def annotate_image(self, im, current_center, mean_center, distance,
centers):
im = im.copy()
if images.depth(im) != 3:
im = images.gray_to_bgr(im)
im = images.draw_circle(im,
current_center[0],
current_center[1],
5,
color=images.ORANGE,
thickness=-1)
im = images.draw_circle(im, self.center[0], self.center[1], 5,
images.RED)
im = images.draw_circle(im, mean_center[0], mean_center[1], 5,
images.BLUE)
font = cv2.FONT_HERSHEY_SIMPLEX
im = cv2.putText(im, 'Tray Center', (10, 30), font, .5, images.RED, 2,
cv2.LINE_AA)
im = cv2.putText(im, 'Current Center', (10, 60), font, .5,
images.ORANGE, 2, cv2.LINE_AA)
im = cv2.putText(im, 'Mean Center', (10, 90), font, .5, images.BLUE, 2,
cv2.LINE_AA)
im = cv2.putText(im, 'Pixel distance : {:.3f}'.format(distance),
(10, 120), font, .5, images.GREEN, 2, cv2.LINE_AA)
im = cv2.putText(im, 'Repeat: {}'.format(self.f), (10, 150), font, .5,
images.GREEN, 2, cv2.LINE_AA)
for center in centers:
im = images.draw_circle(im, center[0], center[1], 5, images.YELLOW)
im = cv2.putText(im, 'Old Centers', (10, 180), font, .5, images.YELLOW,
2, cv2.LINE_AA)
return im
def find_center(self, im):
im0 = im.copy()
im = images.threshold(im, 80)
im = images.opening(im, (6, 6))
center = images.center_of_mass(im)
im0 = images.gray_to_bgr(im0)
im0 = images.draw_circle(im0, center[0], center[1], 5)
im = images.gray_to_bgr(im)
im = images.draw_circle(im, center[0], center[1], 5)
images.save(images.hstack(im, im0),
self.log_direc + '{}.png'.format(self.i))
self.i += 1
return center
def __init__(self, start, end, rate, step_size=50):
self.start = start
self.end = end
self.rate = rate
now = datetime.datetime.now()
self.log_direc = "/media/data/Data/Logs/{}_{}_{}_{}_{}/".format(
now.year, now.month, now.day, now.hour, now.minute)
try:
os.mkdir(self.log_direc)
except FileExistsError as e:
print(e)
self.i = 0
self.shaker = shaker.Shaker()
self.shaker.change_duty(self.start)
self.step_size = step_size
cam_num = camera.guess_camera_number()
port = STEPPER_CONTROL
self.ard = arduino.Arduino(port)
self.motors = stepper.Stepper(self.ard)
self.motors.move_motor(1, 100, '+')
self.motors.move_motor(2, 100, '+')
self.motors.move_motor(1, 100, '-')
self.motors.move_motor(2, 100, '-')
self.cam = camera.Camera(cam_num=cam_num)
im = self.cam.get_frame()
self.hex, self.center, self.crop, self.mask = self.find_hexagon(im)
im = images.crop_and_mask(im, self.crop, self.mask)
self.im_shape = im.shape
im = images.draw_polygon(im, self.hex)
im = images.draw_circle(im, self.center[0], self.center[1], 3)
images.display(im)
def find_center(self, im):
im0 = im.copy()
im = images.gaussian_blur(im, (5, 5))
circles = trackpy.locate(im, 5)
center = circles[['x', 'y']].values.mean(axis=0)
im0 = images.gray_to_bgr(im0)
im0 = images.draw_circle(im0, center[0], center[1], 5)
im1 = images.gray_to_bgr(im)
im1 = images.draw_circle(im1, center[0], center[1], 5)
im2 = images.gray_to_bgr(im)
im2 = images.draw_circles(im2, circles[['x', 'y', 'size']].values)
images.save(images.hstack(im1, im0, im2),
self.log_direc + '{}.png'.format(self.i))
self.i += 1
return center
def __init__(self):
self.shaker = shaker.Shaker()
self.shaker.change_duty(600)
port = STEPPER_CONTROL
self.ard = arduino.Arduino(port)
self.motors = stepper.Stepper(self.ard)
cam_num = camera.guess_camera_number()
self.cam = camera.Camera(cam_num=cam_num)
im = self.cam.get_frame()
self.hex, self.center, self.crop, self.mask = self.find_hexagon(im)
im = images.crop_and_mask(im, self.crop, self.mask)
self.im_shape = im.shape
im = images.draw_polygon(im, self.hex)
im = images.draw_circle(im, self.center[0], self.center[1], 3)
images.display(im)
