def findYellowWall(img, wallData): blueMin = wallData[2] blueMax = wallData[3] yellowMin = wallData[0] yellowMax = wallData[1] blueRectangles = rectangulate.findObjects(img, blueMin,blueMax) yellowRectangles = rectangulate.findObjects(img, yellowMin, yellowMax) yellowWall = [] foundYellowWall = False for blueRectangle in blueRectangles: for yellowRectangle in yellowRectangles: blueBottomRight = (blueRectangle[0] + (blueRectangle[3]/2), blueRectangle[1] + (blueRectangle[2]/2)) blueBottomLeft = (blueRectangle[0] - (blueRectangle[3]/2), blueRectangle[1] + (blueRectangle[2]/2)) averagePoint = ((blueBottomRight[0]+blueBottomLeft[0])/2, (blueBottomRight[1]+blueBottomLeft[1])/2) if (yellowRectangle[3] > (averagePoint[1] - yellowRectangle[1]) > 0): #Threshold might need to be adjusted :) foundYellowWall = True yellowWall.append(blueRectangle) yellowWall.append(yellowRectangle) print "HELLO YELLOW" break if foundYellowWall: break print list(blueRectangle) output = [] if foundYellowWall: bRect = yellowWall[0] yRect = yellowWall[1] output += [(bRect[0] + yRect[0]) / 2 , (bRect[1] + yRect[1]) / 2, bRect[2] + yRect[2], bRect[3] + yRect[3]] return output
def followBall(cam, lowerHSV, upperHSV): # Capture camera frame and find balls feed = cam balls = rectangulate.findObjects(feed, lowerHSV, upperHSV) line25Percent = feed.width/4 midlineHorizontal = feed.width/2 line75Percent = line25Percent * 3 print list(balls) # Find the biggest recangle --> represents closest ball or biggest set of balls biggestBall = () maxSize = 0 currentSize = 0 for ball in balls: currentSize = ball[2]*ball[3] if currentSize > maxSize: biggestBall = ball maxSize = currentSize # Debug/Test code #if biggestBall == (): # print "no Ball, LOL" #elif 0 <= biggestBall[0] < line25Percent: # print "x coord: ", biggestBall[0] # print "move far right" #elif line25Percent <= biggestBall[0] < midlineHorizontal: # print "x coord: ", biggestBall[0] # print "move somewhat right" #elif midlineHorizontal <= biggestBall[0] < line75Percent: # print "x coord: ", biggestBall[0] # print "move somewhat left" #elif line75Percent <= biggestBall[0] < feed.width: # print "x coord: ", biggestBall[0] # print "move far left" output = biggestBall + (feed.width, feed.height) return output
def findYellowWall(img, wallData):
'''blueMin = wallData[2]
blueMax = wallData[3]
yellowMin = wallData[0]
yellowMax = wallData[1]
blueRectangles = rectangulate.findObjects(img, blueMin,blueMax)
yellowRectangles = rectangulate.findObjects(img, yellowMin, yellowMax)
yellowWall = []
foundYellowWall = False
for blueRectangle in blueRectangles:
for yellowRectangle in yellowRectangles:
blueBottomRight = (blueRectangle[0] + (blueRectangle[3]/2), blueRectangle[1] + (blueRectangle[2]/2))
blueBottomLeft = (blueRectangle[0] - (blueRectangle[3]/2), blueRectangle[1] + (blueRectangle[2]/2))
averagePoint = ((blueBottomRight[0]+blueBottomLeft[0])/2, (blueBottomRight[1]+blueBottomLeft[1])/2)
if (yellowRectangle[3] > (averagePoint[1] - yellowRectangle[1]) > 0): #Threshold might need to be adjusted :)
foundYellowWall = True
yellowWall.append(blueRectangle)
yellowWall.append(yellowRectangle)
#cv.Rectangle(img, (blueRectangle[0] - blueRectangle[2], blueRectangle[1]-blueRectangle[3]), (blueRectangle[0] + blueRectangle[2], blueRectangle[1]+blueRectangle[3]), (200,200,200), 4)
#cv.Rectangle(img, (yellowRectangle[0] - yellowRectangle[2], yellowRectangle[1]-yellowRectangle[3]), (yellowRectangle[0] + yellowRectangle[2], yellowRectangle[1]+yellowRectangle[3]), (200,200,200), 4)
print "HELLO YELLOW"
break
if foundYellowWall:
break
#print list(blueRectangle)
output = []
if foundYellowWall:
bRect = yellowWall[0]
yRect = yellowWall[1]
output += [(bRect[0] + yRect[0]) / 2 , (bRect[1] + yRect[1]) / 2, bRect[2] + yRect[2], bRect[3] + yRect[3], img.width, img.height]
#cv.SaveImage("walls.png", img)
return output'''
yellowMin = wallData[0]
yellowMax = wallData[1]
wallList = rectangulate.findObjects(img, yellowMin, yellowMax)
print list(wallList)
biggestWall = ()
maxSize = 0
line25Percent = img.width/4
line75Percent = line25Percent * 3
for wall in wallList:
currentSize = wall[2]*wall[3]
if line25Percent < wall[0] < line75Percent:
if currentSize > maxSize:
biggestWall = wall
maxSize = currentSize
# Debug/Test code
#if biggestBall == ():
# print "no Ball, LOL"
#elif 0 <= biggestBall[0] < line25Percent:
# print "x coord: ", biggestBall[0]
# print "move far right"
#elif line25Percent <= biggestBall[0] < midlineHorizontal:
# print "x coord: ", biggestBall[0]
# print "move somewhat right"
#elif midlineHorizontal <= biggestBall[0] < line75Percent:
# print "x coord: ", biggestBall[0]
# print "move somewhat left"
#elif line75Percent <= biggestBall[0] < feed.width:
# print "x coord: ", biggestBall[0]
# print "move far left"
output = list(biggestWall)+ [img.width,img.height]
return output
