def analyzeOneFrame(aFrame):
# TODO: resize frame
status = "No targets."
image = aFrame
processed = image.copy()
shapeMask = cv2.inRange(image, np.array([0,0,100]), np.array([110,110,255]))
cv2.imshow("shapeMask", shapeMask)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(shapeMask, (7,7), 0)
autoEdged = imutils.autoCanny(blurred)
(cnts, _) = cv2.findContours(autoEdged.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
for c in cnts:
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
cv2.drawContours(processed, [c], -1, (255,0,0), 2)
if len(approx) >= 4 and len(approx) <= 6:
(x,y,w,h) = cv2.boundingRect(approx)
aspectRatio = w / float(h)
area = cv2.contourArea(c)
hullArea = cv2.contourArea(cv2.convexHull(c))
solidity = area / float(hullArea)
keepDims = w > 25 and h > 25
keepSolidity = solidity > 0.9
keepAspectRatio = aspectRatio >= 0.8 and aspectRatio <= 1.2
conditionsString = "dims: " + str(keepDims) + ", solidity: " + str(keepSolidity) + ", aspect: " + str(keepAspectRatio)
cv2.putText(processed, conditionsString, (x,y), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255,0,0), 2)
if keepDims and keepSolidity and keepAspectRatio:
cv2.drawContours(processed, [approx], -1, (0,0,255), 4)
status = "Target(s) acquired."
M = cv2.moments(approx)
(cX,cY) = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
(startX, endX) = (int(cX - (w * 0.15)), int(cX + (w * 0/15)))
(startY, endY) = (int(cY - (h * 0.15)), int(cY + (h * 0.15)))
cv2.line(processed, (startX, cY), (endX, cY), (0,0,255), 3)
cv2.line(processed, (cX, startY), (cX, endY), (0,0,255), 3)
cv2.putText(processed, status, (20,30), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0,0,255), 2)
cv2.imshow("Raw", image)
cv2.imshow("Processed", processed)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
# allow the camera to warmup
time.sleep(0.1)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
status = "No targets."
image = frame.array
processed = image.copy()
shapeMask = cv2.inRange(image, np.array([0, 0, 100]), np.array([110, 110, 255]))
cv2.imshow("shapeMask", shapeMask)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(shapeMask, (7, 7), 0)
autoEdged = imutils.autoCanny(blurred)
(cnts, _) = cv2.findContours(autoEdged.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
for c in cnts:
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
cv2.drawContours(processed, [c], -1, (255, 0, 0), 2)
if len(approx) >= 4 and len(approx) <= 6:
(x, y, w, h) = cv2.boundingRect(approx)
aspectRatio = w / float(h)
area = cv2.contourArea(c)
hullArea = cv2.contourArea(cv2.convexHull(c))
solidity = area / float(hullArea)
