def _find_power_plug_thing(self):
""" Find the power plug at the solar array box """
""" This uses color to determine if we have a choke """
lower = np.array([100, 40, 0], dtype="uint8")
upper = np.array([255, 255, 20], dtype="uint8")
mask = cv2.inRange(self.img, lower, upper)
blurred = cv2.GaussianBlur(mask, (5, 5), 0)
thresh = cv2.threshold(blurred, 60, 255, cv2.THRESH_BINARY)[1]
contours = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if is_cv2() else contours[1]
sorted_contours = sorted(
contours,
cmp=lambda a, b: int(cv2.contourArea(b)) - int(cv2.contourArea(a)))
if len(sorted_contours) > 0:
plug = self._find_a_thing(sorted_contours[0], 0, 0.06, 0, 0.06,
99.0)
if plug is not None:
plug.set_power_plug()
self.things.append(plug)
self.power_plug = plug
if self.debug:
debug_img = self.img.copy()
for c in sorted_contours:
cv2.drawContours(debug_img, [c], -1, (0, 255, 0), 2)
cv2.imshow("plug picture", debug_img)
cv2.setMouseCallback("plug picture", self.handle_mouse)
cv2.waitKey(0)
cv2.destroyAllWindows()
def is_detector(self, img):
""" This uses color to determine if we have a detector, and if so, returns where
the big screen and smaller screen is in the subimage """
lower = np.array([190, 190, 0], dtype="uint8")
upper = np.array([255, 255, 100], dtype="uint8")
mask = cv2.inRange(img, lower, upper)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if is_cv2() else contours[1]
if len(contours) == 0:
return None, False
sorted_contours = sorted(
contours,
cmp=lambda a, b: int(cv2.contourArea(b)) - int(cv2.contourArea(a)))
center, radius = cv2.minEnclosingCircle(sorted_contours[0])
up = True
if len(contours) > 1:
center2, radius = cv2.minEnclosingCircle(sorted_contours[1])
if center2[1] < center[1]:
up = False
if self.debug:
debug_img = img.copy()
cv2.drawContours(debug_img, [sorted_contours[0]], -1, (0, 255, 0),
2)
cv2.imshow("cont", debug_img)
cv2.waitKey(0)
cv2.destroyAllWindows()
return center, up
def is_repair_tool(self, img):
""" This uses color to determine if we have a repair tool, and if so, returns where
the button is located within the provided subimage """
lower = np.array([190, 0, 0], dtype="uint8")
upper = np.array([255, 125, 100], dtype="uint8")
mask = cv2.inRange(img, lower, upper)
contours = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if is_cv2() else contours[1]
if len(contours) == 0:
return None, False
sorted_contours = sorted(
contours,
cmp=lambda a, b: int(cv2.contourArea(b)) - int(cv2.contourArea(a)))
center, radius = cv2.minEnclosingCircle(sorted_contours[0])
up = True
if center[1] > (img.shape[0] / 2):
up = False
if self.debug:
debug_img = img.copy()
cv2.drawContours(debug_img, [sorted_contours[0]], -1, (0, 255, 0),
2)
cv2.imshow("cont", debug_img)
cv2.waitKey(0)
cv2.destroyAllWindows()
return center, up
def _find_a_thing(self,
c,
min_height,
max_height,
min_width,
max_width,
max_distance,
debug_img=None):
rect = cv2.minAreaRect(c)
box = cv2.cv.BoxPoints(rect) if is_cv2() else cv2.boxPoints(rect)
top, bottom, left, right, center = self.find_dimensions(
np.int0(np.array(box)))
if top is None or left is None or center is None:
return None
vertical = self.find_distance(top, bottom)
horizontal = self.find_distance(left, right)
away = self.find_distance(center, None)
if vertical > horizontal:
height = vertical
width = horizontal
flipped = False
else:
height = horizontal
width = vertical
flipped = True
if height < min_height or height > max_height:
return None
if width < min_width or width > max_height:
return None
if away > max_distance:
return None
# This page was helpful in understanding angle
# https://namkeenman.wordpress.com/2015/12/18/open-cv-determine-angle-of-rotatedrect-minarearect/
angle = rect[2]
if rect[1][0] < rect[1][1]:
angle -= 90.0
if debug_img is not None:
x, y, w, h = cv2.boundingRect(c)
cv2.drawContours(debug_img, [c], -1, (0, 255, 0), 2)
cv2.drawContours(debug_img, [np.int0(np.array(box))], -1,
(0, 0, 255), 2)
cv2.rectangle(debug_img, (x, y), (x + w, y + h), (255, 0, 0), 2)
cv2.circle(debug_img, top, 5, (255, 255, 0))
cv2.circle(debug_img, bottom, 5, (255, 255, 0))
cv2.circle(debug_img, left, 5, (255, 255, 0))
cv2.circle(debug_img, right, 5, (255, 255, 0))
cv2.circle(debug_img, center, 5, (255, 255, 0))
return Thing(height, width, center, angle)
def _find_choke_thing(self):
""" Find the choke at the solar array box """
""" This uses color to determine if we have a choke """
lower = np.array([128, 0, 0], dtype="uint8")
upper = np.array([255, 10, 20], dtype="uint8")
mask = cv2.inRange(self.img, lower, upper)
blurred = cv2.GaussianBlur(mask, (5, 5), 0)
thresh = cv2.threshold(blurred, 60, 255, cv2.THRESH_BINARY)[1]
contours = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if is_cv2() else contours[1]
# Note: you can get your view of the choke cut; so you see an end as 2 contours.
# In a dream world, we would combine two small controus close together.
# But for now, we just operate with the two biggest contours
sorted_contours = sorted(
contours,
cmp=lambda a, b: int(cv2.contourArea(b)) - int(cv2.contourArea(a)))
if len(sorted_contours) >= 2:
thing1 = self._find_a_thing(sorted_contours[0], 0, 0.1, 0, 0.1,
99.0)
thing2 = self._find_a_thing(sorted_contours[1], 0, 0.1, 0, 0.1,
99.0)
if thing1 is not None and thing2 is not None:
print "We have a choke!"
box1 = cv2.boundingRect(sorted_contours[0])
box2 = cv2.boundingRect(sorted_contours[1])
if box1[0] > box2[0]:
inner = thing1
outer = thing2
else:
inner = thing2
outer = thing1
inner.set_choke_inner()
self.things.append(inner)
self.choke_inner = inner
outer.set_choke_outer()
self.things.append(outer)
self.choke_outer = outer
if self.debug:
debug_img = self.img.copy()
for c in sorted_contours:
cv2.drawContours(debug_img, [c], -1, (0, 255, 0), 2)
cv2.imshow("choke picture", debug_img)
cv2.setMouseCallback("choke picture", self.handle_mouse)
cv2.waitKey(0)
cv2.destroyAllWindows()
def _find_habitat_things(self):
""" Find interesting objects in the habitat world """
self._find_repair_button_thing()
# Start by grey scale, blur, and thresholding
gray = cv2.cvtColor(self.img, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(gray, (5, 5), 0)
thresh = cv2.threshold(blurred, 60, 255, cv2.THRESH_BINARY)[1]
# find contours in the thresholded image
contours = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if is_cv2() else contours[1]
debug_img = self.img.copy()
for c in contours:
thing = self._find_a_thing(c, self.MINIMUM_TOOL_LENGTH,
self.MAXIMUM_TOOL_LENGTH,
self.MINIMUM_TOOL_WIDTH,
self.MAXIMUM_TOOL_WIDTH,
self.TOOL_MUST_BE_WITHIN, debug_img)
if thing is None:
continue
x, y, w, h = cv2.boundingRect(c)
detector_center, up = self.is_detector(self.img[y:y + h,
x:x + w].copy())
if detector_center is not None:
adjusted_detector = (int(detector_center[0] + x),
int(detector_center[1] + y))
thing.set_detector(adjusted_detector, up)
self.things.append(thing)
self.leak_detector = thing
repair_center, up = self.is_repair_tool(self.img[y:y + h,
x:x + w].copy())
if repair_center is not None:
adjusted_repair = (int(repair_center[0] + x),
int(repair_center[1] + y))
thing.set_repair_tool(adjusted_repair, up)
self.things.append(thing)
self.repair_tool = thing
if self.debug:
for c in contours:
cv2.drawContours(debug_img, [c], -1, (0, 255, 0), 2)
cv2.imshow("habitat things", debug_img)
cv2.setMouseCallback("habitat things", self.handle_mouse)
cv2.waitKey(0)
cv2.destroyAllWindows()
def _find_repair_button_thing(self):
""" Find the repairt button in front of us """
""" This uses color to determine if we have a repair button"""
lower = np.array([190, 0, 0], dtype="uint8")
upper = np.array([255, 150, 20], dtype="uint8")
mask = cv2.inRange(self.img, lower, upper)
blurred = cv2.GaussianBlur(mask, (5, 5), 0)
thresh = cv2.threshold(blurred, 60, 255, cv2.THRESH_BINARY)[1]
contours = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if is_cv2() else contours[1]
debug_img = None
if self.debug:
debug_img = self.img.copy()
cv2.imshow("button mask", thresh)
cv2.setMouseCallback("button mask", self.handle_mouse)
cv2.waitKey(0)
cv2.destroyAllWindows()
button_box = None
for c in contours:
box = cv2.boundingRect(c)
if button_box is None:
button_box = box
else:
button_box = self._union_box(deepcopy(button_box), box)
if button_box is None:
print "No button box"
return
top, bottom, left, right, center = self.find_dimensions(
np.int0(np.array(self._bound_to_boxpoints(button_box))))
if top is None or left is None or center is None:
print "Missing one of bounds. {}/{}/{}".format(top, left, center)
return None
height = self.find_distance(top, bottom)
width = self.find_distance(left, right)
if self.debug:
for c in contours:
cv2.drawContours(debug_img, [c], -1, (0, 255, 0), 2)
cv2.circle(debug_img, top, 5, (255, 255, 0))
cv2.circle(debug_img, bottom, 5, (255, 255, 0))
cv2.circle(debug_img, left, 5, (255, 255, 0))
cv2.circle(debug_img, right, 5, (255, 255, 0))
cv2.rectangle(
debug_img, (button_box[0], button_box[1]),
(button_box[0] + button_box[2], button_box[1] + button_box[3]),
(128, 0, 128), 2)
#cv2.circle(debug_img, center, 5, (255, 255, 0))
cv2.imshow("repair button picture", debug_img)
cv2.setMouseCallback("repair button picture", self.handle_mouse)
cv2.waitKey(0)
cv2.destroyAllWindows()
self.repair_button = Thing(height, width, center, None)
self.repair_button.set_repair_button()
self.repair_button.computed_center = self.compute_center(
left, right, top, bottom)
self.things.append(self.repair_button)