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Vision.py
137 lines (116 loc) · 3.23 KB
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Vision.py
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import cv2
from networktables import NetworkTable
videoCapture = None
visionTable = None
#image size is 640x480
def main():
global videoCapture
videoCapture = cv2.VideoCapture()
setupVisionTable()
runVision()
def setupVisionTable():
global visionTable
NetworkTable.setIPAddress("10.46.69.21")
NetworkTable.setClientMode()
NetworkTable.initialize()
visionTable = NetworkTable.getTable("vision")
setRunVision(False)
turnOffLight()
def runVision():
global visionTable
while(True):
#print(visionTable.isConnected())
#print(getRunVision())
if visionTable.isConnected() and getRunVision():
for i in xrange(30):
frame1 = getCameraImage()
#cv2.namedWindow("frame1", cv2.WINDOW_NORMAL)
#cv2.imshow("frame1", frame1)
#cv2.imwrite("frame1.jpg", frame1)
turnOnLight()
cv2.waitKey(100)
for i in xrange(30):
frame2 = getCameraImage()
#cv2.namedWindow("frame2", cv2.WINDOW_NORMAL)
#cv2.imshow("frame2", frame2)
#cv2.imwrite("frame2.jpg", frame2)
cv2.waitKey(100)
turnOffLight()
processedFrame = threshold(getGrayscale(getDifference(frame1, frame2)))
hull = getConvexHull(getMaxContour(getContours(processedFrame)))
putValuesOnVisionTable(hull)
setRunVision(False)
def putValuesOnVisionTable(hull):
x,y,w,h = cv2.boundingRect(hull)
#print("Success")
print(x,y,w,h)
visionTable.putNumber("x", x)
visionTable.putNumber("y", y)
visionTable.putNumber("w", w)
visionTable.putNumber("h", h)
def setRunVision(b):
global visionTable
visionTable.putBoolean("runVision", b)
def getRunVision():
global visionTable
return visionTable.getBoolean("runVision", False)
def openCapture():
global videoCapture
while (not videoCapture.isOpened()):
print("Camera is NOT open")
videoCapture.open(0)
#print("Camera is open")
#videoCapture.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, 1920)
#videoCapture.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, 1080)
def releaseCapture():
global videoCapture
videoCapture.release()
def turnOnLight():
global visionTable
visionTable.putBoolean("lightOn", True)
while(True):
if (getLightOnDone()):
return
def getLightOnDone():
global visionTable
return visionTable.getBoolean("lightOnDone", False)
def turnOffLight():
global visionTable
visionTable.putBoolean("lightOn", False)
while(True):
if(getLightOnDone() == False):
return
def getCameraImage():
global videoCapture
#videoCapture = cv2.VideoCapture()
openCapture()
retval, frame = videoCapture.read()
#releaseCapture()
return frame
def getDifference(frame1, frame2):
diff = cv2.subtract(frame2, frame1)
return diff
def getGrayscale(frame):
grayscale = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
return grayscale
def threshold(frame):
th, newFrame = cv2.threshold(frame, 50, 255, cv2.THRESH_BINARY)
return newFrame
def getContours(frame):
contoursList, hierarchy = cv2.findContours(frame, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
return contoursList
def getMaxContour(contoursList):
maxContour = None
if (len(contoursList)>0):
maxContour = contoursList[0]
maxArea = cv2.contourArea(maxContour)
for contour in contoursList:
area = cv2.contourArea(contour)
if (area>maxArea):
maxContour = contour
maxArea = area
return maxContour
def getConvexHull(contour):
hull = cv2.convexHull(contour)
return hull
main()