def find_kilobots(image_filename, output_filename):
"""Find kilobots in a still image file."""
kilobot_image = Image.from_file(image_filename)
red_only = kilobot_image[:,:,0]
imsave('red.png', red_only)
edges = find_edges(red_only)
blurred = gaussian_filter(edges, sigma=2)
# bot_template = blurred[135:185,485:535]
# imsave('bot_template.png', bot_template)
bot_template = load_bot_template('bot_template.png')
match_result = skimage.feature.match_template(blurred, bot_template, pad_input=True)
imsave('match_result.png', match_result)
selected_area = match_result > 0.6
imsave('selected_area.png', selected_area)
ccs = find_connected_components(selected_area)
centroids = component_centroids(ccs)
return centroids
def find_template_leader(filename):
"""Find template kilobot for matching. Currently hard-c"""
kilobot_image = Image.from_file(filename)
red_only = kilobot_image[:,:,0]
edges = find_edges(red_only)
blurred = gaussian_filter(edges, sigma=5)
x1 = 255
x2 = 325
y1 = 650
y2 = 710
bot_template = blurred[x1:x2,y1:y2]
return bot_template
def find_template(filename):
"""Find template kilobot for matching. Currently hard-c"""
kilobot_image = Image.from_file(filename)
red_only = kilobot_image[:,:,0]
edges = find_edges(red_only)
blurred = gaussian_filter(edges, sigma=2)
x1 = 135
x2 = 185
y1 = 485
y2 = 535
bot_template = blurred[135:185,485:535]
return bot_template
