def color_detect(img):
'''
#code for color Image processing to detect the color and shape of the 2 objects at max.
#mentioned in the Task_Description document. Save the resulting images with the shape
#and color detected highlighted by boundary mentioned in the Task_Description document.
#The resulting image should be saved as a jpg. The boundary should be of 25 pixels wide.
'''
i = 1
j = 3
image = cv2.imread('Image1.jpg')
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, threshold = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
_, contours, _ = cv2.findContours(threshold, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cv2.drawContours(image, contours, i, (255, 0, 0), 25)
cv2.drawContours(image, contours, j, (0, 255, 0), 25)
result_image = image
img = image[0:400, 0:400, :]
aruco_list = detect_Aruco(img)
M1 = cv2.moments(contours[i])
cx1 = int(M1['m10'] / M1['m00'])
cy1 = int(M1['m01'] / M1['m00'])
M2 = cv2.moments(contours[j])
cx2 = int(M2['m10'] / M2['m00'])
cy2 = int(M2['m01'] / M2['m00'])
tuple1 = (cx1, cy1)
tuple2 = (cx2, cy2)
calculate_Robot_State(img, aruco_list)
mark_Aruco(img, aruco_list)
print(tuple1)
print(tuple2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(result_image, str(tuple1), (cx1, cy1), font, 0.5, (0, 0, 0), 2,
cv2.LINE_AA)
cv2.putText(result_image, str(tuple2), (cx2, cy2), font, 0.5, (0, 0, 0), 2,
cv2.LINE_AA)
cv2.imshow("ColorImage", result_image)
cv2.imwrite("output_image4.jpg", result_image)
cv2.waitKey(0)
def aruco_detect(path_to_image):
'''
you will need to modify the ArUco library's API using the dictionary in it to the respective
one from the list above in the aruco_lib.py. This API's line is the only line of code you are
allowed to modify in aruco_lib.py!!!
'''
img = cv2.imread(
path_to_image) #give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
img2 = img[0:400,
0:400, :] #separate out the Aruco image from the whole image
cv2.imshow('frame', img2)
det_aruco_list = detect_Aruco(img2)
if det_aruco_list:
img3 = mark_Aruco(img2, det_aruco_list)
id_aruco_trace = calculate_Robot_State(img3, det_aruco_list)
print(id_aruco_trace)
cv2.imshow('image', img2)
cv2.waitKey(0)
# Code for triggering color detection on ID detected
cv2.destroyAllWindows()
def aruco_detect(path_to_image):
'''
you will need to modify the ArUco library's API using the dictionary in it to the respective
one from the list above in the aruco_lib.py. This API's line is the only line of code you are
allowed to modify in aruco_lib.py!!!
'''
img = cv2.imread(path_to_image) #give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
img2 = img #separate out the Aruco image from the whole image
det_aruco_list = t.detect_Aruco(img2,img_name)
if det_aruco_list:
global idno
for key in det_aruco_list.keys():
idno = str(key)
break
img3 = t.mark_Aruco(img2,det_aruco_list)
id_aruco_trace = t.calculate_Robot_State(img3,det_aruco_list)
print(id_aruco_trace)
#cv2.imshow('image',img2)
#cv2.waitKey(0)
'''
Code for triggering color detection on ID detected
'''
color_detect(img2)
cv2.destroyAllWindows()
def aruco_detect(path_to_image):
'''
you will need to modify the ArUco library's API using the dictionary in it to the respective
one from the list above in the aruco_lib.py. This API's line is the only line of code you are
allowed to modify in aruco_lib.py!!!
'''
img = cv2.imread(
path_to_image) #give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
det_aruco_list = aruco_lib.detect_Aruco(img)
if det_aruco_list:
img = aruco_lib.mark_Aruco(img, det_aruco_list)
id_aruco_trace = aruco_lib.calculate_Robot_State(
img[0], det_aruco_list)
print(id_aruco_trace)
cv2.imshow('image', img[0])
cv2.waitKey(0)
csvlist.append("ArUco" + path_to_image[-5] + ".jpg")
csvlist.append(img[1])
img8 = color_detect(img[0])
cv2.imwrite("../Images/ArUco" + path_to_image[-5] + ".jpg", img8)
#csvfile("Output.csv",['Image name','ArUco ID','(x,y)Object-1','(x,y)Object-2'])
csvfile("../2535_Task1.2.csv", csvlist)
cv2.destroyAllWindows()
def custom_aruco_detect(path_to_image,n,C,color1,shape1,color2,shape2):
img = cv2.imread(path_to_image) #give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
img2 = img #separate out the Aruco image from the whole image
det_aruco_list = custom_detect_Aruco(img2,n,C)
if det_aruco_list:
global idno
for key in det_aruco_list.keys():
idno = str(key)
break
img3 = t.mark_Aruco(img2,det_aruco_list)
id_aruco_trace = t.calculate_Robot_State(img3,det_aruco_list)
print(id_aruco_trace)
#cv2.imshow('image',img2)
#cv2.waitKey(0)
'''
Code for triggering color detection on ID detected
'''
custom_color_detect(img2,color1,shape1,color2,shape2)
cv2.destroyAllWindows()
def aruco_detect(path_to_image):
'''
you will need to modify the ArUco library's API using the dictionary in it to the respective
one from the list above in the aruco_lib.py. This API's line is the only line of code you are
allowed to modify in aruco_lib.py!!!
'''
img = cv2.imread(path_to_image)
id_aruco_trace = 0
det_aruco_list = {}
det_aruco_list = aruco_lib.detect_Aruco(img)
if (det_aruco_list):
img3 = aruco_lib.mark_Aruco(img, det_aruco_list)
id_aruco_trace = aruco_lib.calculate_Robot_State(img3, det_aruco_list)
print(id_aruco_trace)
k = str(id_aruco_trace)
i = 1
x = 0
while (k[i] != ':'):
x = x * 10 + int(k[i])
i = i + 1
print(x)
global csv_arucoid
csv_arucoid = str(x)
color_detect(
img) #color detection and shape detection function triggered here
def aruco_detect(path_to_image,shape1,color1,shape2,color2,i):
'''
you will need to modify the ArUco library's API using the dictionary in it to the respective
one from the list above in the aruco_lib.py. This API's line is the only line of code you are
allowed to modify in aruco_lib.py!!!
'''
img = cv2.imread(path_to_image) #give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
img2 = img[0:,0:,:] #separate out the Aruco image from the whole image
det_aruco_list = aruco.detect_Aruco(img2)
if det_aruco_list:
img3 = aruco.mark_Aruco(img2,det_aruco_list)
id_aruco_trace = aruco.calculate_Robot_State(img3,det_aruco_list)
for key, value in id_aruco_trace.items():
print(key,value)
cv2.imshow('image',img2)
cv2.waitKey(0)
'''
Code for triggering color detection on ID detected
'''
color_detect(img2,shape1,color1,shape2,color2,i,key)
cv2.destroyAllWindows()
def get_aruco_list():
ids = [] # list to store Aruco IDs Scanned
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
if len(ids) == 4:
return ids
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
det_aruco_list = aruco_lib.detect_Aruco(image)
if det_aruco_list:
#print('Arduco detected')
#image = aruco_lib.mark_Aruco(frame, det_aruco_list)
robot_state = aruco_lib.calculate_Robot_State(
image, det_aruco_list)
id_raw = robot_state.keys()
for i in id_raw:
if i not in ids:
ids.append(i)
print('ID Detected:', i)
#cv2.imshow("Frame", image)
#key = cv2.waitKey(1) & 0xFF
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
def aruco_detect(path_to_image):
corners = []
#comb = {50:0,100:1,250:2,1000:3}
#num = (n-4)*4 + comb[c]
img = cv2.imread(path_to_image)
id_aruco_trace = 0
arlist = aruco_lib.detect_Aruco(img)
if arlist:
img = aruco_lib.mark_Aruco(img, arlist)
id_aruco_trace = aruco_lib.calculate_Robot_State(img, arlist)
#cv2.imshow('k',img)
#print(id_aruco_trace)
org = cv2.imread(path_to_image)
dup = cv2.cvtColor(org, cv2.COLOR_RGB2HSV)
lower_red = np.array([110, 50, 50])
upper_red = np.array([130, 255, 255])
lower_green = np.array([33, 80, 40])
upper_green = np.array([102, 255, 255])
mask1 = cv2.inRange(dup, lower_red, upper_red)
mask2 = cv2.inRange(dup, lower_green, upper_green)
res = cv2.bitwise_or(mask1, mask2)
ret, thresh = cv2.threshold(mask1, 127, 255, 1)
im, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
print(contours)
cv2.drawContours(img, contours, 1, (0, 255, 0), 25)
cv2.imshow("fra", img)
ret1, thresh1 = cv2.threshold(mask2, 127, 255, 1)
im, contours1, hierarchy = cv2.findContours(thresh1, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
cv2.drawContours(img, contours1, 1, (0, 0, 255), 25)
cv2.imshow("fr", img)
#cv2.imshow('k',mask1)
#image3, contours, hierarchy = cv2.findContours(res,cv2.RETR_TREE,cv2.CHAIN_APPROX_NONE) #don't know why simple is not working only none seems to work and it does not deliver
#the borders of the image have to be sharp, i'm seriously missing something
#as i am not able to use the chain approx simple function to get the corners, i am also not able to calculate the values of the centroid
#mask1 = cv2.cvtColor(mask1,cv2.COLOR_GRAY2RGB)
#print(contours)
#print(contours[2])
'''
for j in range(len(contours)):
for i in contours[j]:
cv2.circle(image,tuple(i[0]),1,(0,0,255),6)
#cv2.imshow('final',image3)
''
img = cv2.drawContours(img, contours[1], -1, (255,0,0), 25,cv2.LINE_AA)
img = cv2.drawContours(img, contours[2], -1, (0,255,0), 25, cv2.LINE_AA)
'''
corners = cv2.goodFeaturesToTrack(mask1, 5, 0.01, 10)
mask1 = cv2.cvtColor(mask1, cv2.COLOR_GRAY2RGB)
print(tuple(corners[1][0]))
for j in range(len(corners)):
cv2.circle(mask1, tuple(corners[j][0]), 1, (0, 0, 255), 6)
#cv2.imshow('final',image3)
#cv2.imshow('final.jpg',res)
print(corners)
cv2.waitKey(0)
cv2.destroyAllWindows()
def aruco_detect(path_to_image):
img = cv2.imread(path_to_image)
id_aruco_trace = 0
det_aruco_list = {}
img2 = img[0:425, 0:425, :]
det_aruco_list = aruco_lib.detect_Aruco(img2, no)
if det_aruco_list:
img3 = aruco_lib.mark_Aruco(img2, det_aruco_list)
id_aruco_trace, key = aruco_lib.calculate_Robot_State(
img3, det_aruco_list)
#print(key)
return img, key
def aruco_detect(img):
id_aruco_trace = 0 #to store the state of the bot (centre(x), centre(y), angle)
det_aruco_list = {
} #to store the detected aruco list dictionary with id and corners
det_aruco_list = lib.detect_Aruco(
img) #detecting arucos in the given image
if det_aruco_list:
img3 = lib.mark_Aruco(img, det_aruco_list)
id_aruco_trace = lib.calculate_Robot_State(img3, det_aruco_list)
for x, y in id_aruco_trace.items(): #id value will be stored in x
if (str(x).isnumeric()):
if x not in ids:
print("ID detected: " + str(x))
ids.append(x)
def aruco_detect(path_to_image, i):
img = cv2.imread(
path_to_image) #give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
img2 = img[0:, 0:, :] #separate out the Aruco image from the whole image
det_aruco_list = aruco.detect_Aruco(img2)
if det_aruco_list:
img3 = aruco.mark_Aruco(img2, det_aruco_list)
id_aruco_trace = aruco.calculate_Robot_State(img3, det_aruco_list)
for key, value in id_aruco_trace.items():
print(key, value)
cv2.imshow('image', img2)
cv2.waitKey(0)
cv2.destroyAllWindows()
def aruco_detect(path_to_image):
'''
you will need to modify the ArUco library's API using the dictionary in it to the respective
one from the list above in the aruco_lib.py. This API's line is the only line of code you are
allowed to modify in aruco_lib.py!!!
'''
img = cv2.imread(path_to_image)
image=img.copy()
#give the name of the image with the complete path
id_aruco_trace = 0
det_aruco_list = {}
#img2 = img[0:x,0:y,:] #separate out the Aruco image from the whole image
det_aruco_list,k = li.detect_Aruco(img,path_to_image)
if det_aruco_list:
img3 = li.mark_Aruco(img,det_aruco_list)
id_aruco_trace = li.calculate_Robot_State(img3,det_aruco_list)
#p=id_aruco_trace.keys()
print(k)
color_detect(image,img3,path_to_image,k)
return
def color_detect(timg, s1, c1, s2, c2):
'''
code for color Image processing to detect the color and shape of the 2 objects at max.
mentioned in the Task_Description document. Save the resulting images with the shape
and color detected highlighted by boundary mentioned in the Task_Description document.
The resulting image should be saved as a jpg. The boundary should be of 25 pixels wide.
'''
image = cv2.imread(timg)
#cv2.imshow("Original", image)
# convert the color image into grayscale
grayScale = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# Find edges in the image using canny edge detection method
# Calculate lower threshold and upper threshold using sigma = 0.33
sigma = 0.33
v = np.median(grayScale)
low = int(max(0, (1.0 - sigma) * v))
high = int(min(255, (1.0 + sigma) * v))
edged = cv2.Canny(grayScale, low, high)
# After finding edges we have to find contours
# Contour is a curve of points with no gaps in the curve
# It will help us to find location of shapes
# cv2.RETR_EXTERNAL is passed to find the outermost contours (because we want to outline the shapes)
# cv2.CHAIN_APPROX_SIMPLE is removing redundant points along a line
(_, cnts, _) = cv2.findContours(edged, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
'''
We are going to use contour approximation method to find vertices of
geometric shapes. The alogrithm is also known as Ramer Douglas Peucker alogrithm.
In OpenCV it is implemented in cv2.approxPolyDP method.abs
detectShape() function below takes a contour as parameter and
then returns its shape
'''
# Now we will loop over every contour
# call detectShape() for it and
# write the name of shape in the center of image
# loop over the contours
centroid = ['', '']
i = 0
for c in cnts:
# compute the moment of contour
M = cv2.moments(c)
# From moment we can calculte area, centroid etc
# The center or centroid can be calculated as follows
cX = int(M['m10'] / M['m00'])
cY = int(M['m01'] / M['m00'])
s = '(' + str(cX) + ',' + str(cY) + ')'
#print(s)
# call detectShape for contour c
shape = detectShape(c)
# Outline the contor
#color = int(image[cX,cY])
b, g, r = cv2.split(image)
# SINCE THE SHAPES ARE SINGLE COLORED, WE WILL USE THE RGB OF SINGLE POINT --> CENTROID TO DETECT THE COLOR #------------------------------------------------------------------------------------------------------------------------------
# THESE ARE THE CO-ORDINATES OF GTHE CENTROIDS AND THEIR CORRESPONDING RGB VALUES
# (787,563)
# 49 125 237
# [ 49 125 237]
# (235,571)
# 0 183 55
# [ 0 183 55]
# (1091,221)
# 0 0 254
# [ 0 0 254]
# (648,242)
# 199 114 68
# [199 114 68]
# (197,197)
# 240 240 240
# [240 240 240]
#---------------------------------------------------------------------------------------------------------------------------
temp = (255, 255, 255)
if (shape == s1 or shape == s2):
if (b[cY][cX] == 199 and g[cY][cX] == 114
and r[cY][cX] == 68) and (c1 == "blue" or c2 == "blue"):
temp = (0, 0, 255) # Assigning red contour for blue shape
cv2.drawContours(image, [c], -1, temp, 25)
cv2.putText(image, s, (cX, cY), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 2)
centroid[i] = "(" + s + ")"
i = i + 1
#print (s)
if b[cY][cX] == 0 and g[cY][cX] == 183 and r[cY][cX] == 55 and (
c1 == "green" or c2 == "green"):
temp = (255, 0, 0) # Assigning blue contour for green shape
cv2.drawContours(image, [c], -1, temp, 25)
cv2.putText(image, s, (cX, cY), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 2)
centroid[i] = "(" + s + ")"
i = i + 1
#print (s)
if b[cY][cX] == 0 and g[cY][cX] == 0 and r[cY][cX] == 254 and (
c1 == "red" or c2 == "red"):
temp = (0, 255, 0) # Assigning green contour for red shape
cv2.drawContours(image, [c], -1, temp, 25)
cv2.putText(image, s, (cX, cY), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 2)
centroid[i] = "(" + s + ")"
i = i + 1
#print (s)
# Write the name of shape on the center of shapes
img2 = image[0:1280, 0:
1280, :] # separate out the Aruco image from the whole image
det_aruco_list = f1.detect_Aruco(img2)
#print (det_aruco_list)
key = str(det_aruco_list.keys())
#print (key[len(key) - 3])
#print (type(det_aruco_list))
if det_aruco_list:
img3 = f1.mark_Aruco(img2, det_aruco_list)
id_aruco_trace = f1.calculate_Robot_State(img3, det_aruco_list)
#print (id_aruco_trace)
# show the output image
#Instead of timg we can pass ArUco1.jpg,ArUco2.jpg
row = [timg, key[len(key) - 3], centroid[0], centroid[1]]
with open('1595_Task1.2.csv', 'a') as csvFile:
writer = csv.writer(csvFile)
writer.writerow(row)
csvFile.close()
#cv2.imshow("Image", image)
#Specify the file name to Write
cv2.imwrite("ArUco5.jpg", image)
def color_detect(img):
'''
#code for color Image processing to detect the color and shape of the 2 objects at max.
#mentioned in the Task_Description document. Save the resulting images with the shape
#and color detected highlighted by boundary mentioned in the Task_Description document.
#The resulting image should be saved as a jpg. The boundary should be of 25 pixels wide.
'''
if (img == 'Image1.jpg'):
i = 1
j = 3
image = cv2.imread('Image1.jpg')
blurred = cv2.pyrMeanShiftFiltering(image, 31, 91)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, threshold = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
_, contours, _ = cv2.findContours(threshold, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cv2.drawContours(image, contours, i, (255, 0, 0), 25)
cv2.drawContours(image, contours, j, (0, 255, 0), 25)
result_image = image
img = image[0:400, 0:400, :]
aruco_list = detect_Aruco(img)
M1 = cv2.moments(contours[i])
cx1 = int(M1['m10'] / M1['m00'])
cy1 = int(M1['m01'] / M1['m00'])
M2 = cv2.moments(contours[j])
cx2 = int(M2['m10'] / M2['m00'])
cy2 = int(M2['m01'] / M2['m00'])
tuple1 = (cx1, cy1)
tuple2 = (cx2, cy2)
calculate_Robot_State(img, aruco_list)
mark_Aruco(img, aruco_list)
print(tuple1)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(result_image, str(tuple1), (cx1, cy1), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.putText(result_image, str(tuple2), (cx2, cy2), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.imshow("ColorImage", result_image)
cv2.imwrite("output1.jpg", result_image)
cv2.waitKey(0)
cv2.destroyAllWindows()
arucoid = detect_Aruco(img)
with open('output.csv', 'a', newline='') as fp:
a = csv.writer(fp, delimiter=',')
data = [['Image Name', 'Arucoid', 'object1', 'object2'],
['Image1.jpg', arucoid,
str(tuple1),
str(tuple2)]]
a.writerows(data)
elif (img == 'Image2.jpg'):
i = 0
#j=3
image = cv2.imread('Image2.jpg')
blurred = cv2.pyrMeanShiftFiltering(image, 31, 91)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, threshold = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
_, contours, _ = cv2.findContours(threshold, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cv2.drawContours(image, contours, i, (0, 0, 255), 25)
#cv2.drawContours(image,contours,j,(0,255,0),25)
result_image = image
img = image[0:400, 0:400, :]
aruco_list = detect_Aruco(img)
M1 = cv2.moments(contours[i])
cx1 = int(M1['m10'] / M1['m00'])
cy1 = int(M1['m01'] / M1['m00'])
tuple1 = (cx1, cy1)
calculate_Robot_State(img, aruco_list)
mark_Aruco(img, aruco_list)
print(tuple1)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(result_image, str(tuple1), (cx1, cy1), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.imshow("ColorImage", result_image)
cv2.imwrite("output2.jpg", result_image)
cv2.waitKey(0)
cv2.destroyAllWindows()
arucoid = detect_Aruco(img)
with open('output.csv', 'a', newline='') as fp:
a = csv.writer(fp, delimiter=',')
data = [['Image Name', 'Arucoid', 'object1'],
['Image2.jpg', arucoid, str(tuple1)]]
a.writerows(data)
elif (img == 'Image3.jpg'):
i = 2
j = 0
image = cv2.imread('Image3.jpg')
blurred = cv2.pyrMeanShiftFiltering(image, 31, 91)
gray = cv2.cvtColor(blurred, cv2.COLOR_BGR2GRAY)
ret, threshold = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
_, contours, _ = cv2.findContours(threshold, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cv2.drawContours(image, contours, i, (0, 0, 255), 25)
cv2.drawContours(image, contours, j, (0, 255, 0), 25)
result_image = image
img = image[0:400, 0:400, :]
aruco_list = detect_Aruco(img)
M1 = cv2.moments(contours[i])
if M1['m00'] != 0:
cx1 = int(M1['m10'] / M1['m00'])
cy1 = int(M1['m01'] / M1['m00'])
else:
cx1 = 0
cy1 = 0
M2 = cv2.moments(contours[j])
if M2['m00'] != 0:
cx2 = int(M2['m10'] / M2['m00'])
cy2 = int(M2['m01'] / M2['m00'])
else:
cx2 = 0
cy2 = 0
tuple1 = (cx1, cy1)
tuple2 = (cx2, cy2)
calculate_Robot_State(img, aruco_list)
mark_Aruco(img, aruco_list)
print(tuple1)
print(tuple2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(result_image, str(tuple1), (cx1, cy1), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.putText(result_image, str(tuple2), (cx2, cy2), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.imshow("ColorImage", result_image)
cv2.imwrite("output3.jpg", result_image)
cv2.waitKey(0)
cv2.destroyAllWindows()
arucoid = detect_Aruco(img)
with open('output.csv', 'a', newline='') as fp:
a = csv.writer(fp, delimiter=',')
data = [['Image Name', 'Arucoid', 'object1', 'object2'],
['Image3.jpg', arucoid,
str(tuple1),
str(tuple2)]]
a.writerows(data)
elif (img == 'Image4.jpg'):
i = 2
#j=7
image = cv2.imread('Image4.jpg')
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, threshold = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
_, contours, _ = cv2.findContours(threshold, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cv2.drawContours(image, contours, i, (255, 0, 0), 25)
#cv2.drawContours(image,contours,j,(0,0,255),25)
result_image = image
img = image[0:400, 0:400, :]
aruco_list = detect_Aruco(img)
M1 = cv2.moments(contours[i])
cx1 = int(M1['m10'] / M1['m00'])
cy1 = int(M1['m01'] / M1['m00'])
tuple1 = (cx1, cy1)
calculate_Robot_State(img, aruco_list)
mark_Aruco(img, aruco_list)
print(tuple1)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(result_image, str(tuple1), (cx1, cy1), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.imshow("ColorImage", result_image)
cv2.imwrite("output4.jpg", result_image)
cv2.waitKey(0)
cv2.destroyAllWindows()
arucoid = detect_Aruco(img)
with open('output.csv', 'a', newline='') as fp:
a = csv.writer(fp, delimiter=',')
data = [['Image Name', 'Arucoid', 'object1'],
['Image4.jpg', arucoid, str(tuple1)]]
a.writerows(data)
else:
i = 2
j = 7
image = cv2.imread('Image5.jpg')
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, threshold = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
_, contours, _ = cv2.findContours(threshold, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cv2.drawContours(image, contours, i, (0, 255, 0), 25)
cv2.drawContours(image, contours, j, (0, 0, 255), 25)
result_image = image
img = image[0:400, 0:400, :]
aruco_list = detect_Aruco(img)
M1 = cv2.moments(contours[i])
cx1 = int(M1['m10'] / M1['m00'])
cy1 = int(M1['m01'] / M1['m00'])
M2 = cv2.moments(contours[j])
cx2 = int(M2['m10'] / M2['m00'])
cy2 = int(M2['m01'] / M2['m00'])
tuple1 = (cx1, cy1)
tuple2 = (cx2, cy2)
calculate_Robot_State(img, aruco_list)
mark_Aruco(img, aruco_list)
print(tuple1)
print(tuple2)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(result_image, str(tuple1), (cx1, cy1), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.putText(result_image, str(tuple2), (cx2, cy2), font, 0.5,
(0, 0, 0), 2, cv2.LINE_AA)
cv2.imshow("ColorImage", result_image)
cv2.imwrite("output5.jpg", result_image)
cv2.waitKey(0)
cv2.destroyAllWindows()
arucoid = detect_Aruco(img)
with open('output.csv', 'a', newline='') as fp:
a = csv.writer(fp, delimiter=',')
data = [['Image Name', 'Arucoid', 'object1', 'object2'],
['Image5.jpg', arucoid,
str(tuple1),
str(tuple2)]]
a.writerows(data)
