def find_bins(self, frame, min_area, max_area, debug_frame):
# empty variables
discovered_bins = []
# Find contours of every shape present after threshold
contours, hierarchy = cv2.findContours(frame, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# if there are enough contours for at least one bin
if len(contours) > 1:
cv2.drawContours(debug_frame, contours, -1, (255, 100, 255), 1)
for n, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
if DEBUG_BIN_IDENTIFICATION:
print "for bin{}: area={}".format(n, area)
if min_area < area < max_area:
#approximate raw contour points to a simpler polygon with less points
approx = cv2.approxPolyDP(
cnt, 0.01 * cv2.arcLength(cnt, True), True)
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
if DEBUG_BIN_IDENTIFICATION:
print "for bin{}: len={}".format(n, len(approx))
if 2 <= len(approx) < 12 and (0.8 < aspect_ratio <
1.2):
p1, p2, p3, p4 = (tuple(box[0]), tuple(box[1]),
tuple(box[2]), tuple(box[3]))
# instantiate a new bin
new_bin = Bin(p1, p2, p3, p4)
new_bin.id = self.recent_id
new_bin.area = area
# print "new bin created with slope: ", new_bin.line_slope
#print -theta
# if theta != 0:
# new_bin.theta = np.pi*(-theta)/180
# else:
# new_bin.theta = 0
self.recent_id += 1
discovered_bins.append(new_bin)
print "found {} contours. {} are bins.".format(len(contours),
len(discovered_bins))
return discovered_bins
def find_bins(self, frame, min_area, max_area, debug_frame):
# empty variables
discovered_bins = []
# Find contours of every shape present after threshold
contours, hierarchy = cv2.findContours(frame,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# if there are enough contours for at least one bin
if len(contours) > 1:
cv2.drawContours(debug_frame, contours, -1, (255, 100, 255), 1)
for n, cnt in enumerate(contours):
#print "analyzing contour{}".format(n)
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
#if DEBUG_BIN_IDENTIFICATION:
#print "for contour{}: area={}".format(n,area)
if min_area < area < max_area:
#approximate raw contour points to a simpler polygon with less points
approx = cv2.approxPolyDP(
cnt, 0.01 * cv2.arcLength(cnt, True), True)
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
#print "for bin{}: len={}".format(n,len(approx))
#print "for bin{}: aspect ratio={}".format(n,aspect_ratio)
if 2 <= len(approx) < 12 and (0.8 < aspect_ratio < 1.2):
p1,p2,p3,p4 = (tuple(box[0]), tuple(box[1]), tuple(box[2]), tuple(box[3]))
# instantiate a new bin
new_bin = Bin(p1,p2,p3,p4)
new_bin.id = self.recent_id
new_bin.area = area
# print "new bin created with slope: ", new_bin.line_slope
#print -theta
# if theta != 0:
# new_bin.theta = np.pi*(-theta)/180
# else:
# new_bin.theta = 0
self.recent_id += 1
discovered_bins.append(new_bin)
print "found {} contours. {} are bins.".format(len(contours), len(discovered_bins))
return discovered_bins
def process_frame(self, frame):
# This is equivalent to the old routine, but it isn't actually necessary
#height, width, depth = libvision.cv_to_cv2(frame).shape
#self.debug_frame = np.zeros((height, width, 3), np.uint8)
# Debug numpy is CV2
self.debug_frame = libvision.cv_to_cv2(frame)
# CV2 Transforms
self.numpy_frame = self.debug_frame.copy()
self.numpy_frame = cv2.medianBlur(self.numpy_frame, 5)
self.numpy_frame = cv2.cvtColor(self.numpy_frame, cv2.COLOR_BGR2HSV)
(self.frame1, self.frame2, self.frame3) = cv2.split(self.numpy_frame)
# Change the frame number to determine what channel to focus on
self.numpy_frame = self.frame2
# Thresholding
self.numpy_frame = cv2.adaptiveThreshold(self.numpy_frame,
255,
cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV,
self.adaptive_thresh_blocksize,
self.adaptive_thresh)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel2 = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel = np.ones((2,2), np.uint8)
self.numpy_frame = cv2.erode(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.adaptive_frame = self.numpy_frame.copy()
# Find contours
contours, hierarchy = cv2.findContours(self.numpy_frame,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
self.raw_bins = []
self.failed_bins = []
if len(contours) > 1:
cnt = contours[0]
cv2.drawContours(self.numpy_frame, contours, -1, (255, 255, 255), 3)
for h, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
if self.min_area < area < self.max_area:
approx = cv2.approxPolyDP(
cnt, 0.01 * cv2.arcLength(cnt, True), True)
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
if ((1/self.ratio_range[1]) < aspect_ratio < (1/self.ratio_range[0]) or self.ratio_range[0] < aspect_ratio < self.ratio_range[1]):
new_bin = Bin(tuple(box[0]), tuple(
box[1]), tuple(box[2]), tuple(box[3]))
new_bin.id = self.recent_id
new_bin.area = area
self.recent_id += 1
self.raw_bins.append(new_bin)
for bin in self.raw_bins:
self.match_bins(bin)
self.sort_bins()
self.draw_bins()
#populate self.output with infos
self.output.found = False
if len(self.confirmed) > 0:
self.output.found = True
self.return_output()
print self
self.return_output()
self.debug_to_cv = libvision.cv2_to_cv(self.debug_frame)
self.numpy_to_cv = libvision.cv2_to_cv(self.numpy_frame)
self.adaptive_to_cv = libvision.cv2_to_cv(self.adaptive_frame)
# svr.debug("processed", self.numpy_to_cv)
# svr.debug("adaptive", self.adaptive_to_cv)
# svr.debug("debug", self.debug_to_cv)
self.debug_stream("debug", self.debug_frame)
self.debug_stream("processed", self.numpy_frame)
self.debug_stream("adaptive", self.adaptive_frame)
def process_frame(self, frame):
# This is equivalent to the old routine, but it isn't actually necessary
#height, width, depth = libvision.cv_to_cv2(frame).shape
#self.debug_frame = np.zeros((height, width, 3), np.uint8)
# Debug numpy is CV2
self.debug_frame = libvision.cv_to_cv2(frame)
# CV2 Transforms: denoise and convert to hsv
self.numpy_frame = self.debug_frame.copy()
self.numpy_frame = cv2.medianBlur(self.numpy_frame, 5)
self.numpy_frame = cv2.cvtColor(self.numpy_frame, cv2.COLOR_BGR2HSV)
# Separate the channels convenience later
(self.frame1, self.frame2, self.frame3) = cv2.split(self.numpy_frame)
# Change the frame number to determine what channel to focus on
self.numpy_frame = self.frame3
# Thresholding
self.numpy_frame = cv2.adaptiveThreshold(
self.numpy_frame, 255, cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV, self.adaptive_thresh_blocksize,
self.adaptive_thresh)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel2 = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel = np.ones((2,2), np.uint8)
self.numpy_frame = cv2.erode(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
# capture frames representing the effect of the adaptive threshold
self.adaptive_frame = self.numpy_frame.copy()
# Find contours of every shape present after threshold
contours, hierarchy = cv2.findContours(self.numpy_frame,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
self.raw_bins = []
# if there are enough contours for at least one bin
if len(contours) > 1:
cv2.drawContours(self.numpy_frame, contours, -1, (255, 255, 255),
3)
for h, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
if self.min_area < area < self.max_area:
#approximate raw contour points to a simpler polygon with less points
approx = cv2.approxPolyDP(
cnt, 0.01 * cv2.arcLength(cnt, True), True)
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
if 2 <= len(approx) < 12 and (
.4 < aspect_ratio < .6
or 1.8 < aspect_ratio < 2.2):
new_bin = Bin(tuple(box[0]), tuple(box[1]),
tuple(box[2]), tuple(box[3]))
new_bin.id = self.recent_id
new_bin.area = area
# print "new bin created with slope: ", new_bin.line_slope
#print -theta
# if theta != 0:
# new_bin.theta = np.pi*(-theta)/180
# else:
# new_bin.theta = 0
self.recent_id += 1
self.raw_bins.append(new_bin)
for bin in self.raw_bins:
self.match_bins(bin)
self.sort_bins()
self.draw_bins()
self.return_output()
self.debug_to_cv = libvision.cv2_to_cv(self.debug_frame)
self.numpy_to_cv = libvision.cv2_to_cv(self.numpy_frame)
self.adaptive_to_cv = libvision.cv2_to_cv(self.adaptive_frame)
# svr.debug("processed", self.numpy_to_cv)
# svr.debug("adaptive", self.adaptive_to_cv)
# svr.debug("debug", self.debug_to_cv)
self.debug_stream("debug", self.debug_frame)
self.debug_stream("processed", self.numpy_frame)
self.debug_stream("adaptive", self.adaptive_frame)
for bin in self.confirmed:
print type(bin.patch)
if (bin.patch.shape[1] != 0) and (bin.patch.shape[0] != 0):
self.debug_stream("Patch" + str(bin.id), bin.patch)
# svr.debug("Patch"+str(bin.id),libvision.cv2_to_cv(bin.patch))
print bin.id
def process_frame(self, frame):
# Creation of frames
self.debug_frame = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.Copy(frame, self.debug_frame)
self.debug_numpy_frame = cv_to_cv2(self.debug_frame)
# CV2 Transforms
self.numpy_frame = cv_to_cv2(self.debug_frame)
self.numpy_frame = cv2.medianBlur(self.numpy_frame, 7)
self.numpy_frame = cv2.cvtColor(self.numpy_frame, cv.CV_BGR2HSV)
[self.frame1, self.frame2, self.frame3] = numpy.dsplit(
self.numpy_frame, 3)
# Change the frame number to determine what channel to focus on
self.numpy_frame = self.frame3
'''Temporarily converts the image to a cv frame to do the adaptive threshold '''
self.temp_cv2frame = cv2_to_cv(self.numpy_frame)
cv.AdaptiveThreshold(self.temp_cv2frame, self.temp_cv2frame,
255,
cv.CV_ADAPTIVE_THRESH_MEAN_C,
cv.CV_THRESH_BINARY_INV,
self.adaptive_thresh_blocksize,
self.adaptive_thresh,
)
kernel = cv.CreateStructuringElementEx(5, 5, 3, 3, cv.CV_SHAPE_ELLIPSE)
cv.Erode(self.temp_cv2frame, self.temp_cv2frame, kernel, 1)
cv.Dilate(self.temp_cv2frame, self.temp_cv2frame, kernel, 1)
self.adaptive_frame = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Copy(self.temp_cv2frame, self.adaptive_frame)
'''Returns the frame to a cv2 image'''
self.numpy_frame = cv_to_cv2(self.temp_cv2frame)
'''Begins finding contours'''
contours, hierarchy = cv2.findContours(
self.numpy_frame, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
self.raw_bins = []
if len(contours) > 1:
cnt = contours[0]
cv2.drawContours(
self.numpy_frame, contours, -1, (255, 255, 255), 3)
self.masks = []
pts = []
for h, cnt in enumerate(contours):
mask = numpy.zeros(self.numpy_frame.shape, numpy.uint8)
cv2.drawContours(mask, [cnt], 0, 255, -1)
mean = cv2.mean(cv_to_cv2(self.debug_frame), mask=mask)
self.masks.append(mask)
hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = numpy.int0(box)
new_bin = Bin(tuple(box[0]), tuple(
box[1]), tuple(box[2]), tuple(box[3]))
new_bin.id = self.recent_id
self.recent_id = self.recent_id + 1
self.raw_bins.append(new_bin)
for pt in box:
type(tuple(pt))
cv2.circle(self.numpy_frame, tuple(
pt), 5, (255, 255, 255), -1, 8, 0)
pts.append(pt)
'''Removes bins that have centers too close to others (to prevent bins inside bins), and bins that are too small'''
for bin1 in self.raw_bins[:]:
for bin2 in self.raw_bins[:]:
if bin1 in self.raw_bins and bin2 in self.raw_bins and math.fabs(bin1.midx - bin2.midx) < self.mid_sep and math.fabs(bin1.midy - bin2.midy) < self.mid_sep:
if bin1.area < bin2.area:
self.raw_bins.remove(bin1)
elif bin2.area < bin1.area:
self.raw_bins.remove(bin2)
if bin1 in self.raw_bins and bin2 in self.raw_bins:
if bin1.area < self.min_area:
self.raw_bins.remove(bin1)
if bin2.area < self.min_area and bin2 in self.raw_bins:
self.raw_bins.remove(bin2)
for bin in self.raw_bins:
self.match_bins(bin)
self.sort_bins()
self.numpy_to_cv = cv2_to_cv(self.numpy_frame)
self.debug_final_frame = cv2_to_cv(self.debug_numpy_frame)
self.draw_bins()
svr.debug("CV", self.debug_final_frame)
svr.debug("CV2", self.numpy_to_cv)
svr.debug("Adaptive", self.adaptive_frame)
def process_frame(self, frame):
# This is equivalent to the old routine, but it isn't actually necessary
#height, width, depth = libvision.cv_to_cv2(frame).shape
#self.debug_frame = np.zeros((height, width, 3), np.uint8)
# Debug numpy is CV2
self.debug_frame = libvision.cv_to_cv2(frame)
# CV2 Transforms: denoise and convert to hsv
self.numpy_frame = self.debug_frame.copy()
self.numpy_frame = cv2.medianBlur(self.numpy_frame, 5)
self.numpy_frame = cv2.cvtColor(self.numpy_frame, cv2.COLOR_BGR2HSV)
# Separate the channels convenience later
(self.frame1, self.frame2, self.frame3) = cv2.split(self.numpy_frame)
# Change the frame number to determine what channel to focus on
self.numpy_frame = self.frame3
# Thresholding
self.numpy_frame = cv2.adaptiveThreshold(self.numpy_frame,
255,
cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV,
self.adaptive_thresh_blocksize,
self.adaptive_thresh)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel2 = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel = np.ones((2,2), np.uint8)
self.numpy_frame = cv2.erode(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
# capture frames representing the effect of the adaptive threshold
self.adaptive_frame = self.numpy_frame.copy()
# Find contours of every shape present after threshold
contours, hierarchy = cv2.findContours(self.numpy_frame,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
self.raw_bins = []
# if there are enough contours for at least one bin
if len(contours) > 1:
cv2.drawContours(self.numpy_frame, contours, -1, (255, 255, 255), 3)
for h, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
if self.min_area < area < self.max_area:
#approximate raw contour points to a simpler polygon with less points
approx = cv2.approxPolyDP(
cnt, 0.01 * cv2.arcLength(cnt, True), True)
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
if 2 <= len(approx) < 12 and (.4 < aspect_ratio < .6 or 1.8 < aspect_ratio < 2.2):
new_bin = Bin(tuple(box[0]), tuple(
box[1]), tuple(box[2]), tuple(box[3]))
new_bin.id = self.recent_id
new_bin.area = area
# print "new bin created with slope: ", new_bin.line_slope
#print -theta
# if theta != 0:
# new_bin.theta = np.pi*(-theta)/180
# else:
# new_bin.theta = 0
self.recent_id += 1
self.raw_bins.append(new_bin)
for bin in self.raw_bins:
self.match_bins(bin)
self.sort_bins()
self.draw_bins()
self.return_output()
self.debug_to_cv = libvision.cv2_to_cv(self.debug_frame)
self.numpy_to_cv = libvision.cv2_to_cv(self.numpy_frame)
self.adaptive_to_cv = libvision.cv2_to_cv(self.adaptive_frame)
# svr.debug("processed", self.numpy_to_cv)
# svr.debug("adaptive", self.adaptive_to_cv)
# svr.debug("debug", self.debug_to_cv)
self.debug_stream("debug", self.debug_frame)
self.debug_stream("processed", self.numpy_frame)
self.debug_stream("adaptive", self.adaptive_frame)
for bin in self.confirmed:
print type(bin.patch)
if (bin.patch.shape[1] != 0) and (bin.patch.shape[0] != 0):
self.debug_stream("Patch" + str(bin.id), bin.patch)
# svr.debug("Patch"+str(bin.id),libvision.cv2_to_cv(bin.patch))
print bin.id
def process_frame(self, frame):
# This is equivalent to the old routine, but it isn't actually necessary
#height, width, depth = libvision.cv_to_cv2(frame).shape
#self.debug_frame = np.zeros((height, width, 3), np.uint8)
# Debug numpy is CV2
self.debug_frame = libvision.cv_to_cv2(frame)
# CV2 Transforms
self.numpy_frame = self.debug_frame.copy()
self.numpy_frame = cv2.medianBlur(self.numpy_frame, 5)
self.numpy_frame = cv2.cvtColor(self.numpy_frame, cv2.COLOR_BGR2HSV)
(self.frame1, self.frame2, self.frame3) = cv2.split(self.numpy_frame)
# Change the frame number to determine what channel to focus on
self.numpy_frame = self.frame2
# Thresholding
self.numpy_frame = cv2.adaptiveThreshold(
self.numpy_frame, 255, cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV, self.adaptive_thresh_blocksize,
self.adaptive_thresh)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel2 = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel = np.ones((2,2), np.uint8)
self.numpy_frame = cv2.erode(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.adaptive_frame = self.numpy_frame.copy()
# Find contours
contours, hierarchy = cv2.findContours(self.numpy_frame,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
self.raw_bins = []
self.failed_bins = []
if len(contours) > 1:
cnt = contours[0]
cv2.drawContours(self.numpy_frame, contours, -1, (255, 255, 255),
3)
for h, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
if self.min_area < area < self.max_area:
approx = cv2.approxPolyDP(
cnt, 0.01 * cv2.arcLength(cnt, True), True)
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
if ((1 / self.ratio_range[1]) < aspect_ratio <
(1 / self.ratio_range[0]) or self.ratio_range[0] <
aspect_ratio < self.ratio_range[1]):
new_bin = Bin(tuple(box[0]), tuple(box[1]),
tuple(box[2]), tuple(box[3]))
new_bin.id = self.recent_id
new_bin.area = area
self.recent_id += 1
self.raw_bins.append(new_bin)
for bin in self.raw_bins:
self.match_bins(bin)
self.sort_bins()
self.draw_bins()
#populate self.output with infos
self.output.found = False
if len(self.confirmed) > 0:
self.output.found = True
self.return_output()
print self
self.return_output()
self.debug_to_cv = libvision.cv2_to_cv(self.debug_frame)
self.numpy_to_cv = libvision.cv2_to_cv(self.numpy_frame)
self.adaptive_to_cv = libvision.cv2_to_cv(self.adaptive_frame)
# svr.debug("processed", self.numpy_to_cv)
# svr.debug("adaptive", self.adaptive_to_cv)
# svr.debug("debug", self.debug_to_cv)
self.debug_stream("debug", self.debug_frame)
self.debug_stream("processed", self.numpy_frame)
self.debug_stream("adaptive", self.adaptive_frame)
def process_frame(self, frame):
# This is equivalent to the old routine, but it isn't actually necessary
#height, width, depth = libvision.cv_to_cv2(frame).shape
#self.debug_frame = np.zeros((height, width, 3), np.uint8)
# Debug numpy is CV2
self.debug_frame = libvision.cv_to_cv2(frame)
# CV2 Transforms
self.numpy_frame = self.debug_frame.copy()
self.numpy_frame = cv2.medianBlur(self.numpy_frame, 5)
self.numpy_frame = cv2.cvtColor(self.numpy_frame, cv2.COLOR_BGR2HSV)
(self.frame1, self.frame2, self.frame3) = cv2.split(self.numpy_frame)
# Change the frame number to determine what channel to focus on
self.numpy_frame = self.frame3
# Thresholding
self.numpy_frame = cv2.adaptiveThreshold(self.numpy_frame,
255,
cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV,
self.adaptive_thresh_blocksize,
self.adaptive_thresh
)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel2 = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (3, 3))
#kernel = np.ones((2,2), np.uint8)
self.numpy_frame = cv2.erode(self.numpy_frame, kernel)
self.numpy_frame = cv2.dilate(self.numpy_frame, kernel)
self.adaptive_frame = self.numpy_frame.copy()
# Find contours
contours, hierarchy = cv2.findContours(self.numpy_frame,
cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
self.raw_bins = []
if len(contours) > 1:
cnt = contours[0]
cv2.drawContours(self.numpy_frame, contours, -1, (255, 255, 255), 3)
for h, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# test aspect ratio & area, create bin if matches
(x, y), (w, h), theta = rect
if w > 0 and h > 0:
area = h * w
if self.min_area < area < self.max_area:
aspect_ratio = float(h) / w
# Depending on the orientation of the bin, "width" may be flipped with height, thus needs 2 conditions for each case
if .4 < aspect_ratio < .6 or 1.8 < aspect_ratio < 2.2:
new_bin = Bin(tuple(box[0]), tuple(
box[1]), tuple(box[2]), tuple(box[3]))
new_bin.id = self.recent_id
new_bin.area = area
new_bin.theta = -theta
self.recent_id += 1
self.raw_bins.append(new_bin)
# Removes bins that have centers too close to others (to prevent bins inside bins)
for bin1 in self.raw_bins[:]:
for bin2 in self.raw_bins[:]:
if bin1 is bin2:
continue
if bin1 in self.raw_bins and bin2 in self.raw_bins and \
math.fabs(bin1.midx - bin2.midx) < self.mid_sep and \
math.fabs(bin1.midy - bin2.midy) < self.mid_sep:
if bin1.area < bin2.area:
self.raw_bins.remove(bin1)
elif bin2.area < bin1.area:
self.raw_bins.remove(bin2)
for bin in self.raw_bins:
self.match_bins(bin)
self.sort_bins()
self.draw_bins()
self.return_output()
self.debug_to_cv = libvision.cv2_to_cv(self.debug_frame)
self.numpy_to_cv = libvision.cv2_to_cv(self.numpy_frame)
self.adaptive_to_cv = libvision.cv2_to_cv(self.adaptive_frame)
svr.debug("processed", self.numpy_to_cv)
svr.debug("adaptive", self.adaptive_to_cv)
svr.debug("debug", self.debug_to_cv)