width = 10

color = cv.CV_RGB(0,255,0);

size = cv.cvGetSize(img)

#cv.cvSet2D(img,x,y,color);

for i in range(width):

for j in range(width):

if i==0 or j==0 or j==9 or i==9:

px = x + j - width/2

py = y + i - width/2

if px<0:

px = 0

if py<0:

py = 0

if px>=size.width:

px = size.width-1

if py>=size.height:

py = size.height-1

xtotal = 0.0

ytotal = 0.0

count = 0;

size = cv.cvGetSize(frame)

for x in range(size.width):

for y in range(size.height):

if(cv.cvGetReal2D(frame, y, x) > 200):

xtotal = xtotal + x

ytotal = ytotal + y

count += 1

if count == 0:

return 0, 0

size = cv.cvGetSize(frame)

for x in range(size.width):

for y in range(size.height):

if(cv.cvGetReal2D(frame, y, x) > 0):

count = 0

count += same2ndValue(frame, x-1, y)

count += same2ndValue(frame, x+1, y)

count += same2ndValue(frame, x, y-1)

count += same2ndValue(frame, x, y+1)

count += same2ndValue(frame, x-1, y-1)

count += same2ndValue(frame, x-1, y+1)

count += same2ndValue(frame, x+1, y-1)

count += same2ndValue(frame, x+1, y+1)

if count == 0:

size = cv.cvGetSize(frame)

if(x >= 0 and x < size.width and y >= 0 and y < size.height):

if(cv.cvGetReal2D(frame, y, x) == 0):

return 0

else:

return 1 #only return 1 if this pixel is also white

else:

global capture

global hmax, hmin

highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)

highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)

highgui.cvNamedWindow('Saturation', highgui.CV_WINDOW_AUTOSIZE)

highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)

highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)

highgui.cvMoveWindow('Camera', 0, 10)

highgui.cvMoveWindow('Hue', 0, 350)

highgui.cvMoveWindow('Saturation', 360, 10)

highgui.cvMoveWindow('Value', 360, 350)

highgui.cvMoveWindow('Laser', 700, 40)

highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);

highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);

highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);

highgui.cvCreateTrackbar("smin Trackbar","Saturation",smin,255, change_smin);

highgui.cvCreateTrackbar("smax Trackbar","Saturation",smax,255, change_smax);

highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);

highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);

print "grabbing camera"

capture = highgui.cvCreateCameraCapture(0)

print "found camera"

highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth)

highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight)

frame = highgui.cvQueryFrame(capture)

frameSize = cv.cvGetSize(frame)

hsv = cv.cvCreateImage(frameSize,8,3)

mask = cv.cvCreateImage(frameSize,8,1)

hue = cv.cvCreateImage(frameSize,8,1)

saturation = cv.cvCreateImage(frameSize,8,1)

value = cv.cvCreateImage(frameSize,8,1)

laser = cv.cvCreateImage(frameSize,8,1)

while 1:

frame = highgui.cvQueryFrame(capture)

cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)

#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)

cv.cvSplit(hsv,hue,saturation,value,None)

#print hmin, hmax

cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue)

cv.cvInRangeS(saturation,cv.cvScalar(smin),cv.cvScalar(smax),saturation)

cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value)

#cv.cvInRangeS(hue,cv.cvScalar(0),cv.cvScalar(180),hue)

cv.cvAnd(hue, value, laser)

#cv.cvAnd(laser, value, laser)

# stupid filter

#removeErrantPoints(laser)

cenX,cenY = averageWhitePoints(laser)

px = iwidth/2 - cenX

dis = 57.18832855 / ( px - 5.702350176) + .05753797721

print cenX,px,dis

draw_target(frame,cenX,cenY)

#draw_target(frame,200,1)

highgui.cvShowImage('Hue',hue)

highgui.cvShowImage('Camera',frame)

highgui.cvShowImage('Saturation',saturation)

highgui.cvShowImage('Value',value)

highgui.cvShowImage('Laser',laser)