def buildMapWithAllFilter(self, frame, map):
blurMapImage = cv2.GaussianBlur(frame, (5, 5), 0)
for gray in cv2.split(blurMapImage):
for threshold in xrange(0, 255, 24):
if threshold == 0:
binary = cv2.Canny(gray, 0, 100, apertureSize=5)
binary = cv2.dilate(binary, None)
else:
retval, binary = cv2.threshold(gray, threshold, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(binary, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
for contour in contours:
contour_len = cv2.arcLength(contour, True)
lessPreciseContour = cv2.approxPolyDP(contour, 0.05*contour_len, True)
contour = cv2.approxPolyDP(contour, 0.02*contour_len, True)
if cv2.contourArea(contour) > self.MIN_SHAPE_SIZE and cv2.isContourConvex(contour) and cv2.contourArea(contour) < 3000:
myShape = self.shapeFactory.ConstructShape(contour)
if myShape.isEqualEdges() and myShape.checkAngleValue():
map.addShape(myShape)
if cv2.contourArea(contour) > self.LIMIT_SIZE and cv2.isContourConvex(contour):
if len(contour) == 4:
map.setMapLimit(contour)
if cv2.contourArea(lessPreciseContour) > self.LIMIT_SIZE and cv2.isContourConvex(lessPreciseContour):
if len(lessPreciseContour) == 4:
map.setMapLimit(lessPreciseContour)
self.buildByColorClosing(frame, map)
self.buildByColorOpening(frame, map)
map.setShapesColor(frame)
map.filterRobot()
map.deleteBlackShapes()
return map
def buildMapWithAllFilter(self, frame, map):
blurMapImage = cv2.GaussianBlur(frame, (5, 5), 0)
for gray in cv2.split(blurMapImage):
for threshold in xrange(0, 255, 24):
if threshold == 0:
binary = cv2.Canny(gray, 0, 100, apertureSize=5)
binary = cv2.dilate(binary, None)
else:
retval, binary = cv2.threshold(gray, threshold, 255,
cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(binary, cv2.RETR_LIST,
cv2.CHAIN_APPROX_SIMPLE)
for contour in contours:
contour_len = cv2.arcLength(contour, True)
lessPreciseContour = cv2.approxPolyDP(
contour, 0.05 * contour_len, True)
contour = cv2.approxPolyDP(contour, 0.02 * contour_len,
True)
if cv2.contourArea(
contour
) > self.MIN_SHAPE_SIZE and cv2.isContourConvex(
contour) and cv2.contourArea(contour) < 3000:
myShape = self.shapeFactory.ConstructShape(contour)
if myShape.isEqualEdges() and myShape.checkAngleValue(
):
map.addShape(myShape)
if cv2.contourArea(
contour) > self.LIMIT_SIZE and cv2.isContourConvex(
contour):
if len(contour) == 4:
map.setMapLimit(contour)
if cv2.contourArea(
lessPreciseContour
) > self.LIMIT_SIZE and cv2.isContourConvex(
lessPreciseContour):
if len(lessPreciseContour) == 4:
map.setMapLimit(lessPreciseContour)
self.buildByColorClosing(frame, map)
self.buildByColorOpening(frame, map)
map.setShapesColor(frame)
map.filterRobot()
map.deleteBlackShapes()
return map
def buildByColorOpening(self, frame, map):
for color in ColorContainer.islandColors:
hsvImage = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
coloredImage = cv2.inRange(hsvImage,color.lower,color.higher)
kernel = np.ones((5,5),np.uint8)
closing = cv2.morphologyEx(coloredImage, cv2.MORPH_OPEN, kernel)
contours, hierarchy = cv2.findContours(closing, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
for contour in contours:
cnt_len = cv2.arcLength(contour, True)
contour = cv2.approxPolyDP(contour, 0.02*cnt_len, True)
if cv2.isContourConvex(contour) and cv2.contourArea(contour) > self.MIN_SHAPE_SIZE:
myShape = self.shapeFactory.ConstructShape(contour)
if myShape.isEqualEdges() and myShape.checkAngleValue():
map.addShape(myShape)
return map
def buildByColorOpening(self, frame, map):
for color in ColorContainer.islandColors:
hsvImage = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
coloredImage = cv2.inRange(hsvImage, color.lower, color.higher)
kernel = np.ones((5, 5), np.uint8)
closing = cv2.morphologyEx(coloredImage, cv2.MORPH_OPEN, kernel)
contours, hierarchy = cv2.findContours(closing, cv2.RETR_LIST,
cv2.CHAIN_APPROX_SIMPLE)
for contour in contours:
cnt_len = cv2.arcLength(contour, True)
contour = cv2.approxPolyDP(contour, 0.02 * cnt_len, True)
if cv2.isContourConvex(contour) and cv2.contourArea(
contour) > self.MIN_SHAPE_SIZE:
myShape = self.shapeFactory.ConstructShape(contour)
if myShape.isEqualEdges() and myShape.checkAngleValue():
map.addShape(myShape)
return map