVimage = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
blue_lower = np.array([100, 66, 109], np.uint8)
blue_upper = np.array([140, 255, 255], np.uint8)
blue = cv2.inRange(HSVimage, blue_lower, blue_upper)
#Isolation of low-high blue
#Target element: Firing Blocks
#This is the merge of the filtered blue and g r layers to make a display image
whitemax = np.array([180, 29, 255], np.uint8)
white_lower = np.array([0, 0, 145], np.uint8)
wht = cv2.inRange(HSVimage, white_lower, whitemax) - blue
#This is the isolation of the white or very white objects.
#Target element: Lines
blackmax = np.array([180, 185, 185], np.uint8)
black_lower = np.array([0, 0, 0], np.uint8)
blk = cv2.inRange(HSVimage, black_lower, blackmax) - blue
#Isolation of black
#Target element: Background
return cv2.merge((blue, wht, blk))
def find_position ( self, frame ):
pos_x = self.last_x
pos_y = self.last_y
hsv_img = cv2.cvtColor( frame, cv2.COLOR_BGR2HSV )
mask1 = cv2.inRange( hsv_img, self.lower_red_l, self.lower_red_h )
mask2 = cv2.inRange( hsv_img, self.upper_red_l, self.upper_red_h )
mask = mask1 + mask2
mask = cv2.erode( mask, self.kernel )
mask = cv2.dilate( mask, self.kernel )
mask = cv2.dilate( mask, self.kernel )
mask = cv2.erode( mask, self.kernel )
o_moments = cv2.moments( mask )
d_m01 = o_moments['m01']
d_m10 = o_moments['m10']
d_area = o_moments['m00']
print "MOMENTS " + str(d_m01) + " " + str(d_m10) + " " + str(d_area)
if d_area > 10000:
pos_x = int(d_m10 / d_area)
pos_y = int(d_m01 / d_area)
print "[" + str(pos_x) + " , " + str(pos_y) + "]"
return pos_x, pos_y
def processImage(self, image_msg):
image_bgr = self.bridge.imgmsg_to_cv2(image_msg, desired_encoding='passthrough')
# equivalent to
# >>> desired_encoding='bgr8' or 'bgra8'
image_hsv = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2HSV)
lower_green = np.array([40,100,100])
upper_green = np.array([70,255,255])
lower_red1 = np.array([160, 100, 100])
upper_red1 = np.array([180, 255, 255])
lower_red2 = np.array([0, 100, 100])
upper_red2 = np.array([10, 255, 255])
mask_red = cv2.inRange(image_hsv, lower_red1, upper_red1) | cv2.inRange(image_hsv, lower_red2, upper_red2)
mask_green = cv2.inRange(image_hsv, lower_green, upper_green)
res = cv2.bitwise_and(image_bgr, image_bgr, mask= mask_green)
# print "red: ", np.sum(mask_red)
# print "green: ", np.sum(mask_green)
if np.sum(mask_red) > 3000000:
self.publisher_color.publish("red")
# green is a bit hard to detect
elif np.sum(mask_green) > 2000000:
self.publisher_color.publish("green")
else:
self.publisher_color.publish("none red or green")
def tower_pos(self, context):
img = context["engine"]["frame"][
self.tower_line_top : self.tower_line_top + self.tower_line_height,
self.tower_left : self.tower_left + self.tower_width,
]
img2 = cv2.resize(img, (self.tower_width, 100))
img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
for i in range(2):
img2[20:40, :, i] = cv2.resize(img_hsv[:, :, 0], (self.tower_width, 20))
img2[40:60, :, i] = cv2.resize(img_hsv[:, :, 1], (self.tower_width, 20))
img2[60:80, :, i] = cv2.resize(img_hsv[:, :, 2], (self.tower_width, 20))
# ゲージのうち信頼できる部分だけでマスクする
img3 = np.minimum(img, self.ui_tower_mask)
# 白い部分にいまヤグラ/ホコがある
img3_hsv = cv2.cvtColor(img3, cv2.COLOR_BGR2HSV)
white_mask_s = cv2.inRange(img3_hsv[:, :, 1], 0, 8)
white_mask_v = cv2.inRange(img3_hsv[:, :, 2], 248, 256)
white_mask = np.minimum(white_mask_s, white_mask_v)
x_list = np.arange(self.tower_width)
tower_x = np.extract(white_mask[3, :] > 128, x_list)
tower_xPos = np.average(tower_x)
# FixMe: マスクした関係が位置がずれている可能性があるので、適宜補正すべき
xPos_pct = (tower_xPos - self.tower_width / 2) / (self.tower_width * 0.86 / 2) * 100
# あきらかにおかしい値が出たらとりあえず排除
if xPos_pct < -120 or 120 < xPos_pct:
xPos_pct = Nan
return xPos_pct
def not_colored(im):
lower_red = np.array([0,0,80], dtype=np.uint8)
upper_red = np.array([60,60,200], dtype=np.uint8)
bwmask = cv2.inRange(im, lower_red, upper_red)
bwmask = 255 - bwmask
#thresh = .22
black = 0
for y in range(32):
for x in range(32):
pixel = bwmask[y][x]
d = pixel
if d == 0:
black = black + 1
blackpercent = float(black)/(32.0*32.0)
if blackpercent > .1:
return False
lower_blue = np.array([110,90,15], dtype=np.uint8)
upper_blue = np.array([165,120,85], dtype=np.uint8)
bwmask = cv2.inRange(im, lower_blue, upper_blue)
bwmask = 255 - bwmask
#thresh = .22
black = 0
for y in range(32):
for x in range(32):
pixel = bwmask[y][x]
d = pixel
if d == 0:
black = black + 1
blackpercent = float(black)/(32.0*32.0)
if blackpercent > .1:
return False
return True
def calibrate_hsv(self, img):
element = self.element
result = np.zeros((img.shape[0], img.shape[1]), np.uint8)
img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
h,s,v = cv2.split(img_hsv)
d = cv2.inRange(h, np.array([self.current_conf[0]],np.uint8),
np.array([self.current_conf[1]],np.uint8))
d2 = cv2.inRange(h, np.array([self.current_conf[2]],np.uint8),
np.array([self.current_conf[3]],np.uint8))
d = cv2.bitwise_or(d, d2)
d = cv2.erode(d, element)
d = cv2.dilate(d, element)
d = cv2.dilate(d, element)
d = cv2.dilate(d, element)
d = cv2.dilate(d, element)
result = d
res = result.copy()
contours, hier = cv2.findContours(res, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
self.current_rect_count = len(contours)
self.rects = self.choose_contour(contours)
if len(self.rects) > 0:
self.current_biggest_rect_area = area(self.rects[0])
else:
self.current_biggest_rect_area = 0
middle_roi = get_roi(result, self.middle_rect)
self.current_middle_non_zero = cv2.countNonZero(middle_roi)
self.feedback()
def find_marker(image, red_thres, green_thres, sat_thres):
# h,w, channels = img.shape
# get red and sat
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
blue, green, red = cv2.split(image)
hue, sat, val = cv2.split(hsv)
# find the marker by looking for red, with high saturation
sat = cv2.inRange(sat, np.array((sat_thres[0])), np.array((sat_thres[1])))
red = cv2.inRange(red, np.array((red_thres[0])), np.array((red_thres[1])))
green = cv2.inRange(green, np.array((green_thres[0])), np.array((green_thres[1])))
# AND the two thresholds, finding the car
car = cv2.multiply(red, sat)
car = cv2.multiply(car, green)
# remove noise (not doing it now because the POIs are very small)
# elem = cv2.getStructuringElement(cv2.MORPH_RECT,(3,3))
# car = cv2.erode(car,elem, iterations=1)
# car = cv2.dilate(car,elem, iterations=3)
# return cv2.boundingRect(car)
img, contours, hierarchy = cv2.findContours(car.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# import ipdb; ipdb.set_trace()
# return cv2.boundingRect(contours[1])
return map(lambda x: cv2.boundingRect(x), contours)
def threshold_image_for_tape(image):
"""
Thresholds image for reflective tape with light shined on it. This means it
looks for pixels that are almost white, makes them white, and makes
everything else black.
Parameters:
:param: `image` - the source image to threshold from
"""
orig_image = numpy.copy(image)
# print orig_image.size
orig_image = cv2.medianBlur(orig_image, 3)
# orig_image[orig_image > 100] = 255
# return orig_image[orig_image > 100]
height, width = orig_image.shape[0], orig_image.shape[1]
eight_bit_image = numpy.zeros((height, width, 1), numpy.uint8)
cv2.inRange(orig_image,
(B_RANGE[0], G_RANGE[0], R_RANGE[0], 0),
(B_RANGE[1], G_RANGE[1], R_RANGE[1], 100),
eight_bit_image)
# # eight_bit_image = cv2.adaptiveThreshold(orig_image,
# # 255,
# # cv2.ADAPTIVE_THRESH_GAUSSIAN_C,
# # cv2.THRESH_BINARY,
# # 8,
# # 0)
# cv2.medianBlur(eight_bit_image, 9)
return eight_bit_image
def threshold_for_contours(img_from_array):
hsvimg = cv2.cvtColor(img_from_array, cv2.COLOR_BGR2HSV)
#print type(hsvimg)
lower_blue = np.array([110, 50, 50], np.uint8)
#estimated values until testing
upper_blue = np.array([140, 255, 255], np.uint8)
#estimated values until testing
#threshold_for_contours boundaries to only get orange colors
lower_orange = np.array([5, 100, 100], np.uint8)
#estimated values until testing
upper_orange = np.array([27, 255, 255], np.uint8)
#estimated values until testing
#heres where it is actually threshold_for_contourse
#using the boundaries to get specified colors
#print 'Type:', hsvimg.dtype, 'Other bullshit:', hsvimg.shape
blue = cv2.inRange(hsvimg, lower_blue, upper_blue)
orange = cv2.inRange(hsvimg, lower_orange, upper_orange)
#blue and orange are binary threshholded images
#if the image initially had a blue piece,
#blue will have values of zero and 1
# while orange will just 0's and vice versa
contours_blue, hierarchy_blue = cv2.findContours(blue, 1, 2)
contours_orange, hierarchy_orange = cv2.findContours(orange, 1, 2)
#for some reason contours only has 1 element in it at the most
return contours_blue, contours_orange
def detect_object(self, img):
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, self.lower, self.upper)
mask = cv2.blur(mask, (7, 7))
img_filter = cv2.bitwise_and(img, img, mask=mask)
gray = cv2.cvtColor(img_filter, cv2.COLOR_BGR2GRAY)
contours, _ = cv2.findContours(gray, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
max_idx = -1
max_area = -1
for i, cnt in enumerate(contours):
area = cv2.contourArea(cnt)
if area > max_area and area > self.min_area:
max_idx = i
max_area = area
if max_idx > -1:
cnt = contours[max_idx]
x, y, h, w = cv2.boundingRect(cnt)
self.track_window = (x, y, h, w)
cv2.rectangle(img, (x, y), (x + h, y + w), (0, 255, 0), 2)
self.img = img
# cv2.imshow('track', img)
# cv2.waitKey(1)
hsv_roi = hsv[y : y + w, x : x + h]
mask_roi = mask[y : y + w, x : x + h]
mask_roi = cv2.inRange(hsv_roi, self.lower, self.upper)
self.hist_track = cv2.calcHist([hsv_roi], [0], mask_roi, [180], [0, 180])
cv2.normalize(self.hist_track, self.hist_track, 0, 255, cv2.NORM_MINMAX)
return self.track_window
def hsv_to_im_mask(im_hsv, hsv_lows, hsv_highs, is_bucket=False, is_arm=False):
if is_bucket:
# mask by threshold
im_mask = cv2.inRange(im_hsv, hsv_lows, hsv_highs)
im_mask = cv2.medianBlur(im_mask, 7)
# erode
im_mask = cv2.erode(im_mask, None, iterations=2)
# dilate
im_mask = cv2.dilate(im_mask, None, iterations=3)
elif is_arm:
# mask by threshold
im_mask = cv2.inRange(im_hsv, hsv_lows, hsv_highs)
im_mask = cv2.medianBlur(im_mask, 9)
# erode
# im_mask = cv2.erode(im_mask, None, iterations=2)
# dilate
im_mask = cv2.dilate(im_mask, None, iterations=3)
else:
# mask by threshold
im_mask = cv2.inRange(im_hsv, hsv_lows, hsv_highs)
im_mask = cv2.medianBlur(im_mask, 5)
# erode
# im_mask = cv2.erode(im_mask, None, iterations=2)
# dilate
im_mask = cv2.dilate(im_mask, None, iterations=3)
return im_mask
def dark_clouds(image_count):
# LOAD THE IMAGE, CONVERT IT TO GRAYSCALE, AND BLUR IT
# SLIGHTLY TO REMOVE HIGH FREQUENCY EDGES THAT WE AREN'T
# INTERESTED IN
img = cv2.imread("images/sky_region/ExtractedSky" + str(image_count) + ".jpg")
original = img.copy()
# FIND AND COUNT THE NUMBER OF BLACK PIXELS IN AN IMAGE
BLACK = np.array([0,0,0],np.uint8)
blackRange = cv2.inRange(img,BLACK,BLACK)
no_black_pixels = cv2.countNonZero(blackRange)
# CONVERT BGR TO HSV
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
# DEFINE RANGE OF GREY COLOR IN HSV
lower_grey = np.array([90,0,0], dtype=np.uint8)
upper_grey = np.array([130,255,125], dtype=np.uint8)
# THRESHOLD THE HSV IMAGE TO GET ONLY GREY COLORS
mask = cv2.inRange(hsv, lower_grey, upper_grey)
# COUNT NUMBER OF GREY PIXELS
no_grey_pixels = cv2.countNonZero(mask)
# BITWISE-AND MASK AND ORIGINAL IMAGE
res = cv2.bitwise_and(original,original, mask= mask)
'''cv2.imshow("masked grey sky",res)'''
# GET THE TOTAL NUMBER OF PIXELS
total_pixels = original.size / 3
# GET THE NUMBER OF PIXELS IN THE SKY REGION OF AN IMAGE
sky_region_pixels = total_pixels - no_black_pixels
# CALCULATE THE PERCENTAGE OF THE COLOUR grey PRESENT IN THE SKY
if no_grey_pixels == 0:
return("There is no grey pixels in the image." )
else:
grey_percentage = (no_grey_pixels / sky_region_pixels) * 100
'''print("The total number of pixels is: " + str(total_pixels))
print("The number of grey pixels is: " + str(no_grey_pixels))
print("The number of black pixels is: " + str(no_black_pixels))
print("The number of pixels of the sky region is : " + str(sky_region_pixels))'''
print("The percentage of grey in the sky region is : " + str(grey_percentage))
if grey_percentage > 70:
return("Severe stormy skies.\n" )
elif grey_percentage > 50 and grey_percentage <= 70:
return("Very Stormy skies.\n" )
elif grey_percentage > 30 and grey_percentage <= 50:
return("Some stormy skies.\n" )
elif grey_percentage > 9 and grey_percentage <= 30:
return("Scattered rain clouds.\n" )
else:
return("The sky is overcast.\n")
def calculate_skin_mask (skin_color, image): lower_bound = np.subtract(skin_color,(2,130,40)) lower_bound = lower_bound[0][0] upper_bound = np.add(skin_color,(4,130,150)) upper_bound = upper_bound[0][0] for i in range(1,3): if lower_bound[i] < 0: lower_bound[i] = 0 if upper_bound[i] > 255: upper_bound[i] = 255 if lower_bound[0] < 0: mask_1 = cv2.inRange(image, np.array([180+lower_bound[0],lower_bound[1],lower_bound[2]]), np.array([179,upper_bound[1],upper_bound[2]])) mask_2 = cv2.inRange(image, np.array([0,lower_bound[1],lower_bound[2]]),upper_bound) return (mask_1 | mask_2) elif upper_bound[0] > 179: mask_1 = cv2.inRange(image, lower_bound, np.array([179,upper_bound[1],upper_bound[2]])) mask_2 = cv2.inRange(image, np.array([0,lower_bound[1],lower_bound[2]]), np.array([upper_bound[0] - 180,upper_bound[1],upper_bound[2]])) return (mask_1 | mask_2) else: mask_1 = cv2.inRange(image,lower_bound,upper_bound) return mask_1
def find_squares(img):
#img = cv2.GaussianBlur(img, (5, 5), 0)
squares = []
imgHSV = cv2.cvtColor(img,cv2.COLOR_BGR2HSV)
hChannelImg = imgHSV[:,:,0]
sChannelImg = imgHSV[:,:,1]
blurredHImg = cv2.GaussianBlur(hChannelImg,(11,11),0,0)
blurredSImg = cv2.GaussianBlur(sChannelImg,(11,11),0,0)
hThreshImg = cv2.inRange(blurredHImg,0,10)
sThreshImg = cv2.inRange(blurredSImg,155,255)
combImg = cv2.bitwise_and(hThreshImg,sThreshImg)
for gray in cv2.split(img):
for thrs in xrange(0, 255, 26):
if thrs == 0:
#finds the edges os the square using canny and dilate
bin = cv2.Canny(gray, 0, 20, apertureSize=5)
bin = cv2.dilate(bin, None)
else:
retval, bin = cv2.threshold(gray, thrs, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(bin, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
cnt_len = cv2.arcLength(cnt, True)
cnt = cv2.approxPolyDP(cnt, 0.02*cnt_len, True)
if len(cnt) == 4 and cv2.contourArea(cnt) > 1000 and cv2.isContourConvex(cnt):
cnt = cnt.reshape(-1, 2)
max_cos = np.max([angle_cos( cnt[i], cnt[(i+1) % 4], cnt[(i+2) % 4] ) for i in xrange(4)])
if max_cos < 0.1:
squares.append(cnt)
return squares
def circles(self,cv_image):
cv_image=cv2.resize(cv_image,dsize=(self.screen['width'],self.screen['height']))
#if self.blur:
# cv_image=cv2.GaussianBlur(cv_image,ksize=[5,5],sigmaX=0)
channels=cv2.split(cv_image)
channels[0] = cv2.equalizeHist(channels[0])
channels[1] = cv2.equalizeHist(channels[1])
#channels[2] = cv2.equalizeHist(channels[2])
img = cv2.merge(channels, cv_image)
img=cv2.bilateralFilter(img, -1, 5, 0.1)
kern = cv2.getStructuringElement(cv2.MORPH_RECT, (5,5))
img=cv2.morphologyEx(img, cv2.MORPH_CLOSE, kern)
hsvImg=cv2.cvtColor(img,cv2.COLOR_BGR2HSV)
luvImg=cv2.cvtColor(img,cv2.COLOR_BGR2LUV)
gauss = cv2.GaussianBlur(luvImg, ksize=(5,5), sigmaX=10)
sum = cv2.addWeighted(luvImg, 1.5, gauss, -0.6, 0)
enhancedImg = cv2.medianBlur(sum, 3)
ch=cv2.split(enhancedImg)
mask = cv2.inRange(ch[2],self.highThresh[2],self.lowThresh[2])
mask1=cv2.inRange(ch[1],self.highThresh[0],self.lowThresh[0])
mask2=cv2.inRange(ch[2],self.highThresh[1],self.lowThresh[1])
# cv2.imshow(mask)
#cv2.imshow(mask1)
#cv2.imshow(mask2)
mask_out=cv2.cvtColor(mask,cv2.COLOR_GRAY2BGR)
try:
self.image_filter_pub.publish(self.bridge.cv2_to_imgmsg(mask_out, encoding="bgr8"))
except CvBridgeError as e:
rospy.logerr(e)
def hueBasedTracking(frame):
#useful for smoothening the images, median of all the pixels under kernel
#area and central element is replaced with this median value.
#highly effective against salt-and-pepper noise in the images.
frame = cv2.medianBlur(frame,5)
#convert color from BGR to HSV
hsv_image = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
#define lower and upper limit of hue range for red color
lower_red_hue_range = cv2.inRange(hsv_image, np.array([0, 100, 100]), np.array([10, 255, 255]))
upper_red_hue_range = cv2.inRange(hsv_image, np.array([160, 100, 100]), np.array([179, 255, 255]))
#Calculates the weighted sum of two arrays.
red_hue_image = cv2.addWeighted(lower_red_hue_range, 1.0, upper_red_hue_range, 2.0, 0.0)
#Blurs an image using a Gaussian filter
#The function convolves the source image with the specified Gaussian kernel
red_hue_image = cv2.GaussianBlur(red_hue_image, (9, 9), 2, 2)
#find contours in the red_hue_image formed after weighted adding of lower and upper ranges of red
cnts = cv2.findContours(red_hue_image.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask, then use it to compute the minimum enclosing circle and centroid
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
#gives x and y coordinates of center
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
return center #returns the centroid for th image
def update(self):
data = self.get_input("In")
if data == None: return
model = self.get_combo('Model')
data = data.convert(model)
min_val = [self.get_int(label) for label in self.ch_min]
max_val = [self.get_int(label) for label in self.ch_max]
min0 = list(min_val)
min1 = list(min_val)
max0 = list(max_val)
max1 = list(max_val)
flip = False
for i in range(len(min_val)):
if min_val[i] > max_val[i]:
max0[i] = 255
min1[i] = 0
flip = True
gray = cv2.inRange(data.img, np.array(min0), np.array(max0))
if flip:
gray1 = cv2.inRange(data.img, np.array(min1), np.array(max1))
gray = cv2.bitwise_or(gray, gray1)
self.set_output('Out', ImageGray(gray))
def procesar(img):#default es rojo
bilBlur = cv2.bilateralFilter(img,7,75,75)
hsv = cv2.cvtColor(bilBlur, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv,rango['control'][0],rango['control'][1])# + cv2.inRange(hsv,rango['piel'][0],rango['piel'][1]) + cv2.inRange(hsv,rango['rojo'][0],rango['rojo'][1])
#solo la mascara del control si se comenta la suma
mk1 = cv2.inRange(hsv,rango['control'][0],rango['control'][1])# + cv2.inRange(hsv,rango['piel'][0],rango['piel'][1]) + cv2.inRange(hsv,rango['rojo'][0],rango['rojo'][1])
return mask, mk1
def __getMask(self, image):
""" Get binary mask of the image
This algorithm has been referenced from
http://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_colorspaces/py_colorspaces.html
"""
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
lower_blue = np.array([115,50,50])
upper_blue = np.array([125,255,255])
lower_red = np.array([-3,50,50])
upper_red = np.array([3,255,255])
lower_green = np.array([50,50,50])
upper_green = np.array([70,255,255])
maskBlue = cv2.inRange(hsv, lower_blue, upper_blue)
maskBlue = cv2.blur(maskBlue,(20,20))
ret, maskBlue = cv2.threshold(maskBlue,127,255,cv2.THRESH_BINARY)
maskRed = cv2.inRange(hsv, lower_red, upper_red)
maskRed = cv2.blur(maskRed,(20,20))
ret, maskRed = cv2.threshold(maskRed, 127, 255,cv2.THRESH_BINARY)
return maskRed, maskBlue
def detectRover(self, argFrame):
frame = self.frame
hsvFrame = self.frame
thresh = self.frame[:,:,0]
rGreen = (38,67,155,198,0,255)
rPink = (165,182,155,192,0,255)
hsvFrame = cv2.cvtColor(self.frame.copy(), cv2.COLOR_BGR2HSV)
thresh = cv2.inRange(hsvFrame.copy(),np.array([rGreen[0],rGreen[2],rGreen[4]]),np.array([rGreen[1],rGreen[3],rGreen[5]]))
thresh = cv2.medianBlur(thresh.copy(),5)
thresh = cv2.erode(thresh.copy(), erodeElem)
#thresh = cv2.erode(thresh.copy(), erodeElem)
thresh = cv2.dilate(thresh.copy(), dilateElem)
thresh = cv2.dilate(thresh.copy(), dilateElem)
_, contours, _ = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if len(contours) != 1:
return -1
(x,y,w,h) = cv2.boundingRect(contours[0])
greenPt = (int((x+x+w)/2),int((y+y+h)/2))
thresh = cv2.inRange(hsvFrame.copy(),np.array([rPink[0],rPink[2],rPink[4]]),np.array([rPink[1],rPink[3],rPink[5]]))
thresh = cv2.medianBlur(thresh.copy(),5)
thresh = cv2.erode(thresh.copy(), erodeElem)
#thresh = cv2.erode(thresh.copy(), erodeElem)
thresh = cv2.dilate(thresh.copy(), dilateElem)
thresh = cv2.dilate(thresh.copy(), dilateElem)
_, contours, _ = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
if len(contours) != 1:
return -1
(x,y,w,h) = cv2.boundingRect(contours[0])
pinkPt = (int((x+x+w)/2),int((y+y+h)/2))
self.roverPos = (int((greenPt[0]+pinkPt[0])/2),int((greenPt[1]+pinkPt[1])/2))
angle = getAngle(pinkPt[0],pinkPt[1],greenPt[0],greenPt[1])
self.roverHeading = 360+angle[2]*-1
return greenPt, pinkPt
def execute(self):
#GETTING THE IMAGES
imageLeft = self.sensor.getImageLeft()
imageRight = self.sensor.getImageRight()
iLhsv = cv2.cvtColor(imageLeft, cv2.COLOR_RGB2HSV)
iRhsv = cv2.cvtColor(imageRight, cv2.COLOR_RGB2HSV)
lowpass = (0, 207, 69)
highpass = (10, 255, 198)
ILhsvInRangeLeft = cv2.inRange(iLhsv, lowpass, highpass)
ILhsvInRangeRight = cv2.inRange(iRhsv, lowpass, highpass)
IlhsvInRange3channelsLeft = np.dstack((ILhsvInRangeLeft, ILhsvInRangeLeft, ILhsvInRangeLeft))
IlhsvInRange3channelsRight = np.dstack((ILhsvInRangeRight, ILhsvInRangeRight, ILhsvInRangeRight))
# Add your code here
print "Runing"
#EXAMPLE OF HOW TO SEND INFORMATION TO THE ROBOT ACTUATORS
w = angle2Cams(ILhsvInRangeRight, ILhsvInRangeLeft)
v = getSpeed(w, 2, 2)
self.sensor.setV(v)
print 'speed: ' + str(v) + ', angle: ' + str(w)
self.sensor.setW(w)
#SHOW THE FILTERED IMAGE ON THE GUI
self.setRightImageFiltered(IlhsvInRange3channelsRight)
self.setLeftImageFiltered(IlhsvInRange3channelsLeft)
def track_number_callback(self, im, arg):
pub, msg = arg
target_pos=(400, 210)
try:
bridge = CvBridge()
#convert ROS image to opencv matrix
cv_image = bridge.imgmsg_to_cv2(im, "bgr8")
hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
lowredl = np.array([0, 0, 255])
lowredu = np.array([0, 255, 255])
upredl = np.array([150, 0, 255])
upredu = np.array([179, 255, 255])
mlow = cv2.inRange(hsv, lowredl, lowredu)
mup = cv2.inRange(hsv, upredl, upredu)
m=cv2.bitwise_or(mlow,mup)
res=cv2.bitwise_and(cv_image,cv_image, mask= m)
res=cv2.cvtColor(res, cv2.COLOR_BGR2GRAY)
retval, binary=cv2.threshold(res,127,255,cv2.THRESH_BINARY)
binary=toBinary(binary)
red_pos=self.average_pixel_pos(binary)
print red_pos
except CvBridgeError, e:
rospy.loginfo(e)
raise rospy.ServiceException("Tracking Failed")
def getColor(img, color): hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV) h_h = color + 7 l_h = color - 7 if l_h < 0: l_h = 180 + l_h h_h = h_h h_color = np.array([h_h, 255, 255]) l_color = np.array([l_h, 100, 50]) red_color = [np.array([0, 100, 50]), np.array([180, 255, 255])] img_mask1 = cv2.inRange(hsv, red_color[0], h_color) img_mask2 = cv2.inRange(hsv, l_color, red_color[1]) img_mask = img_mask1 + img_mask2 else: h_color = np.array([h_h, 255, 255]) l_color = np.array([l_h, 150, 10]) img_mask = cv2.inRange(hsv, l_color, h_color) img_color = cv2.bitwise_and(img, img, mask = img_mask) return img_color
def CenterOfMass(image):
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
img2 = image[:, :, ::-1].copy()
lowera = np.array([160, 100, 0])
uppera = np.array([180, 250, 255])
lowerb = np.array([0, 100, 0]) # It was 100 instead of 195
upperb = np.array([5, 250, 255])
mask1 = cv2.inRange(hsv, lowera, uppera)
mask2 = cv2.inRange(hsv, lowerb, upperb)
mask = cv2.add(mask1, mask2)
kernel = np.ones((5, 5),np.uint8)
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
mj=sum(mask)
mi=sum(np.transpose(mask))
A=mask.shape
ni=np.array(range(A[0]))
nj=np.array(range(A[1]))
M=sum(sum(mask))
if sum(mi)==0 or sum(mj)==0:
print "no ball"
xcm=0
ycm=0
else:
xcm=np.dot(mj,nj)/sum(mj)
ycm=np.dot(mi,ni)/sum(mi)
CM=[ycm,xcm]
return CM
# Capture frames from the camera
ret, frame = capture.read()
# Get hand data from the rectangle sub window
cv2.rectangle(frame, (100, 100), (300, 300), (0, 255, 0), 0)
crop_image = frame[100:300, 100:300]
# Apply Gaussian blur
blur = cv2.GaussianBlur(crop_image, (3, 3), 0)
# Change color-space from BGR -> HSV
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
# Create a binary image with where white will be skin colors and rest is black
mask2 = cv2.inRange(hsv, np.array([2, 0, 0]), np.array([20, 255, 255]))
# Kernel for morphological transformation
kernel = np.ones((5, 5))
# Apply morphological transformations to filter out the background noise
dilation = cv2.dilate(mask2, kernel, iterations=1)
erosion = cv2.erode(dilation, kernel, iterations=1)
# Apply Gaussian Blur and Threshold
filtered = cv2.GaussianBlur(erosion, (3, 3), 0)
ret, thresh = cv2.threshold(filtered, 127, 255, 0)
# Show threshold image
cv2.imshow("Thresholded", thresh)
def place_checker(img, checker, i, j, board_x, board_y, square_width, method=1):
square = img[(board_x+(i-1)*square_width):(board_x+(i)*square_width),
(board_y+(j-1)*square_width):(board_y+(j)*square_width)]
if method == 1:
# simple image placement
result=checker
elif method == 2:
# weighted image addition
#cv.AddWeighted(src1, alpha, src2, beta, gamma, dst) → None
# dst = src1 * alpha + src2 * beta + gamma
result = cv2.addWeighted(square, 0.5, checker, 0.5, 0)
elif method == 3:
# thresholding
# convert to gray scale
#cv.cvtColor(src, dst, code) → None
checkergray = cv2.cvtColor(checker,cv2.COLOR_BGR2GRAY)
# find brown2 grey color conversion
brown2pix = np.zeros((1,1,3), dtype=np.uint8)
brown2pix[0,0] = brown2
#cv.cvtColor(src, dst, code) → None
brown2_gry = cv2.cvtColor(brown2pix,cv2.COLOR_BGR2GRAY)
# threshold checker after graying it with brown2pix as the threshold
#cv.threshold(src, dst, threshold, maxValue, thresholdType) → None
r, mask = cv2.threshold(checkergray, brown2_gry[0,0]+5, 255, cv2.THRESH_BINARY_INV)
# find the inverse of the threshold
#cv2.bitwise_and(src1, src2[, dst[, mask]]) → dst
mask_inv = cv2.bitwise_not(mask)
# black out the area of checker in square
#cv2.bitwise_and(src1, src2[, dst[, mask]]) → dst
square_mskd = cv2.bitwise_and(square,square,mask = mask_inv)
# black out the area of square in checker
#cv2.bitwise_and(src1, src2[, dst[, mask]]) → dst
checker_mskd = cv2.bitwise_and(checker,checker,mask = mask)
#cv2.add(src1, src2[, dst[, mask[, dtype]]]) → dst
result = cv2.add(square_mskd,checker_mskd)
else:
# color filtering
#https://stackoverflow.com/questions/10948589/choosing-the-correct-upper-and-lower-hsv-boundaries-for-color-detection-withcv
#cv.cvtColor(src, dst, code) → None
checker_hsv = cv2.cvtColor(checker, cv2.COLOR_BGR2HSV)
# find brown1 hsv color conversion
brown1pix = np.zeros((1,1,3), dtype=np.uint8)
brown1pix[0,0] = brown1
#cv.cvtColor(src, dst, code) → None
brown1_hsv = cv2.cvtColor(brown1pix,cv2.COLOR_BGR2HSV)
# find brown2 hsv color conversion
brown2pix = np.zeros((1,1,3), dtype=np.uint8)
brown2pix[0,0] = brown2
#cv.cvtColor(src, dst, code) → None
brown2_hsv = cv2.cvtColor(brown2pix,cv2.COLOR_BGR2HSV)
""" color1=np.array([min(brown1_hsv[0][0][0],brown2_hsv[0][0][0]),
min(brown1_hsv[0][0][1],brown2_hsv[0][0][1]),
min(brown1_hsv[0][0][2],brown2_hsv[0][0][2])]) #([4+4,255,89-5]) #([4,255,89])
color2=np.array([max(brown1_hsv[0][0][0],brown2_hsv[0][0][0]),
max(brown1_hsv[0][0][1],brown2_hsv[0][0][1]),
max(brown1_hsv[0][0][2],brown2_hsv[0][0][2])]) #([4+4,255,89-5]) #([4,255,89])
"""
# cv2.inRange(src, lowerb, upperb[, dst]) → dst
mask = cv2.inRange(checker_hsv, (0,0,0,), (180,255,253)) #brown1_hsv[0][0], brown2_hsv[0][0])
mask_inv = cv2.bitwise_not(mask)
# black out the area of checker in square
#cv2.bitwise_and(src1, src2[, dst[, mask]]) → dst
square_mskd = cv2.bitwise_and(square,square,mask = mask_inv)
# black out the area of square in checker
#cv2.bitwise_and(src1, src2[, dst[, mask]]) → dst
checker_mskd = cv2.bitwise_and(checker,checker,mask = mask)
#cv2.add(src1, src2[, dst[, mask[, dtype]]]) → dst
result = cv2.add(square_mskd,checker_mskd)
img[(board_y+(j-1)*square_width):(board_y+(j)*square_width),
(board_x+(i-1)*square_width):(board_x+(i)*square_width)]=result
for i in range(0,8):
for j in range(0,8):
# calculate board square locations
if ((checker_brn_match[(pred_board_y+(j)*square_width):(pred_board_y+(j+1)*square_width),
(pred_board_x+(i)*square_width):(pred_board_x+(i+1)*square_width)]==0).sum()>0):
state[i][j]=1
elif ((checker_crm_match[(pred_board_y+(j)*square_width):(pred_board_y+(j+1)*square_width),
(pred_board_x+(i)*square_width):(pred_board_x+(i+1)*square_width)]==0).sum()>0):
state[i][j]=2
else:
state[i][j]=0
return state
# show mask for checkers
checker_hsv = cv2.cvtColor(checker_brn, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(checker_hsv, (0,0,0), (180,255,253))
mask = cv2.normalize(mask,None, alpha=0,beta=1,norm_type=cv2.NORM_MINMAX)
plot_img(mask,False)
# draw read state with a move
state = read_state(img_game)
state[2][2]=0
state[3][3]=1
# draw game
img_game2 = draw_game_state(state, img_board_title)
plot_img(img_game2)
# what's changed in the board?
state = read_state(img_game2)
# load the image
image = cv2.imread(args["image"])
# define the list of boundaries
boundaries = [
([17, 15, 90], [50, 56, 255]),
([80, 25, 4], [255, 100, 50]),
([25, 146, 190], [62, 174, 250]),
([103, 86, 65], [145, 133, 128])
]
# loop over the boundaries
for (lower, upper) in boundaries:
# create NumPy arrays from the boundaries
lower = np.array(lower, dtype = "uint8")
upper = np.array(upper, dtype = "uint8")
# find the colors within the specified boundaries and apply
# the mask
mask = cv2.inRange(image, lower, upper)
print(lower)
print(upper)
output = cv2.bitwise_and(image, image, mask = mask)
# show the images
cv2.namedWindow("Display Frame",cv2.WINDOW_NORMAL)
cv2.imshow("Display Frame", np.hstack([image, output]))
cv2.waitKey(0)
try:
ret, frame = cap.read()
frame = cv2.flip(frame, 1)
kernel = np.ones((3, 3), np.uint8)
#define region of interest
roi = frame[50:350, 50:350]
cv2.rectangle(frame, (50, 50), (350, 350), (0, 255, 0), 0)
hsv = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
# define range of skin color in HSV
lower_skin = np.array([0, 30, 70], dtype=np.uint8)
upper_skin = np.array([20, 255, 255], dtype=np.uint8)
mask = cv2.inRange(hsv, lower_skin, upper_skin)
mask = cv2.erode(mask, kernel, iterations=2)
mask = cv2.dilate(mask, kernel, iterations=4)
mask = cv2.GaussianBlur(mask, (5, 5), 100)
#find contours
_, contours, hierarchy = cv2.findContours(mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
#find contour of max area(hand)
cnt = max(contours, key=lambda x: cv2.contourArea(x))
#approx the contour a little
epsilon = 0.0005 * cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, epsilon, True)
import argparse
import imutils
import cv2
# load the argument parser
ap = argparse.ArgumentParser()
ap.add_argument("-i", ("--image"), help="path to image")
args = vars(ap.parse_args())
# load image
img = cv2.imread(args["image"])
# finding black shapes
lower = np.array([0, 0, 0])
upper = np.array([30, 30, 30])
shape_mask = cv2.inRange(img, lower, upper)
# finding countours
cnts = cv2.findContours(shape_mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
print("found {} contours".format(len(cnts)))
# drawing contours
for c in cnts:
cv2.drawContours(img, [c], -1, (0, 255, 0), 2)
# cv2.imshow('mask', shape_mask)
cv2.imshow("image", img)
cv2.waitKey(0)
ret, old_frame = cap.read()
old_gray = cv2.cvtColor(old_frame, cv2.COLOR_BGR2GRAY)
# Create a mask image for drawing purposes
mask = np.zeros_like(old_frame)
blur = cv2.GaussianBlur(old_gray, (5, 5), 0)
ret3, old_th3 = cv2.threshold(blur, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
while (1):
# read new frame
ret, frame = cap.read()
# convert image to HSV
imgHSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# threshold the black out
imgThres = cv2.inRange(imgHSV, (0, 0, 0), (180, 255, 100))
# convert image to gray
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Otsu's thresholding after Gaussian filtering
blur = cv2.GaussianBlur(frame_gray, (5, 5), 0)
ret3, th3 = cv2.threshold(blur, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
# by subtraction, get the difference between two consequent frames
img = cv2.add(frame, mask)
img = frame_gray - old_gray
img1 = th3 - old_th3
img2 = old_th3 - th3
img = cv2.add(img1, img2)
#lower = np.array([0, 48, 80], dtype="uint8")
#upper = np.array([20, 255, 255], dtype="uint8")
lower = np.array([0, 48, 80])
upper = np.array([20, 255, 255])
img = cv2.imread('img/0.JPG')
height,width = img.shape[:2]
if height>width:
img = cv2.resize(img, (1280, 1920))
else:
img = cv2.resize(img, (1920, 1280))
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
skinMask = cv2.inRange(hsv, lower, upper)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (11, 11))
skinMask = cv2.erode(skinMask, kernel, iterations = 5)
skinMask = cv2.dilate(skinMask, kernel, iterations = 5)
#cv2.imwrite('result/skinmask.jpg',skinMask)
image, contours, h = cv2.findContours(skinMask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
maximumArea = 0
bestContour = None
for contour in contours:
if cv2.contourArea(contour) > 2000:
approx = cv2.approxPolyDP(contour, 0.01 * cv2.arcLength(contour, True), True)
#cv2.drawContours(img, [approx], -1, (0, 0, 255), 2)
cv2.imwrite('result/skinmask1.jpg',skinMask)# alpha
# if we are viewing a video and we did not grab a frame,
# then we have reached the end of the video
if args.get("video") and not grabbed:
break
# resize the frame, blur it, and convert it to the HSV
# color space
frame = imutils.resize(frame, width=600)
# blurred = cv2.GaussianBlur(frame, (11, 11), 0)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# construct a mask for the color "green", then perform
# a series of dilations and erosions to remove any small
# blobs left in the mask
mask = cv2.inRange(hsv, greenLower, greenUpper)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
# find contours in the mask and initialize the current
# (x, y) center of the ball
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask, then use
# it to compute the minimum enclosing circle and
# centroid
c = max(cnts, key=cv2.contourArea)
def maskLane(self, image):
# convert image to hsv
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
# param of irange hsv(white & yellow)
Hue_white_h = self.hue_white_l
Hue_white_l = self.hue_white_h
Saturation_white_h = self.saturation_white_l
Saturation_white_l = self.saturation_white_h
Lightness_white_h = self.lightness_white_h
Lightness_white_l = self.lightness_white_l
Hue_yellow_h = self.hue_yellow_l
Hue_yellow_l = self.hue_yellow_h
Saturation_yellow_h = self.saturation_yellow_l
Saturation_yellow_l = self.saturation_yellow_h
Lightness_yellow_h = self.lightness_yellow_h
Lightness_yellow_l = self.lightness_yellow_l
# define range of white color in HSV
lower_white = np.array(
[Hue_white_h, Saturation_white_h, Lightness_white_l])
upper_white = np.array(
[Hue_white_l, Saturation_white_l, Lightness_white_h])
lower_yellow = np.array(
[Hue_yellow_h, Saturation_yellow_h, Lightness_yellow_l])
upper_yellow = np.array(
[Hue_yellow_l, Saturation_yellow_l, Lightness_yellow_h])
# Threshold the HSV image to get only white colors
mask_white = cv2.inRange(hsv, lower_white, upper_white)
mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
kernel = np.ones((5, 5))
erosion_white = cv2.erode(mask_white, kernel)
erosion_yellow = cv2.erode(mask_yellow, kernel)
Gaussian_white = cv2.GaussianBlur(erosion_white, (5, 5), 0)
Gaussian_yellow = cv2.GaussianBlur(erosion_yellow, (5, 5), 0)
# findContours of image
contours_white, hierarchy_white = cv2.findContours(
Gaussian_white, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
contours_yellow, hierarchy_yellow = cv2.findContours(
Gaussian_yellow, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
# print contours
# print(contours_white)
# print(contours_yellow)
# draw the contours in origin image
cv2.drawContours(image, contours_white, -1, (139, 104, 0), 3)
cv2.drawContours(image, contours_yellow, -1, (139, 104, 0), 3)
# center of white and yellow lane
white_center = Center()
yellow_center = Center()
# try:
white_x, white_y = self.calculate_average(contours_white[0])
white_center[0] = white_x
white_center[1] = white_y
print("white: ", white_x, white_y)
is_detect_white = 1
# except:
# is_detect_white = 0
# print(contours_white[0])
# print("The Camera Can`t Catch The White Lane.")
# try:
yellow_x, yellow_y = self.calculate_average(contours_yellow[0])
yellow_center[0] = yellow_x
yellow_center[1] = yellow_y
print("yellow: ", yellow_x, yellow_y)
is_detect_yellow = 1
# except:
# is_detect_yellow = 0
# print(contours_yellow[0])
# print("The Camera Can`t Catch The Yellow Lane.")
# print(contours_white[0])
# yellow_x, yellow_y = self.calculate_average(contours_yellow[0])
# Publish Image
self.pub_image_detect.publish(
self.cvBridge.cv2_to_imgmsg(image, 'bgr8'))
# Publish Center
self.pub_center_white_lane.publish(white_center)
self.pub_center_yellow_lane.publish(yellow_center)
def detect(self, sender: Device, img: np.ndarray,
plate_angles: Vector2) -> CircleFeature:
if img is not None:
# covert to HSV space
color = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
# 0 == red
if self.config.hue is None:
self.config.hue = 0
# run through each triplet and perform our masking filter on it.
# hue_mask coverts the hsv image into a grayscale image with a
# bandpass applied centered around hue, with width sigma
hue_mask(
color,
self.config.hue,
self.config.sigma,
self.config.bandpassGain,
self.config.maskGain,
)
# convert to b&w mask from grayscale image
mask = cv2.inRange(color, np.array((200, 200, 200)),
np.array((255, 255, 255)))
# expand b&w image with a dialation filter
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, self.kernel)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
if len(contours) > 0:
contour_peak = max(contours, key=cv2.contourArea)
((self.x_obs, self.y_obs),
radius) = cv2.minEnclosingCircle(contour_peak)
# Determine if ball size is the appropriate size
frameSize = sender.sensor.config.height
norm_radius = radius / frameSize
if self.config.ballMin < norm_radius < self.config.ballMax:
counter.update("hit", 1, FrequencyCounter)
# rotate the center coords into sensor coords
# the ball detector uses rotate coordinates, so we must as well
rot_center = Vector2(
self.calibration.plateXOffset,
self.calibration.plateYOffset).rotate(
math.radians(-self.calibration.rotation))
x_center = (rot_center.x + 0.5) * frameSize
y_center = (rot_center.y + 0.5) * frameSize
# Convert from pixels to absolute with 0,0 as center of detected plate
x = self.x_obs - x_center
y = self.y_obs - y_center
self.lastDetected = CircleFeature(Vector2(x, y), radius)
return self.lastDetected
else:
counter.update("miss", 1, FrequencyCounter)
counter.update("hit", 0, FrequencyCounter)
counter.update("miss", 0, FrequencyCounter)
return CircleFeature()
class image_converter:
def __init__(self):
self.image_pub = rospy.Publisher('image_topic_2', Image, queue_size=1)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber('vrep/image', Image, self.callback)
def callback(self, data):
global room
try:
raw_image = self.bridge.imgmsg_to_cv2(data, 'bgr8')
except CvBridgeError, e:
pass #print e
# Flip image to correct orientation
corrected_image = raw_image.copy()
corrected_image = cv2.flip(corrected_image, 1)
#cv2.imshow('Corrected', corrected_image)
#set boundaries for color detection
boundaries = [([0, 150, 150], [70, 255, 255])]
for (lower, upper) in boundaries: # Loop over the boundaries
# create NumPy arrays from the boundaries
lower = np.array(lower, dtype='uint8')
upper = np.array(upper, dtype='uint8')
# find the colors within the specified boundaries and apply the mask
mask = cv2.inRange(corrected_image, lower, upper)
output = cv2.bitwise_and(corrected_image, corrected_image, mask=mask)
#find countours in the mask and initialize the current (x,y) center of the ball
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
#global room
rospy.Subscriber('/location_monitor', String, callback1)
#print room
#only proceed if at least one contour was found
if room == "Robot is in Room D!" and len(cnts) > 0: #
pub = rospy.Publisher('/vrep/cmd_vel', Twist, queue_size = 10)
bool_msg = 0
pub1.publish(bool_msg)
#find the largest contour in the mask, then use it to compute the minimum enclosing circule and centroid
c = max(cnts, key=cv2.contourArea)
((x,y,), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
if M["m00"] == 0:
M["m00"] = 0.0001
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
#print M #debug
#only proceed if the radius meets a minimum size
if radius > 10:
#draw circle and centroid on the frame, then update the list of tracked points
cv2.circle(corrected_image, (int(x), int(y)), int(radius),
(0, 255, 255), 2)
cv2.circle(corrected_image, center, 5, (0, 0, 255), -1)
#Implement Control to follow yellow ball
ang_err = x_d - x
cmd_vel_ang = K_p_x * ang_err
distance_err = radius_d - radius
cmd_vel_lin = K_p_radius * distance_err
if cmd_vel_ang > 1.5:
cmd_vel_ang = 1.5
if cmd_vel_lin > 2:
cmd_vel_lin = 2
#rospy.loginfo('x: {}, y: {}, radius: {}, cmd_vel_ang: {}, cmd_vel_lin: {}'.format(x, y, radius, cmd_vel_ang, cmd_vel_lin))
vel_msg = Twist()
vel_msg.linear.x = cmd_vel_lin
vel_msg.angular.z = cmd_vel_ang
pub.publish(vel_msg)
else:
bool_msg = 1
pub1.publish(bool_msg)
cv2.imshow('Image', np.hstack([corrected_image, output]))
cv2.waitKey(3)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(raw_image,
'bgr8'))
except CvBridgeError, e:
pass #print e
cv2.waitKey()
"""
cap = cv2.VideoCapture(0)
startMeasure = time.time()
while (1):
startTime = time.time()
_, original = cap.read()
frame = cv2.resize(original, (400, 400))
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_red = np.array([30, 150, 50])
upper_red = np.array([255, 255, 180])
mask = cv2.inRange(hsv, lower_red, upper_red)
res = cv2.bitwise_and(frame, frame, mask=mask)
kernel = np.ones((5, 5), np.uint8)
opening = cv2.morphologyEx(frame, cv2.MORPH_OPEN, kernel)
closing = cv2.morphologyEx(opening, cv2.MORPH_CLOSE, kernel)
cv2.imshow('Original', frame)
cv2.imshow('Mask', mask)
cv2.imshow('Opening', opening)
cv2.imshow('Closing', closing)
elapsedTime = time.time() - startTime
elapsedTotTime = (time.time() - startMeasure)
#print('function finished in {} ms'.format(float(elapsedTime * 1000)))
cv2.rectangle(small, ((x1), (y1)), ((x2), (y2)), (0, 0, 255), 2)
human = small[y1:y2, x1:x2]
hog = cv2.HOGDescriptor()
hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector())
grayimg = cv2.cvtColor(human, cv2.COLOR_BGR2GRAY)
cv2.imshow('human', human)
blurred = cv2.blur(grayimg, (3, 3))
canny = cv2.Canny(blurred, 50, 255)
thresh = 170
im_bw = cv2.threshold(grayimg, thresh, 255, cv2.THRESH_BINARY)[1]
low = np.array([15, 200, 150], dtype="uint8")
up = np.array([32, 229, 183], dtype="uint8")
mask = cv2.inRange(small, low, up)
cv2.imshow('mask', mask)
cv2.imshow("canny:", canny)
cv2.imwrite('canny.jpg', canny)
plt.subplot(121), plt.imshow(human, cmap='gray')
plt.title('Original Image'), plt.xticks([]), plt.yticks([])
plt.subplot(122), plt.imshow(canny, cmap='gray')
plt.title('Edge Image'), plt.xticks([]), plt.yticks([])
plt.show()
cv2.imshow("small:", small)
cv2.waitKey(0)
cv2.destroyAllWindows()
ret, frame = cam.read()
# frame = cv2.resize(frame, dsize = (0, 0), fx = 0.5, fy = 0.5)
#frame = getNextFrame(cam)
cv2.namedWindow('camshift')
cv2.setMouseCallback('camshift', onmouse)
cv2.namedWindow('hist')
cv2.moveWindow('hist', 700, 100) # Move to reduce overlap
# start processing frames
while True:
frame = getNextFrame(cam)
vis = frame.copy()
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) # convert to HSV
mask = cv2.inRange(hsv, np.array(
(0., 60., 32.)), np.array(
(180., 255.,
255.))) # eliminate low and high saturation and value values
if isDragging and selection != None: # if currently dragging and a good region has been selected
x0, y0, x1, y1 = selection
track_window = (x0, y0, x1 - x0, y1 - y0)
hsv_roi = hsv[
y0:y1, x0:
x1] # access the currently selected region and make a histogram of its hue
mask_roi = mask[y0:y1, x0:x1]
hist = cv2.calcHist([hsv_roi], [0], mask_roi, [16], [0, 180])
cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX)
hist = hist.reshape(-1)
show_hist(hist)
vis_roi = vis[y0:y1, x0:x1] # make the selected region visible
sharp = cv2.GaussianBlur(dst, (5, 5), sigma)
sharp = cv2.addWeighted(dst, 1.5, sharp, -0.5, 0)
# cv2.imshow("orig",orig)
# cv2.imshow("input",img)
# cv2.imshow("filter",dst)
# cv2.imshow("sharp",sharp)
black_thresh = readParam("black_threshold","IMAGEPROC")
lower = np.array([0,0,0], dtype = "uint8")
upper = np.array([black_thresh, black_thresh, black_thresh], dtype = "uint8")
# find the colors within the specified boundaries and apply
# the mask
mask = cv2.inRange(sharp, lower, upper)
blackhat = cv2.morphologyEx(mask,cv2.MORPH_BLACKHAT,cv2.getStructuringElement(cv2.MORPH_CROSS,(5,5)))
# blackhat = cv2.bitwise_not(blackhat)
# cv2.imshow("blackhat",blackhat)
mask = cv2.bitwise_xor(mask,blackhat)
kernel = np.ones((3,3),np.uint8)
mask = cv2.dilate(mask,kernel,iterations = 1)
# cv2.imshow("mask",mask)
# Create a blank black image
white = np.zeros((mask.shape[0], mask.shape[1], 3), np.uint8)
# Fill image with red color(set each pixel to red)
white[:] = (255,255,255)
mask_bgr = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR)
inverted = cv2.bitwise_not(sharp)
# output = cv2.bitwise_and(white, mask_bgr)
# output = sharp[~np.array(mask)]
hue2Low = cv2.getTrackbarPos('hue2Lower', 'Trackbars')
hue2Up = cv2.getTrackbarPos('hue2Upper', 'Trackbars')
Ls = cv2.getTrackbarPos('satLow', 'Trackbars')
Us = cv2.getTrackbarPos('satHigh', 'Trackbars')
Lv = cv2.getTrackbarPos('valLow', 'Trackbars')
Uv = cv2.getTrackbarPos('valHigh', 'Trackbars')
l_b = np.array([hueLow, Ls, Lv])
u_b = np.array([hueUp, Us, Uv])
l_b2 = np.array([hue2Low, Ls, Lv])
u_b2 = np.array([hue2Up, Us, Uv])
FGmask = cv2.inRange(hsv, l_b, u_b)
FGmask2 = cv2.inRange(hsv, l_b2, u_b2)
FGmaskComp = cv2.add(FGmask, FGmask2)
cv2.imshow('FGmaskComp', FGmaskComp)
cv2.moveWindow('FGmaskComp', 0, 300)
_, contours, _ = cv2.findContours(FGmaskComp, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# Sortiert die groesste Kontour nach oben
contours = sorted(contours, key=lambda x: cv2.contourArea(x), reverse=True)
# nur die groesseren Konturen anzeigen
for cnt in contours:
area = cv2.contourArea(cnt)
(x, y, w, h) = cv2.boundingRect(cnt)
if area >= 500:
# cv2.drawContours(frame, [cnt], 0, (255,0,0),2)
cv2.rectangle(imagen, (x, y), (x+2, y+2),(255,255,255), 2)
return (x, y)
#Iniciamos la camara
captura = cv2.VideoCapture(0)
while(1):
#Capturamos una imagen y la convertimos de RGB -> HSV
_,imagen = captura.read()
imagen = cv2.blur(imagen,(3,3))
hsv = cv2.cvtColor(imagen, cv2.COLOR_BGR2HSV)
#Crear una mascara con solo los pixeles dentro del rango de los colores
mask_azul = cv2.inRange(hsv, colores['azul'][0], colores['azul'][1])
mask_rojo = cv2.inRange(hsv, colores['rojo'][0], colores['rojo'][1])
mask_verde = cv2.inRange(hsv, colores['verde'][0], colores['verde'][1])
mask_amarillo = cv2.inRange(hsv, colores['amarillo'][0], colores['amarillo'][1])
#Eliminamos el ruido
noise_azul = noise(mask_azul)
noise_rojo = noise(mask_rojo)
noise_verde = noise(mask_verde)
noise_amarillo = noise(mask_amarillo)
#Mascara con todos los colores
mask = noise_azul + noise_rojo + noise_verde + noise_amarillo
#Imagen con solo los colores
color = cv2.bitwise_and(imagen, imagen, mask= mask)
img_hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
'''cap = cv.VideoCapture('5feet.mp4')
while cap.isOpened():
ret, frame = cap.read()
# if frame is read correctly ret is True
if not ret:
print("Can't receive frame (stream end?). Exiting ...")
break
if cv.waitKey(0) == ord('q'):
break'''
# define the list of boundaries
# lower mask (0-10)
lower_red = np.array([0, 10, 10])
upper_red = np.array([55, 255, 255])
mask0 = cv2.inRange(img_hsv, lower_red, upper_red)
#for red color
# upper mask (170-180)
lower_red = np.array([140, 0, 0])
upper_red = np.array([185, 255, 255])
mask1 = cv2.inRange(img_hsv, lower_red, upper_red)
# join my masks
mask = mask0 + mask1
#cv2.imshow('frame',frame)
#cv2.imshow('mask',mask)
#cv2.imshow('res',res)
ret, thresh = cv2.threshold(mask, 127, 255, 0)
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
def main():
# Telloクラスを使って，droneというインスタンス(実体)を作る
drone = tello.Tello('', 8889, command_timeout=.01)
current_time = time.time() # 現在時刻の保存変数
pre_time = current_time # 5秒ごとの'command'送信のための時刻変数
time.sleep(0.5) # 通信が安定するまでちょっと待つ
# トラックバーを作るため，まず最初にウィンドウを生成
cv2.namedWindow("OpenCV Window")
# トラックバーのコールバック関数は何もしない空の関数
def nothing(x):
pass
# トラックバーの生成
cv2.createTrackbar("H_min", "OpenCV Window", 0, 179, nothing)
cv2.createTrackbar("H_max", "OpenCV Window", 9, 179,
nothing) # Hueの最大値は179
cv2.createTrackbar("S_min", "OpenCV Window", 128, 255, nothing)
cv2.createTrackbar("S_max", "OpenCV Window", 255, 255, nothing)
cv2.createTrackbar("V_min", "OpenCV Window", 128, 255, nothing)
cv2.createTrackbar("V_max", "OpenCV Window", 255, 255, nothing)
flag = 0
#Ctrl+cが押されるまでループ
try:
while True:
# (A)画像取得
frame = drone.read() # 映像を1フレーム取得
if frame is None or frame.size == 0: # 中身がおかしかったら無視
continue
# (B)ここから画像処理
image = cv2.cvtColor(frame,
cv2.COLOR_RGB2BGR) # OpenCV用のカラー並びに変換する
bgr_image = cv2.resize(image, dsize=(480, 360)) # 画像サイズを半分に変更
hsv_image = cv2.cvtColor(bgr_image,
cv2.COLOR_BGR2HSV) # BGR画像 -> HSV画像
# トラックバーの値を取る
h_min = cv2.getTrackbarPos("H_min", "OpenCV Window")
h_max = cv2.getTrackbarPos("H_max", "OpenCV Window")
s_min = cv2.getTrackbarPos("S_min", "OpenCV Window")
s_max = cv2.getTrackbarPos("S_max", "OpenCV Window")
v_min = cv2.getTrackbarPos("V_min", "OpenCV Window")
v_max = cv2.getTrackbarPos("V_max", "OpenCV Window")
# inRange関数で範囲指定２値化
bin_image = cv2.inRange(hsv_image, (h_min, s_min, v_min),
(h_max, s_max, v_max)) # HSV画像なのでタプルもHSV並び
# bitwise_andで元画像にマスクをかける -> マスクされた部分の色だけ残る
masked_image = cv2.bitwise_and(hsv_image,
hsv_image,
mask=bin_image)
# ラベリング結果書き出し用に画像を準備
out_image = masked_image
# 面積・重心計算付きのラベリング処理を行う
num_labels, label_image, stats, center = cv2.connectedComponentsWithStats(
bin_image)
# 最大のラベルは画面全体を覆う黒なので不要．データを削除
num_labels = num_labels - 1
stats = np.delete(stats, 0, 0)
center = np.delete(center, 0, 0)
if num_labels >= 1:
# 面積最大のインデックスを取得
max_index = np.argmax(stats[:, 4])
#print max_index
# 面積最大のラベルのx,y,w,h,面積s,重心位置mx,myを得る
x = stats[max_index][0]
y = stats[max_index][1]
w = stats[max_index][2]
h = stats[max_index][3]
s = stats[max_index][4]
mx = int(center[max_index][0])
my = int(center[max_index][1])
#print("(x,y)=%d,%d (w,h)=%d,%d s=%d (mx,my)=%d,%d"%(x, y, w, h, s, mx, my) )
# ラベルを囲うバウンディングボックスを描画
cv2.rectangle(out_image, (x, y), (x + w, y + h), (255, 0, 255))
# 重心位置の座標を表示
#cv2.putText(out_image, "%d,%d"%(mx,my), (x-15, y+h+15), cv2.FONT_HERSHEY_PLAIN, 1, (255, 255, 0))
cv2.putText(out_image, "%d" % (s), (x, y + h + 15),
cv2.FONT_HERSHEY_PLAIN, 1, (255, 255, 0))
if flag == 1:
a = b = c = d = 0
# P制御の式(Kpゲインはとりあえず1.0)
dx = 1.0 * (240 - mx) # 画面中心との差分
# 旋回方向の不感帯を設定
d = 0.0 if abs(dx) < 50.0 else dx # ±50未満ならゼロにする
d = -d
# 旋回方向のソフトウェアリミッタ(±100を超えないように)
d = 100 if d > 100.0 else d
d = -100 if d < -100.0 else d
print('dx=%f' % (dx))
drone.send_command('rc %s %s %s %s' %
(int(a), int(b), int(c), int(d)))
# (X)ウィンドウに表示
cv2.imshow('OpenCV Window',
out_image) # ウィンドウに表示するイメージを変えれば色々表示できる
# (Y)OpenCVウィンドウでキー入力を1ms待つ
key = cv2.waitKey(1)
if key == 27: # k が27(ESC)だったらwhileループを脱出，プログラム終了
break
elif key == ord('t'):
drone.takeoff() # 離陸
elif key == ord('l'):
drone.land() # 着陸
elif key == ord('w'):
drone.move_forward(0.3) # 前進
elif key == ord('s'):
drone.move_backward(0.3) # 後進
elif key == ord('a'):
drone.move_left(0.3) # 左移動
elif key == ord('d'):
drone.move_right(0.3) # 右移動
elif key == ord('q'):
drone.rotate_ccw(20) # 左旋回
elif key == ord('e'):
drone.rotate_cw(20) # 右旋回
elif key == ord('r'):
drone.move_up(0.3) # 上昇
elif key == ord('f'):
drone.move_down(0.3) # 下降
elif key == ord('1'):
flag = 1 # 追跡モードON
elif key == ord('2'):
flag = 0 # 追跡モードOFF
# (Z)5秒おきに'command'を送って、死活チェックを通す
current_time = time.time() # 現在時刻を取得
if current_time - pre_time > 5.0: # 前回時刻から5秒以上経過しているか？
drone.send_command('command') # 'command'送信
pre_time = current_time # 前回時刻を更新
except (KeyboardInterrupt, SystemExit): # Ctrl+cが押されたら離脱
print("SIGINTを検知")
drone.send_command('streamoff')
# telloクラスを削除
del drone
colors = {'red':(0,0,255), 'green':(0,255,0), 'blue':(255,0,0)}
#capturing frames
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the current frame
frame = frame.array
blurred = cv2.GaussianBlur(frame, (11, 11), 0)
hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
#for each color in dictionary check object in frame
for key, value in upper.items():
# construct a mask for the color from dictionary`1, then perform
# a series of dilations and erosions to remove any small
# blobs left in the mask
kernel = np.ones((9,9),np.uint8)
mask = cv2.inRange(hsv, lower[key], upper[key])
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)
# find contours in the mask and initialize the current
# (x, y) center of the object
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask, then use
# it to compute the minimum enclosing circle and
# centroid
c = max(cnts, key=cv2.contourArea)
def lane_detection(self, image_bgr):
# Convert to HSV
image_hsv = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2HSV)
# Mask
global mask_lower_threshold, mask_upper_threshold
mask1 = cv2.inRange(image_hsv, mask_lower_threshold,
mask_upper_threshold)
# add another mask
mask2 = cv2.inRange(image_hsv, mask2_lower_threshold,
mask2_upper_threshold)
#final mask
mask = cv2.bitwise_or(mask1, mask2)
# Publish mask image
if self.mask_pub.get_num_connections() > 0:
self.mask_pub.publish(
self.bridge.cv2_to_imgmsg(mask, encoding='passthrough'))
# Canny edge detection
edges = cv2.Canny(mask, 200, 400)
# Clear the top half of the edges image
edges[0:int(float(edges.shape[0]) / 1.5), :] = 0.
# Publish edges image
if self.edges_image_pub.get_num_connections() > 0:
self.edges_image_pub.publish(
self.bridge.cv2_to_imgmsg(edges, encoding='passthrough'))
# Detect line segments
line_segments_tmp = cv2.HoughLinesP(edges, 1, np.pi / 180., 10, None,
8, 4)
print("line segments tmp")
print(line_segments_tmp)
if line_segments_tmp is None:
print('No line segments detected')
return [None, None]
# Remove extra array layer from line_segments_tmp
line_segments = []
for line_segment in line_segments_tmp:
line_segments.append(line_segment[0])
# Publish line segments image
if self.line_segments_image_pub.get_num_connections() > 0:
line_segments_image = plot_line_segments(image_bgr, line_segments)
self.line_segments_image_pub.publish(
self.bridge.cv2_to_imgmsg(line_segments_image,
encoding='bgr8'))
# Combine line segments
[left_lane,
right_lane] = functions.average_slope_intercept(line_segments)
if self.lanes_image_pub.get_num_connections() > 0:
lanes_image = plot_lanes(image_bgr, left_lane, right_lane)
self.lanes_image_pub.publish(
self.bridge.cv2_to_imgmsg(lanes_image, encoding='bgr8'))
return [left_lane, right_lane]
likelyGate = []
points = []
while True:
if not paused:
ret, frame = cap.read()
else:
frame = untampered
if ret:
if not paused:
frame = cv.resize(frame, (0, 0), fx=0.5, fy=0.5)
blur = cv.GaussianBlur(frame, (5, 5), 0)
frame_HSV = cv.cvtColor(blur, cv.COLOR_BGR2HSV)
# frame_gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
# canny = cv.Canny(frame_gray, 0)
frame_threshold = cv.inRange(frame_HSV, (low_H, low_S, low_V), (high_H, high_S, high_V)) # low_S ideal = 98
# frame_threshold = cv.bitwise_not(frame_threshold)
res = cv.bitwise_and(frame, frame, mask=frame_threshold)
res2, contours, hierarchy = cv.findContours(frame_threshold, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
contours.sort(key=heuristic, reverse=True)
if len(contours) > 1:
heur0 = heuristic(contours[0])
heur1 = heuristic(contours[1])
likelyGate = [{'cont': contours[0], 'heur': heur0}, {'cont': contours[1], 'heur': heur1}]
untampered = np.copy(frame)
if contours:
# likelyGate.append(contours[0])
# findLikelyGate(likelyGate, contours)
def gen_frames():
while True:
success, ori_img = camera.read()
if not success:
break
else:
img = cv2.resize(ori_img[:, 160:1120].copy(), (640, 480))
ret, buffer = cv2.imencode('.jpg', img)
frame = buffer.tobytes()
img_roi = img[240:480, :]
### dst
hsv = cv2.cvtColor(img_roi, cv2.COLOR_BGR2HSV)
lowerb = (60, 0, 0)
upperb = (179, 100, 120)
# lowerb, upperb = getTrackbar()
dst = cv2.inRange(hsv, lowerb, upperb)
### Hough
# gray scaling
gray = cv2.cvtColor(img_roi, cv2.COLOR_BGR2GRAY)
# Canny
blur = cv2.GaussianBlur(gray, ksize=(5, 5), sigmaX=0.0)
edges = cv2.Canny(blur, 50, 100)
# LoG filtering, zero crossing
# LoG = cv2.filter2D(gray, cv2.CV_32F, kernel=logFilter(15))
# edges = zeroCrossing2(LoG)
# Hough
# lines = cv2.HoughLines(edges, rho=1, theta=np.pi / 180.0, threshold=100)
lines = cv2.HoughLinesP(edges,
rho=1,
theta=np.pi / 180.0,
threshold=90,
minLineLength=100,
maxLineGap=10)
if lines is None:
# print(' no lines')
pass
else:
# print(len(lines))
for line in lines:
# rho, theta = line[0]
# c = np.cos(theta)
# s = np.sin(theta)
# x0 = c * rho
# y0 = s * rho
# x1 = int(x0 + 1000 * (-s))
# y1 = int(y0 + 1000 * c)
# x2 = int(x0 - 1000 * (-s))
# y2 = int(y0 - 1000 * c)
x1, y1, x2, y2 = line[0]
cv2.line(img, (x1, y1 + 240), (x2, y2 + 240), (0, 0, 255),
2)
# cv2.imshow('origin', ori_img)
cv2.imshow('frame', img)
cv2.imshow('Canny', edges)
cv2.imshow('dst', dst)
cv2.waitKey(33)
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n')
option = 999
# Create Map
while option == 5:
# ret, img = cap.read()
# # img = cv2.flip(img,1)
# img = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
# img = cv2.inRange(img,0,125)
# img = 255-img
# img = cv2.medianBlur(img,5)
# img = cv2.cvtColor(img,cv2.COLOR_GRAY2BGR)
# cv2.imshow("image",img)
ret, img = cap.read()
# img = cv2.flip(img,1)
img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
img = cv2.inRange(img, 0, 75)
# img = 255-img
img = cv2.medianBlur(img, 5)
TampmapGame = img.copy()
# TampmapGame=255-TampmapGame
# img = cv2.cvtColor(img,cv2.COLOR_GRAY2BGR)
newtest = np.zeros(TampmapGame.shape)
contourmask = temp, contours, hierarchy = cv2.findContours(
TampmapGame, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
x, y, w, h = cv2.boundingRect(cnt)
if (x == 0 or y == 0 or x + w == TampmapGame.shape[0]
or y + h == TampmapGame.shape[1]
or x == TampmapGame.shape[0] or y == TampmapGame.shape[1]):
print("1") # cv2.rectangle(img,(x,y),(x+w,y+h),(0,0,255),2)
else:
def find_circles(camera_handle):
trig_A, trig_B = False, False
buzz = 0
_, frame = camera_handle.read()
#converting to HSV
hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
hue,sat,val = cv2.split(hsv)
# Apply thresholding
hthreshA = cv2.inRange(np.array(hue),np.array(hminA),np.array(hmaxA))
sthreshA = cv2.inRange(np.array(sat),np.array(sminA),np.array(smaxA))
vthreshA = cv2.inRange(np.array(val),np.array(vminA),np.array(vmaxA))
hthreshB = cv2.inRange(np.array(hue),np.array(hminB),np.array(hmaxB))
sthreshB = cv2.inRange(np.array(sat),np.array(sminB),np.array(smaxB))
vthreshB = cv2.inRange(np.array(val),np.array(vminB),np.array(vmaxB))
# AND h s and v
trackingA = cv2.bitwise_and(hthreshA,cv2.bitwise_and(sthreshA,vthreshA))
trackingB = cv2.bitwise_and(hthreshB,cv2.bitwise_and(sthreshB,vthreshB))
# Some morpholigical filtering
dilationA = cv2.dilate(trackingA,kernel,iterations = 1)
closingA = cv2.morphologyEx(dilationA, cv2.MORPH_CLOSE, kernel)
closingA = cv2.GaussianBlur(closingA,(5,5),0)
dilationB = cv2.dilate(trackingB,kernel,iterations = 1)
closingB = cv2.morphologyEx(dilationB, cv2.MORPH_CLOSE, kernel)
closingB = cv2.GaussianBlur(closingB,(5,5),0)
# Detect circles using HoughCircles
circlesA = cv2.HoughCircles(closingA,cv.CV_HOUGH_GRADIENT,2,120,param1=120,param2=50,minRadius=10,maxRadius=0)
circlesB = cv2.HoughCircles(closingB,cv.CV_HOUGH_GRADIENT,2,120,param1=120,param2=50,minRadius=10,maxRadius=0)
if circlesA is not None:
no_of_circlesA = len([num for elem in circlesA[0,:] for num in elem]) / 3
if no_of_circlesA == 1: # consider only if one circle is detected.
for i in circlesA[0,:]:
#draw with Blue
cv2.circle(frame,(int(round(i[0])),int(round(i[1]))),int(round(i[2])),(255,0,0),5)
cv2.circle(frame,(int(round(i[0])),int(round(i[1]))),2,(255,0,0),10)
trig_A = True
if circlesB is not None:
no_of_circlesB = len([num for elem in circlesB[0,:] for num in elem]) / 3
if no_of_circlesB == 1: # consider only if one circle is detected.
for i in circlesB[0,:]:
#draw circle with red
cv2.circle(frame,(int(round(i[0])),int(round(i[1]))),int(round(i[2])),(0,0,255),5)
cv2.circle(frame,(int(round(i[0])),int(round(i[1]))),2,(0,0,255),10)
trig_B = True
#Show the result in frames
#cv2.imshow('HueComp',hthreshB)
#cv2.imshow('SatComp',sthreshB)
#cv2.imshow('ValComp',vthreshB)
cv2.imshow('closing_object_A',closingA)
cv2.imshow('closing_object_B',closingB)
cv2.imshow('tracking',frame)
return (trig_A, trig_B)
#Salva n frame nella directory frame
counter = 0
while cap and save:
ret, frame = cap.read()
cv2.imwrite('frame/' + str(counter) + 'frame.png', frame)
counter = counter + 1
if counter == numFrame:
save = False
#Processo le foto e per ognuna calcolo il HOUG CIRCLE TRANSFORM Tresholdando ai valori hsv richiesti
foto = cv2.imread('frame/0frame.png', cv2.IMREAD_COLOR) #leggo il frame
hsv = cv2.cvtColor(foto, cv2.COLOR_BGR2HSV) #converto in hsv
greyRed = cv2.inRange(
hsv, lower_red,
upper_red) #ottengo la scala di grigi in base al threshold fornito
greyBlue = cv2.inRange(hsv, lower_blue, upper_blue)
greyGreen = cv2.inRange(hsv, lower_green, upper_green)
#Applico hough circle transform settare i parametri in base alle conversioni cm in pixel del sistema di riferimento.
circlesRed = cv2.HoughCircles(greyRed,
cv2.HOUGH_GRADIENT,
1,
50,
param1=50,
param2=30,
minRadius=20,
maxRadius=200)
circlesGreen = cv2.HoughCircles(greyGreen,
cv2.HOUGH_GRADIENT,
import numpy as np
import cv2 as cv
from matplotlib import pyplot as plt
cap = cv.VideoCapture('slow_traffic_small.mp4')
# take first frame of the video
ret, frame = cap.read()
# setup initial location of window
x, y, width, height = 300, 200, 100, 50
track_window = (x, y, width, height)
# set up the ROI for tracking
roi = frame[y:y + height, x:x + width]
hsv_roi = cv.cvtColor(roi, cv.COLOR_BGR2HSV)
mask = cv.inRange(hsv_roi, np.array((0., 60., 32.)), np.array(
(180., 255., 255)))
roi_hist = cv.calcHist([hsv_roi], [0], mask, [180], [0, 180])
cv.normalize(roi_hist, roi_hist, 0, 255, cv.NORM_MINMAX)
# Setup the termination criteria, either 10 iteration or move by atleast 1 pt
term_crit = (cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10, 1)
cv.imshow('roi', roi)
while (1):
ret, frame = cap.read()
if ret == True:
hsv = cv.cvtColor(frame, cv.COLOR_BGR2HSV)
dst = cv.calcBackProject([hsv], [0], roi_hist, [0, 180], 1)
# apply meanshift to get the new location
frame = cv2.flip(frame,1)
l_h = cv2.getTrackbarPos("L - H", "Trackbars")
l_s = cv2.getTrackbarPos("L - S", "Trackbars")
l_v = cv2.getTrackbarPos("L - V", "Trackbars")
u_h = cv2.getTrackbarPos("U - H", "Trackbars")
u_s = cv2.getTrackbarPos("U - S", "Trackbars")
u_v = cv2.getTrackbarPos("U - V", "Trackbars")
img = cv2.rectangle(frame, (425,100),(625,300), (0,255,0), thickness=2, lineType=8, shift=0)
lower_blue = np.array([l_h, l_s, l_v])
upper_blue = np.array([u_h, u_s, u_v])
imcrop = img[102:298, 427:623]
hsv = cv2.cvtColor(imcrop, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, lower_blue, upper_blue)
cv2.putText(frame, str(img_text[1]), (30, 400), cv2.FONT_HERSHEY_TRIPLEX, 1.5, (0, 255, 0))
cv2.imshow("test", frame)
cv2.imshow("mask", mask)
#if cv2.waitKey(1) == ord('c'):
# img_name = "1.png"
img = cv2.resize(mask, (image_x, image_y))
# cv2.imwrite(img_name, img)
img_text = predictor(img)
print(str(img_text[0]))
if cv2.waitKey(1) == 27:
def main():
device = RealSense("1234")
#print("Color intrinsics: ", device.getcolorintrinsics())
#print("Depth intrinsics: ", device.getdepthintrinsics())
# Initiate ORB detector
orb = cv2.ORB_create()
flag = 500
try:
while True:
image = device.getcolorstream()
depth = device.getdepthstream()
#image = cv2.imread("D:/Users/s_nava02/Desktop/raw_output.png")
screenshot = image.copy()
if flag == 0:
cv2.imwrite("C:/GECCO/raw_output.png", screenshot)
flag -= 1
###################################################
# def gethandmask(colorframe image):
###################################################
# Convert BGR to HSV
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
# define range of blue color in HSV // (145, 100, 20), (155, 255, 255)
# Todo: From RCARAP (IDK why it works so differently 'bad')
#lower_pink = np.array([140, 0.1 * 255, 0.05 * 255])
#upper_pink = np.array([170, 0.8 * 255, 0.6 * 255])
# Todo: New approach, still not working as good as javascript RCARAP, it needs to be refined later
lower_pink = np.array([130, 100, 100])
upper_pink = np.array([170, 255, 255])
# Threshold the HSV image to get only blue colors
mask = cv2.inRange(hsv, lower_pink, upper_pink)
# Bitwise-AND mask and original image
# res = cv2.bitwise_and(colorframe, colorframe, mask=mask)
# remove noise
# imgray = cv2.cvtColor(res, cv2.COLOR_BGR2GRAY)
# https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_filtering/py_filtering.html
blurred = cv2.blur(mask,
(5, 5)) # TODO: VERY BASIC, TRY OTHER FILTERS
# https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_imgproc/py_thresholding/py_thresholding.html
# ret, thresholded = cv2.threshold(blurred, 50, 255, 0) # TODO: VERY BASIC, TRY OTHER THRESHHOLDS
ret, thresholded = cv2.threshold(blurred, 200, 255,
cv2.THRESH_BINARY)
# th3 = cv2.adaptiveThreshold(blurred, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY, 11, 2)
######################
# return tresholded
######################
#cv2.imshow('RealSense', thresholded)
###################################################
# getcontours(thresholded image):
###################################################
mode = cv2.RETR_EXTERNAL # cv2.RETR_LIST
method = cv2.CHAIN_APPROX_SIMPLE
hand_contours = []
contours, hierarchy = cv2.findContours(thresholded, mode, method)
# contours = sorted(contours, key=cv2.contourArea) # TODO: is this really necessary?
for c in contours:
# If contours are bigger than a certain area we push them to the array
if cv2.contourArea(c) > 3000:
hand_contours.append(c)
#print("contour found")
#####################
# return hand_contours
#####################
# https://docs.opencv.org/3.4/dd/d49/tutorial_py_contour_features.html
###################################################
# Get Rough Hull
###################################################
# TODO: try to not compute convex hull twice
# https://stackoverflow.com/questions/52099356/opencvconvexitydefects-on-largest-contour-gives-error
for cnt in hand_contours:
hull = cv2.convexHull(cnt)
index = cv2.convexHull(cnt, returnPoints=False)
# cv2.drawContours(image, cnt, 0, (255, 255, 0), 2)
# cv2.drawContours(image, hull_list, i, (0, 255, 0), 2)
# TODO: different ways of grouping hull points into neigbours/clusters
# term_crit = (cv2.TERM_CRITERIA_EPS, 30, 0.1)
# _ret, labels, centers = cv2.kmeans(np.float32(hull[:,0]), 6, None, term_crit, 10, 0)
# point_tree = spatial.cKDTree(np.float32(hull[:,0]))
# print("total points: ",len(np.float32(hull_list[i][:,0])), " - Total groups: ", point_tree.size)
# neigh = NearestNeighbors(n_neighbors=2, radius=0.4)
# output = neigh.fit(hull[:,0])
clustering = DBSCAN(eps=10, min_samples=1).fit(hull[:, 0])
#print(len(clustering.labels_))
#print(hull_list[i])
#print(clustering.labels_)
#print(clustering.components_)
rhull = np.column_stack((hull[:, 0], index[:, 0]))
centers = utils.groupPointsbyLabels(rhull, clustering.labels_)
defects = cv2.convexityDefects(cnt, np.array(centers)[:, 2])
c = 0
for p in hull:
# print("init ", p, " - ")
# cv2.circle(image, tuple(p[0]), 10, id_to_random_color(clustering.labels_[c]))
c += 1
#for p in centers:
#print("init ", p[0], " - ")
#cv2.circle(image, (p[0],p[1]), 4, (0, 255, 255))
#pass
for p in centers:
# cv2.circle(image, (int(p[0]), int(p[1])), 4, (0, 255, 255))
pass
###############################################################
# getHullDefectVertices
###############################################################
# get neighbor defect points of each hull point
hullPointDefectNeighbors = [] # 0: start, 1: end, 2:defect
print("defects.shape[0]: ", defects.shape[0])
for x in range(defects.shape[0]):
s, e, f, d = defects[x, 0]
start = tuple(cnt[s][0])
end = tuple(cnt[e][0])
far = tuple(cnt[f][0])
cv2.line(image, start, end, [0, 255, 0], 1)
cv2.circle(image, far, 4, (0, 0, 255))
cv2.line(image, start, far, [255, 150, 0], 1)
cv2.line(image, end, far, [255, 150, 0], 1)
hullPointDefectNeighbors.append(
[start, end, far]
) # each defect point (red) has its neihbour points (yellow)
###############################################################
# filterVerticesByAngle
###############################################################
#maxAngleDeg = 60
maxAngleDeg = math.radians(60)
i = 0
fingers = []
for triple in hullPointDefectNeighbors:
cf = triple[0] # candidate finger
rd = triple[2] # right deflect
if i == 0: # left deflect
ld = hullPointDefectNeighbors[
len(hullPointDefectNeighbors) - 1][2]
else:
ld = hullPointDefectNeighbors[i - 1][2]
# alternative maths
v_cp_ld = (ld[0] - cf[0], ld[1] - cf[1])
v_cp_rd = (rd[0] - cf[0], rd[1] - cf[1])
beta = angle_between(v_cp_ld, v_cp_rd)
print(beta)
cv2.circle(image, (cf[0], cf[1]), 4,
(0, 0, 255)) # candidate finger: red
cv2.circle(image, (rd[0], rd[1]), 4,
(255, 0, 0)) # right defect: blue
cv2.circle(image, (ld[0], ld[1]), 4,
(255, 0, 0)) # left defect: blue
if beta < maxAngleDeg:
fingers.append(cf)
# old maths
#if (math.atan2(cf[1] - rd[1], cf[0] - rd[0]) < maxAngleDeg) and (
# math.atan2(cf[1] - ld[1], cf[0] - ld[0]) < maxAngleDeg) and len(fingers) < 5:
# fingers.append(triple[0])
i += 1
print(len(fingers))
for f in fingers:
cv2.circle(image, (f[0], f[1]), 4,
(255, 255, 255)) # identified finger: white
print("image size: ", image.shape)
print("color pixel value of ", f, ":", image[f[0]][f[1]])
pass
# Show images
cv2.namedWindow("Output Frame", cv2.WND_PROP_FULLSCREEN)
cv2.setWindowProperty("Output Frame", cv2.WND_PROP_FULLSCREEN,
cv2.WINDOW_NORMAL)
cv2.imshow('Output Frame', image)
cv2.waitKey(1)
finally:
# Stop streaming
device.stop()
pass
