def find_color():
lower_color = np.array([38, 50, 50], np.uint8)
upper_color = np.array([75, 255, 255], np.uint8)
found_flag = False
for i in range(0, CAM_QUANTITY):
if temp_images[i] is None:
continue
for x in range(0, WIDTH, 5):
for y in range(0, HEIGHT, 5):
cropped_image = temp_images[i][y:y + 5, x:x + 5]
img_hsv = cv2.cvtColor(cropped_image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(img_hsv, lower_color, upper_color)
amount_not_zero = cv2.countNonZero(mask)
# If found:
if amount_not_zero > (5 * 5) * COLOR_DETECT_THRESHOLD:
# print "Found the color on image " + str(i) + " at (" +str(x*5)+","+str(y*5)+")"
images[i] = np.copy(temp_images[i])
cv2.imshow(HEADER + CAMERA_LIST[i], images[i])
cv2.circle(images[i], (x, y), 25, (255, 0, 255), 3)
wp = WayPoint()
wp.cam_id = i
wp.cam_pos = (x, y)
wp.floor = coords[0]
wp.phys_pos = (coords[1], coords[2])
waypoints[current_wp][i] = wp
found_flag = True
break
if found_flag is True:
found_flag = False
break
def mouse_handler(event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
images[param[0]] = np.copy(temp_images[param[0]])
cv2.imshow("header"+str(param[0]),images[param[0]])
cv2.circle(images[param[0]],(x,y),25,(255,0,0),3)
if param[1] is not None and param[2] is not None:
wp = WayPoint(param[0], param[1], param[2])
#print wp
wp.set_cam_position(x,y)
temp_WP[param[0]] = wp
if event == cv2.EVENT_RBUTTONDOWN:
images[param[0]] = np.copy(temp_images[param[0]])
def mouse_handler(event, x, y, flags, cam_id):
if event == cv2.EVENT_LBUTTONDOWN:
images[cam_id] = np.copy(temp_images[cam_id])
cv2.imshow(HEADER+str(cam_id),images[cam_id])
cv2.circle(images[cam_id],(x,y),25,(255,0,0),3)
wp = WayPoint()
wp.cam_id = cam_id
wp.cam_pos = (x, y)
wp.phys_pos = coords
waypoints[current_wp][cam_id] = wp
if event == cv2.EVENT_MBUTTONDOWN:
images[cam_id] = np.copy(temp_images[cam_id])
del(waypoints[current_wp][cam_id])
def mouse_handler(event, x, y, flags, cam_id): # removed flags,event, x, y, flags, cam_id
if event == cv2.EVENT_LBUTTONDOWN:
images[cam_id] = np.copy(temp_images[cam_id])
cv2.imshow(HEADER + CAMERA_LIST[cam_id], images[cam_id])
cv2.circle(images[cam_id], (x, y), 25, (255, 0, 0), 3)
wp = WayPoint()
wp.wp_id = current_wp
wp.cam_id = cam_id
wp.cam_pos = (x, y)
wp.floor = coords[0]
wp.phys_pos = (coords[1], coords[2])
waypoints[current_wp][cam_id] = wp
if event == cv2.EVENT_MBUTTONDOWN:
images[cam_id] = np.copy(temp_images[cam_id])
del (waypoints[current_wp][cam_id])
