def get_bot_front():
max_area = 0
min_area = 10000
colorName = "front"
upperColor = Color(colorName, 1)
lowerColor = Color(colorName, 0)
list_of_points = []
Frame.capture_frame()
resized = Frame.cut
ratio = 1
hsv = cv2.cvtColor(resized, cv2.COLOR_BGR2HSV)
#t = cv2.getTrackbarPos('t','img')
mask = cv2.inRange(hsv, lowerColor.get_array(), upperColor.get_array())
res = cv2.bitwise_and(resized, resized, mask=mask)
gray = cv2.cvtColor(res, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(gray, (5, 5), 0)
T = mahotas.thresholding.otsu(blurred)
b = blurred.copy()
b[b > T] = 255
b[b < 255] = 0
cnts = cv2.findContours(b, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
area = 0
cX = 0
cY = 0
for c in cnts:
M = cv2.moments(c)
if M["m00"] > 0:
cX = int((M["m10"] / M["m00"] + 1e-7) * ratio)
cY = int((M["m01"] / M["m00"] + 1e-7) * ratio)
#shape = sd.detect(c)
c = c.astype("float")
c *= ratio
c = c.astype("int")
area = cv2.contourArea(c)
#rad = getRadFromArea(area)
if area > 300:
#cv2.drawContours(resized, [c], -1, (255,0,0), 2)
list_of_points.append((cX, cY))
if len(list_of_points) > 0:
bot_front = list_of_points[0]
return bot_front
else:
return Bot.get_bot_front()
def get_bot_back():
max_area = 0
min_area = 10000
colour = "lgreen"
f = open(colour + ".txt", "r")
data = f.read().split(',')
H = int(data[0])
S = int(data[1])
V = int(data[2])
h = int(data[3])
s = int(data[4])
v = int(data[5])
f.close()
higher = np.array([H, S, V])
lower = np.array([h, s, v])
list_of_points = []
Frame.capture_frame()
resized = Frame.cut
ratio = 1
hsv = cv2.cvtColor(resized, cv2.COLOR_BGR2HSV)
#t = cv2.getTrackbarPos('t','img')
mask = cv2.inRange(hsv, lower, higher)
res = cv2.bitwise_and(resized, resized, mask=mask)
gray = cv2.cvtColor(res, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(gray, (5, 5), 0)
T = mahotas.thresholding.otsu(blurred)
b = blurred.copy()
b[b > T] = 255
b[b < 255] = 0
cnts = cv2.findContours(b, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
area = 0
cX = 0
cY = 0
for c in cnts:
M = cv2.moments(c)
if M["m00"] > 0:
cX = int((M["m10"] / M["m00"] + 1e-7) * ratio)
cY = int((M["m01"] / M["m00"] + 1e-7) * ratio)
#shape = sd.detect(c)
c = c.astype("float")
c *= ratio
c = c.astype("int")
area = cv2.contourArea(c)
#rad = getRadFromArea(area)
if area > 300:
#cv2.drawContours(resized, [c], -1, (255,0,0), 2)
list_of_points.append((cX, cY))
if area > max_area:
max_area = area
elif area < min_area:
if __name__ == '__main__':
min_area = area
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
if len(list_of_points) > 0:
bot_back = list_of_points[0]
return bot_back
else:
return Bot.get_bot_back()
