def run(self):
try:
print "starting web server"
# initialise web server which will display final image
web = Webserver(balloon_config.config.parser,
(lambda: self.frame_filtered))
print "initialising camera"
# initialise video capture
balloon_video.init_camera()
print "Ready to go!"
while (True):
# get a frame
frame = balloon_video.capture_image()
# Convert BGR to HSV
hsv_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# get latest colour filters
self.read_config_file(False)
# use trackbar positions to filter image
colour_low = np.array([self.h_low, self.s_low, self.v_low])
colour_high = np.array([self.h_high, self.s_high, self.v_high])
# Threshold the HSV image
mask = cv2.inRange(hsv_frame, colour_low, colour_high)
#PAPOU_MOD Blur & Erode
blurred = cv2.GaussianBlur(mask, (3, 3), 0)
# Erode
erode_kernel = np.ones((3, 3), np.uint8)
eroded_img = cv2.erode(blurred, erode_kernel, iterations=2)
# dilate
dilate_kernel = np.ones((10, 10), np.uint8)
dilated_img = cv2.dilate(eroded_img,
dilate_kernel,
iterations=1)
# Bitwise-AND mask and original image
self.frame_filtered = cv2.bitwise_and(frame,
frame,
mask=dilated_img)
# handle interrupts
except:
print "interrupted, exiting"
# exit and close web server
print "exiting..."
web.close()
def main(self):
web = Webserver(balloon_config.config.parser, (lambda: self.frame))
# initialise camera
balloon_video.init_camera()
video_writer = balloon_video.open_video_writer()
# get start time
start_time = time.time()
# loop for 10 seconds looking for circles
while (time.time() - start_time < 20):
# Take each frame
frame = balloon_video.capture_image()
self.frame = frame
# is there the x & y position in frame of the largest balloon
found_in_image, xpos, ypos, size = self.analyse_frame(frame)
# display image
cv2.imshow('frame', frame)
# write the frame
video_writer.write(frame)
# exit if user presses ESC
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
print "exiting..."
web.close()
# uncomment line below if window with real-time video was displayed
cv2.destroyAllWindows()
# release camera
balloon_video.close_camera()
from web_server import Webserver
try:
w = Webserver()
except OSError:
import machine
machine.reset()
print('OSError, im do machine.restart()')
w.start()
