class ObjectDetector:
def report(self):
pass
def __init__(self):
tracks.logger.info(""" opencv version: """ + cv2.__version__)
tracks.logger.info("capturing camera port " +
str(tracks.config["camera"]))
self._detection_status = False
firstFrame = None
camera = cv2.VideoCapture(tracks.config['camera'])
low = np.array(
tracks.config['detection']['from_color']) # [h,v,s] color format
heigh = np.array(tracks.config['detection']['to_color'])
blur_radius = tracks.config['detection']['blur_radius']
self.geometry = Geometry()
self.comm = TableManager(self.set_detection_status)
while True:
(grabbed, frame) = camera.read()
if not grabbed:
break
# blure image
blur = cv2.blur(frame, (blur_radius, blur_radius))
# convert to hsv
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
# mask by low / heigh hsv values
mask = cv2.inRange(hsv, low, heigh)
dialateElm = cv2.getStructuringElement(cv2.MORPH_RECT, (24, 24))
erodeElm = cv2.getStructuringElement(cv2.MORPH_RECT, (12, 12))
mask = cv2.erode(mask, erodeElm, iterations=2)
mask = cv2.dilate(mask, dialateElm, iterations=2)
final = mask
self.debug('frame', final)
if self._detection_status == False:
continue
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
if (len(cnts) > 1):
self.find_and_report_target(cnts, mask)
def set_detection_status(self, status):
tracks.logger.debug('setting detection status to {0}'.format(status))
self._detection_status = status
def find_and_report_target(self, cnts, mask):
targets = list(map(lambda c: Target(c), cnts))
potential = list(filter(lambda t: t.isValid(), targets))
pair = self.find_pair(potential)
if (len(pair) == 2):
coordinates = self.geometry.get_coordinates(pair, mask)
self.comm.publish_target_data(coordinates.x_distance,
coordinates.y_distance,
coordinates.angle)
def find_pair(self, targets):
if (len(targets) == 2):
return list(targets)
pair = []
left = list(targets)
right = list(targets)
for l in left:
t = [abs(l.rect().h - r.rect().h) for r in right]
ind = t.index(min(t))
pair.append((l, right[ind]))
left.remove(l)
right.remove(right[ind])
return pair
def debug(self, name, frame):
if (tracks.config['gui'] == True):
display = imutils.resize(frame, width=600)
cv2.imshow('frame', display)
if cv2.waitKey(1) & 0xFF == ord('q'):
return True
return False
