def approx4pts( poly ):
ret = cv2.approxPolyDP( poly, epsilon = 30, closed=True )
if len(ret) == 4:
return ret
if len(ret) < 4:
return cv2.approxPolyDP( poly, epsilon = 20, closed=True )
return cv2.approxPolyDP( poly, epsilon = 50, closed=True )
def __test_safety_zone_pic(pic):
hsv = cv2.cvtColor(pic.img, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, Tester.__LOWER, Tester.__UPPER)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.GaussianBlur(mask, (1, 1), 0)
contours, hierarchy = cv2.findContours(mask.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)[1:3]
i = -1
for c in contours:
i += 1
perimeter = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.03 * perimeter, True)
if hierarchy[0][i][3] != -1 or cv2.contourArea(
c) < 200 or not cv2.isContourConvex(approx):
continue
if len(approx) == 4:
children = Tester.__get_children(hierarchy, i, contours)
if len(children) > 0:
bigchild = Tester.__biggest_child(children)
cv2.drawContours(frame, [bigchild], -1, (0, 255, 0), 10)
blurred = cv2.GaussianBlur(hsv, (5, 5), 0)
centerpt = Tester.__center_of_contour(bigchild)
if Tester.__is_point_red(centerpt, blurred):
perimeterchild = cv2.arcLength(bigchild, True)
approxchild = cv2.approxPolyDP(bigchild,
0.01 * perimeter,
True)
if len(approxchild) > 6:
return Tester.SAFETY_ZONE_DETECTED, centerpt
return Tester.NOTHING_DETECTED, (0, 0)
def detect(image): #returns list of detected stickers global borders ret = [] image = cv2.erode(image,kernel(2)) contours, hierarchy = cv2.findContours(image,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE) for i in range(len(contours)): cnt = contours[i] sticker = h & 0 cv2.drawContours(sticker, contours, i, 255 ,-1) border = cv2.dilate(sticker,kernel(6)) & white borderSize = cv2.countNonZero(border) borders = borders | border center, radius = cv2.minEnclosingCircle(cnt) if (radius>2 and borderSize>radius*2): hull = cv2.convexHull(cnt) hull = sharpen(hull) epsilon=0; approx=cv2.approxPolyDP(hull,epsilon,1) while (len(approx)>4): epsilon+=0.1 approx=cv2.approxPolyDP(hull,epsilon,1) if (len(approx)==4 and epsilon<4): cv2.drawContours(tetragons, [approx], 0, 255 ,-1) cv2.drawContours(selected, contours, i, 255 ,-1) st = stickerinfo(approx, epsilon) ret.append(st) cv2.drawContours(hullimage, [hull], 0, 255 ,-1) return ret
def find_contour(ctx): contour = False max_area = 0.0 ctx.temp_image1 = toIpl(ctx.temp_image1) ctx.thr_image = toIpl(ctx.thr_image) cv.Copy(ctx.thr_image, ctx.temp_image1) ctx.temp_image1 = toNumpy(ctx.temp_image1) contours, hierarchy = cv2.findContours(ctx.temp_image1, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) #cv.FindContours(ctx.temp_image1, ctx.temp_st, contours, sizeof(cv.Contour), cv.CV_RETR_EXTERNAL, cv.CV_CHAIN_APPROX_SIMPLE, cv.cvPoint(0, 0)); #cv2.findContours(image, mode, method[, contours[, hierarchy[, offset]]]) contours, hierarchy #cv.FindContours(image, storage, mode=CV_RETR_LIST, method=CV_CHAIN_APPROX_SIMPLE, offset=(0, 0)) contours for tmp in contours: area = fabs(cv2.contourArea(tmp)) if area > max_area: max_area = area contour = tmp '''this doesnt run ''' if type(contour) != 'bool': print type(contour) #Python: cv2.approxPolyDP(curve, epsilon, closed[, approxCurve]) approxCurve #C: CvSeq* cvApproxPoly(const void* src_seq, int header_size, CvMemStorage* storage, int method, double eps, int recursive=0 ) #contour = cv.cvApproxPoly(contour, sizeof(cv.CvContour), ctx.contour_st, cv.CV_POLY_APPROX_DP, 2, 1) try: cv2.approxPolyDP(contour, 2, False, ctx.contour) except ValueError: print 'error, unknown'
def buildMapWithAllFilter(self, frame, map):
blurMapImage = cv2.GaussianBlur(frame, (5, 5), 0)
for gray in cv2.split(blurMapImage):
for threshold in xrange(0, 255, 24):
if threshold == 0:
binary = cv2.Canny(gray, 0, 100, apertureSize=5)
binary = cv2.dilate(binary, None)
else:
retval, binary = cv2.threshold(gray, threshold, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(binary, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
for contour in contours:
contour_len = cv2.arcLength(contour, True)
lessPreciseContour = cv2.approxPolyDP(contour, 0.05*contour_len, True)
contour = cv2.approxPolyDP(contour, 0.02*contour_len, True)
if cv2.contourArea(contour) > self.MIN_SHAPE_SIZE and cv2.isContourConvex(contour) and cv2.contourArea(contour) < 3000:
myShape = self.shapeFactory.ConstructShape(contour)
if myShape.isEqualEdges() and myShape.checkAngleValue():
map.addShape(myShape)
if cv2.contourArea(contour) > self.LIMIT_SIZE and cv2.isContourConvex(contour):
if len(contour) == 4:
map.setMapLimit(contour)
if cv2.contourArea(lessPreciseContour) > self.LIMIT_SIZE and cv2.isContourConvex(lessPreciseContour):
if len(lessPreciseContour) == 4:
map.setMapLimit(lessPreciseContour)
self.buildByColorClosing(frame, map)
self.buildByColorOpening(frame, map)
map.setShapesColor(frame)
map.filterRobot()
map.deleteBlackShapes()
return map
def search_min_area_rect(self, image_path):
contours = self.get_contours(image_path)
regions = []
for con in contours:
cv2.approxPolyDP(con, 3, True)
#box = region.rect(cv2.boundingRect(con))
box = region.rotated_rect(cv2.minAreaRect(con))
regions.append(box)
return regions
def generate_file():
if request.method == 'POST':
bw_image = cv2.imread(request.json['url'],0)
kernel = np.ones((1.5,1.5),np.uint8)
er_image = cv2.erode(bw_image,kernel)
kernel = np.ones((2,2),np.uint8)
di_image = cv2.dilate(er_image,kernel, iterations=1)
#find contours
mo_image = di_image.copy()
contour0 = cv2.findContours(mo_image.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
contours = [cv2.approxPolyDP(cnt,3,True) for cnt in contour0[0]]
maxArea = 0
rect=[]
for ctr in contours:
maxArea = max(maxArea,cv2.contourArea(ctr))
areaRatio = 0.05
for ctr in contours:
if cv2.contourArea(ctr) > maxArea * areaRatio:
rect.append(cv2.boundingRect(cv2.approxPolyDP(ctr,1,True)))
symbols=[]
for i in rect:
x = i[0]
y = i[1]
w = i[2]
h = i[3]
p1 = (x,y)
p2 = (x+w,y+h)
cv2.rectangle(mo_image,p1,p2,255,2)
image = cv2.resize(mo_image[y:y+h,x:x+w],(32,32))
symbols.append(image.reshape(1024,).astype("uint8"))
#segment images and export them
testset_data = np.array(symbols)
#plt.show()
# show glyphs
img_name_base = str(time()) + '_'
for i in range(len(symbols)):
image = np.zeros(shape=(64,64))
image[15:47,15:47] = symbols[i].reshape((32,32))
segment_name = img_name_base + str(i) + '.jpg'
cv2.imwrite(os.path.join(SEGMENTED_INSCRIPTIONS, segment_name), image)
return jsonify({'error': 'asd'})
def detect(self, c): # initialize the shape name and approximate the contour shape = "unidentified" peri = cv2.arcLength(c, True) approx = cv2.approxPolyDP(c, 0.04 * peri, True) # if the shape is a triangle, it will have 3 vertices if len(approx) == 3: shape = "triangle" # if the shape has 4 vertices, it is either a square or # a rectangle elif len(approx) == 4: # compute the bounding box of the contour and use the # bounding box to compute the aspect ratio (x, y, w, h) = cv2.boundingRect(approx) ar = w / float(h) # a square will have an aspect ratio that is approximately # equal to one, otherwise, the shape is a rectangle shape = "square" if ar >= 0.95 and ar <= 1.05 else "rectangle" # if the shape is a pentagon, it will have 5 vertices elif len(approx) == 5: shape = "pentagon" # otherwise, we assume the shape is a circle else: shape = "circle" # return the name of the shape return shape
def detect_possible_buttons(image, source_image):
contours, hierarchy = cv2.findContours(image, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
buttons = []
for cnt in contours:
if 850 < cv2.contourArea(cnt) < 3000: # remove small and large areas like noise etc
hull = cv2.convexHull(cnt) # find the convex hull of contour
hull = cv2.approxPolyDP(hull, 0.1 * cv2.arcLength(hull, True), True)
min = [10000.0, 10000.0]
max = [0.0, 0.0]
#print '%d,%d' % (point[0][0], point[0][1])
if len(hull) == 4:
margin = 2
for point in hull:
x = point[0][0]
y = point[0][1]
if x < min[0]:
min[0] = x - margin
if y < min[1]:
min[1] = y - margin
if x > max[0]:
max[0] = x + margin
if y > max[1]:
max[1] = y + margin
points = [[min[0], min[1]], [max[0], min[1]], [max[0], max[1]], [min[0], max[1]]]
points = np.array(points,np.int0)
button = {'image': source_image[min[0]:max[0], min[1]:max[1]],
'x': 0.5*(max[0]+min[0]), 'y': 0.5*(max[1]+min[1]),
'w': max[0]-min[0], 'h': max[1]-min[1]}
buttons.append(button)
cv2.polylines(source_image, [points], True, (255, 0, 0), 2)
cv2.drawContours(source_image, [hull], 0, (0, 255, 0), 1)
return buttons
def build_correspondance(self, visible_markers,camera_calibration,min_marker_perimeter):
"""
- use all visible markers
- fit a convex quadrangle around it
- use quadrangle verts to establish perpective transform
- map all markers into surface space
- build up list of found markers and their uv coords
"""
all_verts = [m['verts'] for m in visible_markers if m['perimeter']>=min_marker_perimeter]
if not all_verts:
return
all_verts = np.array(all_verts)
all_verts.shape = (-1,1,2) # [vert,vert,vert,vert,vert...] with vert = [[r,c]]
# all_verts_undistorted_normalized centered in img center flipped in y and range [-1,1]
all_verts_undistorted_normalized = cv2.undistortPoints(all_verts, camera_calibration['camera_matrix'],camera_calibration['dist_coefs'])
hull = cv2.convexHull(all_verts_undistorted_normalized,clockwise=False)
#simplify until we have excatly 4 verts
if hull.shape[0]>4:
new_hull = cv2.approxPolyDP(hull,epsilon=1,closed=True)
if new_hull.shape[0]>=4:
hull = new_hull
if hull.shape[0]>4:
curvature = abs(GetAnglesPolyline(hull,closed=True))
most_acute_4_threshold = sorted(curvature)[3]
hull = hull[curvature<=most_acute_4_threshold]
# all_verts_undistorted_normalized space is flipped in y.
# we need to change the order of the hull vertecies
hull = hull[[1,0,3,2],:,:]
# now we need to roll the hull verts until we have the right orientation:
# all_verts_undistorted_normalized space has its origin at the image center.
# adding 1 to the coordinates puts the origin at the top left.
distance_to_top_left = np.sqrt((hull[:,:,0]+1)**2+(hull[:,:,1]+1)**2)
bot_left_idx = np.argmin(distance_to_top_left)+1
hull = np.roll(hull,-bot_left_idx,axis=0)
#based on these 4 verts we calculate the transformations into a 0,0 1,1 square space
m_from_undistored_norm_space = m_verts_from_screen(hull)
self.detected = True
# map the markers vertices in to the surface space (one can think of these as texture coordinates u,v)
marker_uv_coords = cv2.perspectiveTransform(all_verts_undistorted_normalized,m_from_undistored_norm_space)
marker_uv_coords.shape = (-1,4,1,2) #[marker,marker...] marker = [ [[r,c]],[[r,c]] ]
# build up a dict of discovered markers. Each with a history of uv coordinates
for m,uv in zip (visible_markers,marker_uv_coords):
try:
self.markers[m['id']].add_uv_coords(uv)
except KeyError:
self.markers[m['id']] = Support_Marker(m['id'])
self.markers[m['id']].add_uv_coords(uv)
#average collection of uv correspondences accros detected markers
self.build_up_status = sum([len(m.collected_uv_coords) for m in self.markers.values()])/float(len(self.markers))
if self.build_up_status >= self.required_build_up:
self.finalize_correnspondance()
def get_squares(contours, min_length=1000):
"""
>>> contours = detect_contours(test_image)
>>> isinstance(get_squares(contours), list)
True
>>> get_squares(None)
Traceback (most recent call last):
File "<stdin>", line 1, in ?
ValueError: Contours can't be None.
>>> get_squares([])
Traceback (most recent call last):
File "<stdin>", line 1, in ?
ValueError: Contours can't be void.
>>> get_squares(contours, min_length=-100)
Traceback (most recent call last):
File "<stdin>", line 1, in ?
ValueError: Min_length value must be greater than 0.
"""
# Checking arguments
check_contours(contours)
check_min_length(min_length)
results = []
for cnt in contours:
approx = cv.approxPolyDP(cnt, 0.01*cv.arcLength(cnt, True), True)
if len(approx) >= 4 and abs(get_contour_dimension(approx)) >= min_length:
results = [approx] + results
return results
def find_squares(img):
img = cv2.GaussianBlur(img, (5, 5), 0)
lists = []
for thrs in xrange(0, 255, 26):
if thrs == 0:
bin = cv2.Canny(img, 0, 50, apertureSize=5) #边缘化
bin = cv2.dilate(bin, None) #膨胀
else:
retval, bin = cv2.threshold(img, thrs, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(bin, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE) #得到轮廓
for cnt in contours:
cnt_len = cv2.arcLength(cnt, True) #计算轮廓长度
cnt = cv2.approxPolyDP(cnt, 0.02*cnt_len, True)
if len(cnt) == 4 and cv2.contourArea(cnt) > 500 and cv2.isContourConvex(cnt):
cnt = cnt.reshape(-1, 2)
max_cos = np.max([angle_cos( cnt[i], cnt[(i+1) % 4], cnt[(i+2) % 4] ) for i in xrange(4)]) #计算矩阵夹角是否90°
if max_cos < 0.1 and horizontal(cnt[0],cnt[1]) <5 and isDigit(cnt[0],cnt[2]) :
a = cnt.tolist()
if a not in lists:
lists.append(cnt.tolist())
rect = rectu(cnt[0],cnt[2])
roi = img[rect[1]:rect[1]+rect[3], rect[0]:rect[0]+rect[2]]
if len(lists) > 0:
break
if len(lists) > 0:
break
return roi
def getShape(contour):
p = cv2.arcLength(contour, True)
aV = cv2.approxPolyDP(contour, 0.04 * p, True)
vertices = len(aV)
if vertices == 3:
return 'Triangle'
elif vertices == 4:
rect = cv2.minAreaRect(contour)
contourArea = cv2.contourArea(contour)
fittedArea = rect[1][0] * rect[1][1]
#print "Countor Area:", contourArea , " Fiited A:", fittedArea
(x, y, w, h) = cv2.boundingRect(aV)
ar = w / float(h)
if .95 * fittedArea <= contourArea and ar >= 0.95 and ar <= 1.05:
return 'Square'
else:
return 'Rectangle'
elif vertices == 5:
return 'Pentagon'
elif vertices == 6:
return 'Hexagon'
elif vertices == 7:
return 'Heptagon'
else:
(xC, yC), radius = cv2.minEnclosingCircle(contour)
contourArea = cv2.contourArea(contour)
fittedArea = radius*radius*3.14
# print "Countor Area:", contourArea , " Circle A:", fittedArea
if abs(contourArea-fittedArea) / max(contourArea, fittedArea) < 0.10:
return 'Circle'
else:
return str(str(len(aV))+'-Polygon')
return 'Unknown'
def _find_contours(self, img, filtered):
"""
Find contours in the thresholded image.
Keep only the largest ones and from these choose one
with best hash score.
"""
_, cnts, _ = cv2.findContours(filtered.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
cnts = sorted(cnts, key=cv2.contourArea, reverse=True)[:4]
for contour in cnts:
# approximate the contour
perimeter = cv2.arcLength(contour, True)
approx = cv2.approxPolyDP(contour, 0.04 * perimeter, True)
# if our approximated contour has four points, then
# we can assume that we have found our screen
if len(approx) >= 4:
# take screen from origin picture
# which belongs to contour
x, y, w, h = cv2.boundingRect(approx)
if (self._is_big_enough(img, w, h)):
extract = img[y:y + h, x:x + w]
if (self._has_best_score(extract)):
self.best_image = extract
def detect_color_blob(self, img, lower, upper, color):
og_img = img
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, lower, upper)
mask = cv2.erode(mask, (3,3), iterations=1)
contours, h = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
#if self.debugging:
#cv2.drawContours(img, contours, -1, (0, 0, 255), 2)
sorted_contours = sorted(contours, key = lambda c: cv2.contourArea(c), reverse=True)
if len(sorted_contours) < 1:
return None
c = sorted_contours[0]
area = cv2.contourArea(c)
if area < 1000: # minimum area threshold
return None
perim = cv2.arcLength(c, True) # perimeter
approx = cv2.approxPolyDP(c, 0.05 * perim, True)
#detecting circles
(x,y), radius = cv2.minEnclosingCircle(c)
if len(approx) == 4:
(x, y, w, h) = cv2.boundingRect(approx)
ar = w / float(h)
self.shape = "square" if ar >= 0.95 and ar <= 1.05 else "rectangle"
def get_shape(contours, image_to_color, show_shape=False):
min_shape_size = 200
shape = None
for cnt in contours:
approx = cv2.approxPolyDP(cnt,0.02*cv2.arcLength(cnt,True),True)
# print len(approx)
if len(approx) == 4 and cv2.contourArea(approx) > min_shape_size:
shape = "square"
cv2.drawContours(image_to_color, [cnt], 0, 255,-1)
elif len(approx) > 7 and cv2.contourArea(approx) > min_shape_size:
shape = "circle"
cv2.drawContours(image_to_color, [cnt], 0, 255,-1)
elif len(approx) == 3 and cv2.contourArea(approx) > min_shape_size:
shape = "triangle"
cv2.drawContours(image_to_color, [cnt], 0, 255,-1)
elif len(approx) == 5 and cv2.contourArea(approx) > min_shape_size:
shape = "pentagon"
cv2.drawContours(image_to_color, [cnt], 0, 255,-1)
elif len(approx) == 6 and cv2.contourArea(approx) > min_shape_size:
shape = "hexagon"
cv2.drawContours(image_to_color, [cnt], 0, 255,-1)
if show_shape:
cv2.imshow('image_to_color', image_to_color)
# When you're done looking at the image, use this to close all windows: cv2.destroyAllWindows()
return shape
def findContours(self, shapesImg):
self.img = cv2.imread(shapesImg)
self.gray = cv2.imread(shapesImg,0)
ret,thresh = cv2.threshold(self.gray,100,255,cv2.THRESH_BINARY )
contours,h = cv2.findContours(thresh,1,2)
for cnt in contours:
approx = cv2.approxPolyDP(cnt,0.1*cv2.arcLength(cnt,True),True)
print len(approx)
if len(approx)==5:
print "pentagon"
cv2.drawContours(self.img,[cnt],0,(255,0,0),-1)
elif len(approx)==3:
print "triangle"
cv2.drawContours(self.img,[cnt],0,(0,255,0),-1)
elif len(approx)==4:
print "square"
cv2.drawContours(self.img,[cnt],0,(0,0,255),-1)
elif len(approx) == 9:
print "half-circle"
cv2.drawContours(self.img,[cnt],0,(255,255,0),-1)
elif len(approx) > 9:
print "circle"
cv2.drawContours(self.img,[cnt],0,(0,255,255),-1)
return self.img
def color_detect(self):
while True:
ret,frame = self.cap.read()
imhsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)
lower_range = np.array([125, 80, 80], dtype=np.uint8)
upper_range = np.array([255, 255, 255], dtype=np.uint8)
mask = cv2.inRange(imhsv,lower_range,upper_range)
ret,thresh = cv2.threshold(mask,127,155,1)
contours,h = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
max_area = 0
for cnt in contours:
approx = cv2.approxPolyDP(cnt,0.01*cv2.arcLength(cnt,True),True)
area = cv2.contourArea(approx)
if area > max_area and area < 250000:
max_area = area
max_contour = cnt
cv2.drawContours(frame,[max_contour],0,(0,255,0),2)
if cv2.contourArea(max_contour)>15000:
self.pub.publish('Find an Obstale')
cv2.imshow('mask',mask)
cv2.imshow('frame',frame)
if cv2.waitKey(1) & 0XFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
def getCards(im, numcards=4):
gray = cv2.cvtColor(im,cv2.COLOR_BGR2GRAY)
blur = cv2.GaussianBlur(gray,(1,1),1000)
flag, thresh = cv2.threshold(blur, 120, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE) #Haal de contouren van het plaatje op, bestaande uit een paar honderd punten per contour.
contours = sorted(contours, key=cv2.contourArea,reverse=True)[:numcards] #Sorteer deze op grootte, en behoud slechts 1 contour ( [:numcards] ).
for card in contours:
peri = cv2.arcLength(card,True)
squareContour = cv2.approxPolyDP(card,0.02*peri,True) #Benader de contour bestaande uit honderden punten met een contour die slechts 4 punten bevat, een rechthoek
if squareContour.shape[0] != 4: #Vang een error op, en laat aan de gebruiker zien waar het fout gaat.
print "Contour gevonden met punten ongelijk aan 4! Punten: %d" % squareContour.shape[0]
box = np.int0(squareContour)
cv2.drawContours(im,[box],0,(255,255,0),6)
imx = cv2.resize(im,(1000,600))
cv2.imshow("foute contour" ,imx)
cv2.waitKey(0)
continue
approx = rectify(squareContour) #Zet de contour in een plaatje van 450x450 pixels
h = np.array([ [0,0],[449,0],[449,449],[0,449] ],np.float32)
transform = cv2.getPerspectiveTransform(approx,h)
warp = cv2.warpPerspective(im,transform,(450,450))
yield warp
def findTarget(img):
template_tg = cv2.imread('template_target2.png', 0)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
ret,th1 = cv2.threshold(gray,253,255,cv2.THRESH_TOZERO_INV)
ret,th3 = cv2.threshold(th1,251,255,cv2.THRESH_BINARY)
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (20, 15))
closed = cv2.morphologyEx(th3, cv2.MORPH_CLOSE, kernel)
closed = cv2.erode(closed, None, iterations = 3)
closed = cv2.dilate(closed, None, iterations = 2)
(cnts, hierarchy) = cv2.findContours(closed,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
approxes = []
hulls = []
for cnt in cnts:
approxes.append(cv2.approxPolyDP(cnt,0.01*cv2.arcLength(cnt,True),True))
hulls.append(cv2.convexHull(cnt))
left = list(cnt[cnt[:,:,0].argmin()][0])
right = list(cnt[cnt[:,:,0].argmax()][0])
print 'left x' + str(left[0])+ 'y '+ str(left[1])
print 'right x' + str(right[0])+ 'y '+ str(right[1])
center = round((right[0]+left[0])/2)
center = int(center)
moveMouse(center-10,left[1]+70)
if (findFromTargeted(template_tg, left, right)):
autoit.mouse_click('left', center-10, left[1]+70)
return True
pyautogui.moveTo(center,left[1]+70)
moveMouse(center,left[1]+70)
if (findFromTargeted(template_tg, left, right)):
autoit.mouse_click('left', center+10, left[1]+70)
return True
def polyFn(s,img):
contours,hierarchy = s[contourKey]
# hulls = (cv2.convexHull(c) for c in contours)
polys = (cv2.approxPolyDP(c,s['polyApproxK'],True) for c in
contours)
s[contourKey] = np.asarray(list(polys))
return img
def imgproc(frame):
# convert color to gray scale and show it
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
cv2.imshow('gray', gray)
blur = cv2.blur(gray, (5, 5))
edge = cv2.Canny(blur, 10, 100)
edge = cv2.blur(edge, (2, 2))
cv2.imshow('blured edge', edge)
# convert image to black and white and show it
thresh1, thresh = cv2.threshold(edge, 60, 120, cv2.THRESH_BINARY)
cv2.imshow('thresh', thresh)
# find contours!
contours, hry = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# draw all the contours
cpframe = frame.copy()
cv2.drawContours(cpframe, contours, -1, (0, 255, 0), 3)
cv2.imshow('cpframe', cpframe)
# ================== TODO ===================
# Modify these code to suit your need
contours = [ctr for ctr in contours if cv2.contourArea(ctr) > 100]
contours = [cv2.approxPolyDP(ctr, 5, True) for ctr in contours]
contours = [ctr for ctr in contours if len(ctr) == 4]
contours = [ctr for ctr in contours if cv2.isContourConvex(ctr)]
# ============================================
# draw on the frame
cv2.drawContours(frame, contours, -1, (0, 255, 0), 3)
return frame
def approxPoly(contours) :
cnt_approx = np.zeros((4, 2), dtype = "float32")
contours_len = cv2.arcLength(contours, True)
cnt_approx = cv2.approxPolyDP(contours, 0.001*contours_len, True)
nb_cnt = len(cnt_approx)
angles_distances = []
for i in range(0, nb_cnt) :
pt1 = cnt_approx[(i - 1) % nb_cnt]
pt2 = cnt_approx[i]
pt3 = cnt_approx[(i+1) % nb_cnt]
angle = vectorsAngle( pt2 - pt1, pt3 - pt2)
length = norm(pt2 - pt1) + norm(pt3 - pt2)
angles_distances.append([pt1, pt2, pt3, angle, length])
angles_distances = approxPoly_removeSmallAngle(angles_distances)
angles_distances = approxPoly_removeSmallDistance(angles_distances, contours_len)
cnt_approx = [elt[1] for elt in angles_distances]
angles_distances = approxPoly_fuseBigDistance(angles_distances, contours_len)
cnt_approx = [elt[1] for elt in angles_distances]
cnt_approx = approxPoly_lineIntersection(cnt_approx)
return cnt_approx
def _get_magic_card_crop(original_image):
scale_mult = 0.15
mat = cv2.resize(original_image, (0, 0), fx=scale_mult, fy=scale_mult)
contour = _get_magic_card_contour(mat)
# Obtain shape approximation
card = contour[0]
peri = cv2.arcLength(card, True)
approx = cv2.approxPolyDP(card, 0.02 * peri, True)
x, y, w, h = cv2.boundingRect(card)
w /= scale_mult
h /= scale_mult
w = int(w)
h = int(h)
# Test to see if our approximation is a quadrilateral
if len(approx) != 4:
rect = rectify(cv2.boxPoints(cv2.minAreaRect(card)))
else:
# Great! We can safely apply our perspective correction technique
rect = rectify(approx)
for i in range(4):
# Compute all 4 corners on original image (re-apply scaling)
rect[i][0] /= scale_mult
rect[i][1] /= scale_mult
cv2.imwrite(os.path.join(LATEST_DIR, "steps_contours_bon.jpg"), original_image)
# Output perspective correction to an image of about the same size
output = np.array([[0, 0], [w-1, 0], [w-1, h-1], [0, h-1]], np.float32)
transform = cv2.getPerspectiveTransform(rect, output)
return cv2.warpPerspective(original_image, transform, (w, h))
def find_color(self, im, label_color, mask):
contours = cv2.findContours(mask, cv2.cv.CV_RETR_TREE, cv2.cv.CV_CHAIN_APPROX_SIMPLE)[0]
#cv2.drawContours(im, contours, -1, (255, 255, 255), 2)
approx_contours = []
for c in contours:
area = cv2.contourArea(c)
if area < 100: continue
perim = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, .05*perim, True)
#if len(approx) == 4 and len(cv2.convexityDefects(c, cv2.convexHull(c))) <= 1:
if len(approx) == 4:
approx_contours.append(approx)
moments = cv2.moments(c)
center = (int(moments['m10']/moments['m00']), int(moments['m01']/moments['m00']))
cv2.circle(im, center, 3, (255, 100, 100), 4)
print "Moment: ({}, {})".format(center[0], center[1])
msg_color = ColorRGBA()
msg_color.r, msg_color.g, msg_color.b = label_color
self.msg.colors.append(msg_color)
print "Label color: {}".format(label_color)
msg_size = Float64()
#msg_size.data = max(math.sqrt((approx[1][0][0]-approx[0][0][0])**2+(approx[1][0][1]-approx[0][0][1])**2), math.sqrt((approx[2][0][0]-approx[1][0][0])**2+(approx[2][0][1]-approx[2][0][0])**2))
msg_size.data = float((max(approx, key=lambda x: x[0][0])[0][0] - min(approx, key=lambda x: x[0][0])[0][0])) / len(im[0])
print "Width: {}".format(msg_size.data)
self.msg.sizes.append(msg_size)
msg_loc = Point()
msg_loc.x, msg_loc.y = float(center[0]) / len(im[0]), float(center[1]) / len(im)
self.msg.locations.append(msg_loc)
def approximate_contour(contour, epsilon, closed=True):
"""
returns an approximated contour based on the contour passed to it, uses the approxPolyDP function from opencv2.
"""
epsilon2 = epsilon*cv2.arcLength(contour, closed)
approx = cv2.approxPolyDP(contour, epsilon2, closed)
return approx
def find_board(self, image):
"""
Finds a board by calling openCV function to find contures in image.
Than it sorts those contures and stores the biggest one.
In case there is more than one we go over all found contures and
keep only one with 4 points
Args:
image(numpy.ndarray): Image to find contures from
Returns:
Found conture in given image
"""
im = image.copy()
im = cv.dilate(im, ((5, 5)), iterations=8)
(cnts, _) = cv.findContours(im,
cv.RETR_TREE,
cv.CHAIN_APPROX_SIMPLE)
cnts = sorted(cnts, key=cv.contourArea, reverse=True)[:10]
our_cnt = None
for c in cnts:
peri = cv.arcLength(c, True)
approx = cv.approxPolyDP(c, 0.1 * peri, True)
if len(approx) == 4:
# The board needs to be at least 1/3 of the image size
min_size = np.array([self.height * 1/3.0, self.height * 1/3.9])
a = np.abs(approx[0] - approx[2])[0] > min_size
b = np.abs(approx[1] - approx[3])[0] > min_size
true = [True, True]
if np.array_equal(a, true) or np.array_equal(b, true):
our_cnt = approx
break
return our_cnt
def getCards(im, numcards=4):
gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
blur = cv2.GaussianBlur(gray, (1, 1), 1000)
flag, thresh = cv2.threshold(blur, 120, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(
thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=cv2.contourArea, reverse=True)[:numcards]
for card in contours:
peri = cv2.arcLength(card, True)
approx = rectify(cv2.approxPolyDP(card, 0.02 * peri, True))
# box = np.int0(approx)
# cv2.drawContours(im,[box],0,(255,255,0),6)
# imx = cv2.resize(im,(1000,600))
# cv2.imshow('a',imx)
h = np.array([[0, 0], [449, 0], [449, 449], [0, 449]], np.float32)
transform = cv2.getPerspectiveTransform(approx, h)
warp = cv2.warpPerspective(im, transform, (450, 450))
yield warp
def detect_screen(self, blur_pars=(21, 17, 17), draw_contours=True):
gray = cv2.cvtColor(self.frame, cv2.COLOR_BGR2GRAY)
gray = cv2.bilateralFilter(gray, *blur_pars)
edged = cv2.Canny(gray, 30, 200)
(_, contours, _) = cv2.findContours(edged.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=cv2.contourArea, reverse=True)[:5]
screen_contour = []
for c in contours:
# approximate the contour
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.02 * peri, True)
if len(approx) == 4:
screen_contour = approx
break
if len(screen_contour):
global global_rect
coords = np.array([[i[0][0], i[0][1]] for i in screen_contour])
if draw_contours:
cv2.drawContours(self.frame, [screen_contour], -1, (0, 0, 255), 3)
global_rect = self.order_points(coords)
def getCornerPoints(cont):
peri = cv2.arcLength(cont, True)
approx = cv2.approxPolyDP(cont, 0.02 * peri, True)
return approx
def signal():
camera = PiCamera()
camera.resolution = (320, 240)
camera.framerate = 40
rawCapture = PiRGBArray(camera, size=(320, 240))
camera.shutter_speed = 50
camera.iso = 1600
camera.rotation = 180
time.sleep(1)
ret = True
counter = 0
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# Capture frame-by-frame
img = frame.array[:120][:][::]
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
cont = img.copy()
canny = cv2.Canny(gray, 30, 250)
contours, hierarchy = cv2.findContours(canny, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
new_contour = []
counter += 1
hm = 50
get_number = 0
for i in range(0, len(contours)):
epsilon = 0.1 * cv2.arcLength(contours[i], True)
approx = cv2.approxPolyDP(contours[i], epsilon, closed=True)
if (abs(cv2.contourArea(contours[i])) > 0):
# if(abs(cv2.contourArea(contours[i])) > 0 and hierarchy[0][i][0] > -1):
# xm, ym, wm, hm = cv2.boundingRect(contours[hierarchy[0][i][0]])
if ((hm) > 40):
x, y, w, h = cv2.boundingRect(contours[i])
rel = h / w
addh = int(h / 8)
addw = int(w / 8)
if (rel > 1.5 and h > 20 and w > 10 and w < 40 and h < 55 and y > 5 and (y + h) < 235 and x < 220):
# if(rel > 1.3):
# cv2.polylines(cont, [contours[i]], False, (0,255,0), 2)
number = \
cv2.threshold(gray[y - addh:y + h + addh, x - addw:x + w + addw], 30, 255,
cv2.THRESH_BINARY)[1]
try:
if number[0][0].all() == 0:
number = cv2.bitwise_not(number)
nonzeroes = np.count_nonzero(number) / np.prod(number.shape)
if number[0][0].all() != 0 and number[:][0].all() and nonzeroes > 0.65 and nonzeroes < 0.88:
get_number = tesseract(number)
if (show_pictures == "yes"):
cv2.rectangle(cont, (x - addw, y - addh), (x + w + addw, y + h + addh), (0, 0, 255),
1)
cv2.imshow('number', cv2.resize(number, None, fx=5, fy=5))
cv2.putText(cont, "h={} w={} c={}".format(h, w, cv2.isContourConvex(contours[i])),
(x + w + addw + 5, y), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 255), 1)
cv2.putText(cont,
"r={:.2f} a={} n={}".format(rel, abs(cv2.contourArea(contours[i])), i),
(x + w + addw + 5, y + 15), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 255), 1)
cv2.putText(cont, "x={} y={}".format(x, y),
(x + w + addw + 5, y + 30), cv2.FONT_HERSHEY_PLAIN, 1, (0, 255, 255), 1)
cv2.putText(cont, "number={} l={}".format(get_number, len(approx)),
(x + w + addw + 5, y + 45), cv2.FONT_HERSHEY_PLAIN, 1, (255, 255, 0), 1)
print(str(get_number) + " " + str(
np.count_nonzero(number) / np.prod(number.shape)) + " " + str(
np.count_nonzero(number)) + " " + str(np.prod(number.shape)))
except:
count = 1
if (show_pictures == "yes"):
cv2.imshow('canny', canny)
cv2.imshow('cont', cont)
# cv2.destroyAllWindows()
try:
if int(get_number) > 0:
sound.play(str(int(get_number)))
except:
print("not a number")
rawCapture.truncate(0)
#waitkey is needed, else picture wont display with imshow
if cv2.waitKey(1) & 0xFF == ord('q'):
break
def prueba(imagen):
DIGITS_LOOKUP = {
(1, 1, 1, 0, 1, 1, 1): 0,
(0, 0, 1, 0, 0, 1, 0): 1,
(1, 0, 1, 1, 1, 1, 0): 2,
(1, 0, 1, 1, 0, 1, 1): 3,
(0, 1, 1, 1, 0, 1, 0): 4,
(1, 1, 0, 1, 0, 1, 1): 5,
(1, 1, 0, 1, 1, 1, 1): 6,
(1, 0, 1, 0, 0, 1, 0): 7,
(1, 1, 1, 1, 1, 1, 1): 8,
(1, 1, 1, 1, 0, 1, 1): 9
}
a = False
#imagen = _abrir_archivo()
height, width, channels = imagen.shape
print("valores originales A H C: ")
print(height, width, channels)
fc = 1
if width > 1000:
fc = .1
elif width > 500:
fc = .5
imagen2 = imutils.resize(imagen, height=500)
#imagen2 = cv2.resize(imagen,None,fx=fc, fy=fc, interpolation = cv2.INTER_CUBIC)
gray = cv2.cvtColor(imagen2, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(gray, (5, 5), 0)
edged = cv2.Canny(blurred, 50, 200, 255)
height, width, channels = imagen2.shape
print("valores de alto, ancho, canales: ")
print(height, width, channels)
# Encuentra los contornos y los ennumera
# en orden decendiente de tamaño
cnts = cv2.findContours(edged.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
cnts = sorted(cnts, key=cv2.contourArea, reverse=True)
displayCnt = None
# para cada contorno en el la lista de contornos
for c in cnts:
# verifica
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.02 * peri, True)
print("contornos de corte:")
print(approx)
# si cuatro lados lo desplegara
if len(approx) == 4:
print("<------Existe una funcional 4 lados")
displayCnt = approx
break
#marcas de corte
warped = four_point_transform(gray, displayCnt.reshape(4, 2))
output = four_point_transform(imagen2, displayCnt.reshape(4, 2))
height, width, channels = output.shape
print("valores recortado de alto, ancho, canales: ")
print(height, width, channels)
if height < 50:
output = imutils.resize(output, height=75)
warped = imutils.resize(warped, height=75)
if height > 80:
output = imutils.resize(output, height=75)
warped = imutils.resize(warped, height=75)
#ajuste de brillo
alpha = float(2.5)
#cv2.equalizeHist(
adjust = cv2.multiply(warped, np.array([alpha]))
thresh2 = cv2.threshold(adjust, 0, 255,
cv2.THRESH_BINARY_INV | cv2.THRESH_OTSU)[1]
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (1, 5))
#thresh = cv2.morphologyEx(thresh, cv2.MORPH_OPEN, kernel)
thresh3 = cv2.morphologyEx(thresh2, cv2.MORPH_OPEN, kernel)
#/////////
thresh = cv2.threshold(warped, 0, 255,
cv2.THRESH_BINARY_INV | cv2.THRESH_OTSU)[1]
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (1, 5))
thresh = cv2.morphologyEx(thresh, cv2.MORPH_OPEN, kernel)
#///////////////////aproxima2
estirado = cv2.inRange(adjust, 10, 140)
cnts = cv2.findContours(thresh2.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
print("encuentra contornos: ")
print(len(cnts))
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
print("encuentra contornos imutils.is_cv2: ")
print(len(cnts))
digitCnts = []
# loop over the digit area candidates
try:
for c in cnts:
# compute the bounding box of the contour
(x, y, w, h) = cv2.boundingRect(c)
if w >= 15 and (h >= 30 and h <= 40):
digitCnts.append(c)
digitCnts = contours.sort_contours(digitCnts,
method="left-to-right")[0]
digits = []
for c in digitCnts:
(x, y, w, h) = cv2.boundingRect(c)
roi = thresh[y:y + h, x:x + w]
# compute the width and height of each of the 7 segments
# we are going to examine
(roiH, roiW) = roi.shape
(dW, dH) = (int(roiW * 0.25), int(roiH * 0.15))
dHC = int(roiH * 0.05)
# define the set of 7 segments
segments = [
((0, 0), (w, dH)), # top
((0, 0), (dW, h // 2)), # top-left
((w - dW, 0), (w, h // 2)), # top-right
((0, (h // 2) - dHC), (w, (h // 2) + dHC)), # center
((0, h // 2), (dW, h)), # bottom-left
((w - dW, h // 2), (w, h)), # bottom-right
((0, h - dH), (w, h)) # bottom
]
on = [0] * len(segments)
# loop over the segments
for (i, ((xA, yA), (xB, yB))) in enumerate(segments):
# extract the segment ROI, count the total number of
# thresholded pixels in the segment, and then compute
# the area of the segment
segROI = roi[yA:yB, xA:xB]
total = cv2.countNonZero(segROI)
area = (xB - xA) * (yB - yA)
# if the total number of non-zero pixels is greater than
# 50% of the area, mark the segment as "on"
if area == 0:
area = 0.001
if total / float(area) > 0.5:
on[i] = 1
# lookup the digit and draw it on the image
digit = DIGITS_LOOKUP[tuple(on)]
digits.append(digit)
cv2.rectangle(output, (x, y), (x + w, y + h), (0, 255, 0), 1)
cv2.putText(output, str(digit), (x - 10, y - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (0, 255, 0), 2)
# display the digits
print(u"{}{}.{} \x57 \x50 \x77".format(*digits))
print("respuesta: ")
print(len(digitCnts))
print(len(digitCnts[0]))
except Exception as e:
print(e)
cv2.imshow("original", imagen2)
cv2.imshow("recortado", output)
cv2.imshow("ajustado", adjust)
cv2.imshow("estirado", estirado)
cv2.imshow("ventana4", thresh3)
cv2.imshow("ventana2", thresh)
cv2.imshow("ventana3", thresh2)
cv2.waitKey(0)
def detectShape(cnts):
shape = 'unknown'
peri = cv2.arcLength(cnts, True)
vertices = cv2.approxPolyDP(cnts, 0.03 * peri, True)
img = cv2.drawContours(image, vertices, -1, (0, 0, 255), 3)
#check if circle
circles = cv2.HoughCircles(thresh,
cv2.HOUGH_GRADIENT,
1,
20,
param1=50,
param2=30,
minRadius=0,
maxRadius=0)
if circles is not None:
shape = "circle"
else:
#triangle
if len(vertices) == 3:
shape = 'triangle'
#square/ reactangle/trapezoid?
elif len(vertices) == 4:
if (log_hu[0][0] > 0.4 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 2.0
and log_hu[1][0] < 3.0) and (log_hu[2][0] > 3.0
and log_hu[2][0] < 3.6):
shape = "quater circle"
elif (log_hu[0][0] > 0.4 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 1.0 and log_hu[1][0] < 2.5) and (
log_hu[2][0] > 5.0 and log_hu[2][0] < 7.0) and (
log_hu[3][0] > 6.0 and log_hu[3][0] < 8.0):
shape = "rectangle"
else:
x, y, width, height = cv2.boundingRect(vertices)
aspectRatio = float(width) / height
print "aspect ratio=" + str(aspectRatio)
if aspectRatio >= 0.4 and aspectRatio <= 0.6:
shape = "square"
else:
shape = "trapezoid"
elif len(vertices) == 5:
if (log_hu[0][0] > 0.4 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 1.0 and log_hu[1][0] < 2.5) and (
log_hu[2][0] > 5.0 and log_hu[2][0] < 7.0) and (
log_hu[3][0] > 6.0 and log_hu[3][0] < 8.0):
shape = "rectangle"
elif ratio > 0.4 and ratio < 0.62:
if (log_hu[0][0] > 0.4 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 2.0 and log_hu[1][0] < 3.0) and (
log_hu[2][0] > 3.0 and log_hu[2][0] < 3.6):
shape = "quater circle"
else:
shape = "semicircle"
else:
shape = "pentagon"
elif len(vertices) == 6:
if ratio > 0.4 and ratio < 0.62:
if (log_hu[0][0] > 0.4 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 2.0 and log_hu[1][0] < 3.0) and (
log_hu[2][0] > 3.0 and log_hu[2][0] < 3.6):
shape = "quater circle"
else:
shape = "semicircle"
else:
shape = "hexagon"
elif len(vertices) == 7:
shape = "heptagon"
elif len(vertices) == 8:
if ratio > 0. and ratio < 1.1:
shape = "circle"
else:
shape = "octagon"
elif len(vertices) == 13 or (len(vertices) == 12
or len(vertices) == 11):
shape = "cross"
elif (log_hu[0][0] > 0.4 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 2.0
and log_hu[1][0] < 3.0) and (log_hu[2][0] > 3.0
and log_hu[2][0] < 3.6):
shape = "quater circle"
elif ratio > 0.4 and ratio < 0.6 and log_hu[1][0] < 2.1:
shape = "semicircle"
elif ratio > 0.9 and ratio < 1.1:
shape = "circle"
else:
if (log_hu[0][0] > 0.0 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 4.0 and log_hu[1][0] < 5.0) and (
log_hu[2][0] > 5.0 and log_hu[2][0] < 6.0) and (
log_hu[3][0] > 6.0 and log_hu[3][0] < 7.0):
shape = "cross"
elif (log_hu[0][0] > 0.6 and log_hu[0][0] < 1.0) and (
log_hu[1][0] > 4.2 and log_hu[1][0] < 6.0) and (
log_hu[2][0] > 5.0 and log_hu[2][0] < 6.0) and (
log_hu[3][0] > 6.0 and log_hu[3][0] < 8.0):
shape = "star"
else:
shape = "UNKNOWN"
return shape
p2 = [sqeeze[:, 0][xMaxIndex], sqeeze[:, 1][xMaxIndex]]
yMinIndex = np.argmin(sqeeze[:, 1])
p3 = [sqeeze[:, 0][yMinIndex], sqeeze[:, 1][yMinIndex]]
yMaxIndex = np.argmax(sqeeze[:, 1])
p4 = [sqeeze[:, 0][yMaxIndex], sqeeze[:, 1][yMaxIndex]]
if p1[0] == 0 or p2[0] == width - 1 or p3[1] == 0 or p4[1] == height -1:
continue
area = cv2.contourArea(cnt)
perimeter = cv2.arcLength(cnt,True)
# k = cv2.isContourConvex(cnt)
epsilon = perimeter * 0.1
approx = cv2.approxPolyDP(cnt,epsilon,True)
if len(approx) != 4:
continue
# print("approx ,", approx)
cv2.drawContours(green,[approx],-1,[0,255,0],2)
cv2.imwrite('green_' + str(m) + '_' + str(j) + '.jpg', green)
if area >= maxArea/4 and area <= maxArea or True:
# print(sqeeze)
# epsilon = 0.01 * perimeter
# approx = cv2.approxPolyDP(cnt,epsilon,True)
# cv2.drawContours(img_org,[approx],-1,[0,255,0],2)
# j = 0
# p1=[-1, -1]
# p2=[-1, -1]
# p3=[-1, -1]
def process(self, inframe, outframe):
# Get the next camera image (may block until it is captured) and here convert it to OpenCV BGR by default. If
# you need a grayscale image instead, just use getCvGRaAY() instead of getCvBGR(). Also supported are getCvRGB()
# and getCvRGBA():
inimg = inframe.getCvBGR()
# Start measuring image processing time (NOTE: does not account for input conversion time):
self.timer.start()
## Split into red, green, and blue, subtract red from the green
b, g, r = cv2.split(inimg)
binImage = g - r
#Otsu's is a dynamic threshold that does a good job of isolating. Not as fast as fixed
ret3, binImage = cv2.threshold(binImage, 0, 255, cv2.THRESH_OTSU)
# Erode image to remove noise if necessary.
binImage = cv2.erode(binImage, None, iterations=errode)
#Dilate image to fill in gaps
binImage = cv2.dilate(binImage, None, iterations=dilate)
##Finds contours (like finding edges/sides), 'contours' is what we are after
im2, contours, hierarchy = cv2.findContours(binImage, cv2.RETR_CCOMP,
cv2.CHAIN_APPROX_TC89_KCOS)
##arrays to will hold the good/bad polygons
squares = []
badPolys = []
## Parse through contours to find targets
for c in contours:
if (contours != None) and (len(contours) > 0):
cnt_area = cv2.contourArea(c)
hull = cv2.convexHull(c, 1)
p = cv2.approxPolyDP(hull, approx, 1)
x, y, w, h = cv2.boundingRect(c)
aspect_ratio = float(w) / h
if (cv2.isContourConvex(p) != False) and (len(p) == 4) and (
cv2.contourArea(p) >=
area): #p=3 triangle,4 rect,>=5 circle
filled = cnt_area / (w * h)
if filled >= solidity:
if aspect_ratio >= ratio:
squares.append(p)
else:
badPolys.append(p)
if len(squares) > 0:
i = 1
cv2.putText(inimg, "Tracking", (3, 20), cv2.FONT_HERSHEY_SIMPLEX,
0.5, (255, 255, 255), 1, cv2.LINE_AA)
pixels = {
"Trk": len(squares)
} #Start of pixels array, values added in the loop for each contour
for s in squares:
br = cv2.boundingRect(s)
#Target "x" and "y" center
x = br[0] + (br[2] / 2)
y = br[1] + (br[3] / 2)
#Draw a tracking rectangle on the image
cv2.rectangle(inimg, (br[0], br[1]),
((br[0] + br[2]), (br[1] + br[3])), (0, 0, 255),
2, cv2.LINE_AA)
#Convert from coordinates from pixels to unit square, only valid for 320x240 resolution
nx = (1 / 160) * (x - 159.5)
ny = (1 / 120) * (119.5 - y)
#convert back to x and y with compensation
x = (vpw / 2) * nx
y = (vph / 2) * ny
#calculate angle
x_angle = math.degrees(math.atan2(x, 1))
y_angle = math.degrees(math.atan2(y, 1))
#Add info for this paticular target to the dictionary 'pixels'
pixels['Tx_' + str(i)] = x_angle
pixels['Ty_' + str(i)] = y_angle
i = i + 1
if not squares:
pixels = {"Trk": 0, "Tx_1": 0, "Ty_1": 0}
cv2.putText(inimg, "Not Tracking", (3, 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1,
cv2.LINE_AA)
outimg = inimg
# Write frames/s info from our timer into the edge map (NOTE: does not account for output conversion time):
fps = self.timer.stop()
height, width, channels = outimg.shape # if outimg is grayscale, change to: height, width = outimg.shape
cv2.putText(outimg, fps, (3, height - 6), cv2.FONT_HERSHEY_SIMPLEX,
0.5, (255, 255, 255), 1, cv2.LINE_AA)
# Convert our BGR output image to video output format and send to host over USB. If your output image is not
# BGR, you can use sendCvGRAY(), sendCvRGB(), or sendCvRGBA() as appropriate:
outframe.sendCvBGR(outimg, 50)
json_pixels = json.dumps(pixels)
jevois.sendSerial(json_pixels)
frame_gray = cv2.cvtColor(frame1, cv2.COLOR_BGR2GRAY)
#Finding the edges using canny edge detection.
canny = cv2.Canny(frame_gray, 170, 255)
contours, _ = cv2.findContours(canny.copy(), cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
contours = sorted(contours, key=cv2.contourArea,
reverse=True)[:35]
#iterating through those contours to find the number plate in the frame.
for cnt in contours:
perimeter = cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, 0.01 * perimeter, True)
if len(approx) == 4:
cnt_with_plate = approx
#geting the coordinates of the number plate in the frame
x, y, w, h = cv2.boundingRect(cnt)
break
#applying filters to the number plate to remove any useless information.
num_plate = cv2.bilateralFilter(frame_gray[y:y + h, x:x + w],
5, 17, 17)
thresh, num_plate = cv2.threshold(num_plate, 95, 255,
cv2.THRESH_BINARY)
cv2.imshow('res', num_plate)
#extracting the number from the number plate in the form of text.
num_plate_text = pytesseract.image_to_string(num_plate)
cv2.waitKey(0)
contours = cv2.findContours(result.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
contours = contours[0] if imutils.is_cv2() else contours[1]
# loop over the contours
biggest_size = 0
biggest = None
for c in contours:
cv2.drawContours(image, [c], -1, (0, 0, 255), 4)
# Approximate the contour
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.05 * peri, True)
cv2.drawContours(image, [approx], -1, (0, 255, 0), 4)
# Draw box around the contour
rect = cv2.minAreaRect(c)
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(image, [box], -1, (255, 0, 0), 2)
# Calculate size
new_size = cv2.contourArea(box)
if new_size > biggest_size:
biggest_size = new_size
biggest = box
# Draw the biggest box
def min_rect(contour):
rect = cv2.minAreaRect(contour)
rect = ((rect[0][0], rect[0][1]), (rect[1][0], rect[1][1]), rect[2])
(width, height) = (rect[1][0], rect[1][1])
print str(width) + " " + str(height)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
return box
for contour in good_contours:
box = contour
print box
# box = cv2.approxPolyDP(contour, 10.0, True)
# box = min_rect(contour)
perim = cv2.arcLength(contour, True)
approx = cv2.approxPolyDP(contour, 0.02 * perim, True)
box = approx
boxes = filter_contour(box)
cv2.drawContours(im, boxes, -1, (250, 0, 0), 2)
print "num contours: ", len(good_contours)
cv2.imwrite("outfile.jpg", im)
cv2.imshow('your_image.jpg', im)
cv2.waitKey()
cv2.destroyAllWindows()
time.sleep(3)
while(1):
ret, img = cap.read()
height, width, _ = img.shape
#img = cv2.imread('sudoku.jpg')
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
thresh = cv2.adaptiveThreshold(gray,255,1,1,11,2)
hierarchy,contours,_ = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
biggest = None
max_area = 0
for i in contours:
area = cv2.contourArea(i)
if area > 100:
peri = cv2.arcLength(i,True)
approx = cv2.approxPolyDP(i,0.02*peri,True)
if area > max_area and len(approx)==4:
biggest = approx
max_area = area
cv2.drawContours(img, biggest, -1, (0,0,255), 40)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(img,'Press Esc If the 4 dots are at the corners of puzzle',(height/2-100,width/2-200), font, 0.7,(0,0,255),2,cv2.LINE_AA)
cv2.imshow('img',img)
k = cv2.waitKey(10) & 0xFF
if k == 27:
break
biggest=rectify(biggest)
thresh = cv2.adaptiveThreshold(gray,255,1,1,11,2)
h = np.array([ [0,0],[449,0],[449,449],[0,449] ],np.float32)
import numpy as np
import cv2
img = cv2.imread('jjtp.png')
img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
thresh = cv2.Canny(img, 140, 200)
contours, h = cv2.findContours(thresh, 1, 2)
i = 0
for cnt in contours:
pre = cv2.arcLength(cnt, True)
if pre < 500:
continue
approx = cv2.approxPolyDP(cnt, 0.01 * pre, True)
if len(approx) == 4:
i += 1
cv2.drawContours(img, [cnt], 0, (0, 255, 100), -1)
print(i)
cv2.imwrite('res.png', img)
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
cv.imshow("grayscale", gray)
# this is to detect all the edges in the frame (https://towardsdatascience.com/canny-edge-detection-step-by-step-in-python-computer-vision-b49c3a2d8123)
edge = cv.Canny(gray, 100, 200)
# this is to give all the boundaries of closed objects(contours) in the image.It uses binary image to process it.Since the image form edge detection algorithm is an binary image , there is no need for converting it.
contour, heire = cv.findContours(
edge, cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
for cnt in contour:
# calculates the area of contours
area = cv.contourArea(cnt)
# this is avoid detecting very small objects in the frame
if area > 200:
# this outlines the contours in the frame with green color
cv.drawContours(frame, [cnt], 0, (0, 255, 0), 2)
# this is to approximate a polygon with another polygon with less vertices
approx = cv.approxPolyDP(cnt, 0.02*cv.arcLength(cnt, True), True,)
x = approx.ravel()[0]
y = approx.ravel()[1]
if len(approx) == 3:
cv.putText(frame, "Triangle", (x, y), font, 1, (255, 0, 0))
elif len(approx) == 4:
cv.putText(frame, "rectangle", (x, y), font, 1, (255, 0, 0))
elif len(approx) == 5:
cv.putText(frame, "pentagon", (x, y), font, 1, (0, 255, 0))
elif len(approx) == 6:
cv.putText(frame, "hexagon", (x, y), font, 1, (0, 255, 0))
else:
cv.putText(frame, "circle", (x, y), font, 1, (0, 255, 0))
cv.imshow("edge", edge)
cv.imshow("Final", frame)
key = cv.waitKey(1)
ratio = image.shape[0] / 720
image = imutils.resize(image, height=720)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
final = imutils.resize(image.copy(), height=720)
gray = cv2.GaussianBlur(gray, (11, 11), 0)
# for x in range(180, 254):
thresh = cv2.threshold(gray, 190, 255, cv2.THRESH_BINARY)[1]
cnts = cv2.findContours(thresh.copy(), cv2.RETR_LIST,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
cnts = sorted(cnts, key=cv2.contourArea, reverse=True)[:7]
if (len(cnts) > 0):
for cardContour in cnts:
peri = cv2.arcLength(cardContour, True)
approx = cv2.approxPolyDP(cardContour, 0.02 * peri, True)
if len(approx) == 4 and cv2.contourArea(cardContour) >= 90000:
cv2.drawContours(image, [cardContour], -1, (0, 255, 0), 2)
flat = getPerspective.four_point_transform(
original.copy(),
approx.reshape(4, 2) * ratio)
if (flat.shape[0] < flat.shape[1]):
flat = imutils.rotate_bound(flat, 90)
gray = cv2.cvtColor(flat, cv2.COLOR_BGR2GRAY)
flatThresh = cv2.threshold(gray, 150, 255,
cv2.THRESH_BINARY_INV)[1]
cropped = flatThresh[:int(flatThresh.shape[0] /
2.5), :int(flatThresh.shape[1] /
3.7)]
#cv2.imshow("flat", imutils.resize(flat, height = 720))
def find_ellipse(img, mx=400, app=5, blr=10):
gray = cv2.cvtColor(img.copy(), cv2.COLOR_BGR2GRAY)
#331/360
#128/260
#C_MIN = np.array([0,0,0],np.uint8)
#C_MAX = np.array([0,0,0],np.uint8)
blurred = cv2.GaussianBlur(gray, (5, 5), 0)
edged = cv2.Canny(blurred, 0, 50, apertureSize=3)
if False:
# interesting approach but difficult to make circle large enough
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
hsv = cv2.blur(hsv, (15, 15))
C = 128 / 2
spikes = cv2.inRange(hsv.copy(), (C - 10, 5, 20), (C + 10, 255, 185))
C = 331 / 2
spikes2 = cv2.inRange(hsv.copy(), (C - 10, 5, 20), (C + 10, 255, 185))
result = cv2.bitwise_or(spikes, spikes2)
threshed = edged
threshed = cv2.blur(edged, (5, 5))
threshed = cv2.blur(threshed, (5, 5))
threshed = cv2.blur(threshed, (5, 5))
threshed = cv2.blur(threshed, (5, 5))
#cv2.imshow('file1', threshed)
(contours, c2) = cv2.findContours(threshed.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
cnts = sorted(contours, key=cv2.contourArea, reverse=True)[:10]
ccnts = []
for cont in cnts:
arr = cv2.contourArea(cont)
#print('cont', cv2.contourArea(cont))
if (len(cont) < 10):
continue
(x, y), (MA, ma), angle = cv2.fitEllipse(cont)
if (arr < 2500):
continue
ell_arr = 3.14 * MA * ma / 4
print(' ' + str(arr / ell_arr) + ' ; ' + str(cv2.contourArea(cont)))
if arr / ell_arr < 0.9 or arr / ell_arr > 1.10:
continue
epsilon = 0.001 * cv2.arcLength(cont, True)
ccnts.append(cv2.approxPolyDP(cont, 0.5, True))
if len(ccnts) < 1:
return (0, 0), (0, 0), None
cont = sorted(ccnts, key=cv2.contourArea, reverse=True)[0]
#cv2.drawContours(img, [cont], -1, (0,255,0), 3)
return cv2.fitEllipse(cont)
def make_segments(count, thresh, blur, image, path, newpath,
actual_contours_path, segment_path):
# print image.shape
# fo = open("processing.txt", "a")
# print path
coordinates_of_segments = {}
temp_coordinates = []
ret, th = cv2.threshold(blur, thresh, 255, cv2.THRESH_BINARY)
# individual = 'croppedSegments/'
xpath = newpath
imsave(newpath + '/thresholded_image.jpg', th)
filename = list(path.split('/'))
filename = filename[-1]
filename = list(filename.split('\\'))
filename = filename[-1]
# print filename
imsave(thresholded_path + filename, th)
cnts, hierarchy = cv2.findContours(th, 1, 2)
thresholded_image = cv2.cv.LoadImage(newpath + '/thresholded_image.jpg')
pathses = newpath + "/size.txt"
# delete_file(newpath + '/thresholded_image.jpg')
actual_image = cv2.imread(path)
file_name = []
file_name = path.split("\\")
file = file_name[-1]
coordinates_of_segments[file] = []
# print file,thresh
loaded_image = cv2.cv.LoadImage(path)
rect_image = actual_image
contour_list = []
mask = np.ones(image.shape[:2], dtype="uint8") * 255
# loop over the contours
number = 0
red_number = 0
green_number = 0
global mc_and_dc_list
segment_list = []
original_segment_list = []
coordinates_list = []
xmin = 10000
ymin = 10000
xmax = 0
ymax = 0
w1 = 0
h1 = 0
counters = 0
for c in cnts:
approx = cv2.approxPolyDP(c, 0.009 * cv2.arcLength(c, True), True)
area = cv2.contourArea(c)
if ((len(approx) > 8) & (area < 4000) & (area > 100)):
number += 1
global w, h
center, angle, w, h, x1, y1, x2, y2 = get_coordinates(
actual_image, c, coordinates_list)
if (x1 - w < xmin):
xmin = x1 - w
if (x2 + w > xmax):
xmax = x2 + w
if (y1 - h < ymin):
ymin = y1 - h
if (y2 + h > ymax):
ymax = y2 + h
w1 += w
h1 += h
counters = counters + 1
# print(x1-w,y1-h,x2+w,y2+h,counters,h1,h)
crop_th = crop_image(thresholded_image, center, angle, w, h)
crop = crop_image(loaded_image, center, angle, w, h)
image = crop
# create_dir(individual+file+'/')
cv2.cv.SaveImage(newpath + '/' + 'contour_' + str(number) + '.jpg',
crop_th)
cv2.cv.SaveImage(
actual_contours_path + 'contour_' + str(number) + '.jpg', crop)
# cv2.cv.SaveImage(individual+ file+'/' + str(random.randint(1,50000)) + '.jpg',crop)
temp_image = PIL.Image.open(newpath + '/' + 'contour_' +
str(number) + '.jpg')
original_temp_image = PIL.Image.open(actual_contours_path +
'contour_' + str(number) +
'.jpg')
segment_list.append(temp_image)
original_segment_list.append(original_temp_image)
# image = original_temp_image
image = skimage.color.rgb2gray(
skimage.io.imread(actual_contours_path + 'contour_' +
str(number) + '.jpg'))
delete_file(newpath + '/' + 'contour_' + str(number) + '.jpg')
delete_file(actual_contours_path + 'contour_' + str(number) +
'.jpg')
total = []
h = image.shape[0]
w = image.shape[1]
for x in xrange(h):
s = 0
for y in xrange(w):
s += image[x][y]
total.append(s)
avg = [sum(total) / len(total)] * len(total)
T = list(range(len(total)))
t = np.array(T)
power = np.array(total)
totalnew = np.linspace(t.min(), t.max(), len(total))
power_smooth = spline(t, power, totalnew)
# ax = axs[1]
sigma = 3
x_g1d = gaussian_filter1d(totalnew, sigma)
y_g1d = gaussian_filter1d(power_smooth, sigma)
index = []
temp = 0
for i in xrange(1, len(y_g1d) - 1):
if y_g1d[i] > y_g1d[i - 1] and y_g1d[i] > y_g1d[i + 1]:
index.append(i)
if len(index) == 0:
x_g1d = totalnew
y_g1d = power_smooth
for i in xrange(1, len(y_g1d) - 1):
if y_g1d[i] > y_g1d[i - 1] and y_g1d[i] > y_g1d[i + 1]:
index.append(i)
cm = []
for x in xrange(1, len(index)):
for y in xrange(x):
if y_g1d[index[y]] < y_g1d[index[x]]:
temp = index[y]
index[y] = index[x]
index[x] = temp
if len(index) > 0:
mx = [y_g1d[index[0]]] * len(total)
# plt.plot(t,mx)
cent1 = index[0]
# ax=axs[0]
cm1 = (w / 2, cent1)
cv2.circle(image, cm1, 3, (0, 1, 0), -1)
cm.append(cm1)
DCcount = 0
if len(index) > 1 and y_g1d[index[1]] > avg[0] and abs(
y_g1d[cent1] - y_g1d[index[1]]) < abs(y_g1d[index[1]] -
y_g1d[int(avg[0])]):
# if len(index)>1 and total[index[1]]>avg[0] and abs(cent1-index[1])>h/a and abs(total[cent1]-total[index[1]])<abs(total[index[1]]-total[int(avg[0])]):
mx2 = [y_g1d[index[1]]] * len(total)
# plt.plot(t,mx2)
cent2 = index[1]
cm2 = (w / 2, cent2)
cv2.circle(image, cm2, 3, (0, 1, 0), -1)
cm.append(cm2)
DCcount += 1
if len(cm) == 2:
red_number += 1
rect = cv2.minAreaRect(c)
box = cv2.cv.BoxPoints(rect)
temp_box = list(box)
temp_box.append((1, 1))
box = np.int0(box)
temp_coordinates.append(temp_box)
# print "coordinates of dc"
# print box
cv2.drawContours(actual_image, [box], 0, (0, 0, 255), 2)
else:
green_number += 1
rect = cv2.minAreaRect(c)
box = cv2.cv.BoxPoints(rect)
temp_box = list(box)
temp_box.append((0, 0))
box = np.int0(box)
temp_coordinates.append(temp_box)
# print "coordinates of mc"
# print box
cv2.drawContours(actual_image, [box], 0, (0, 255, 0), 2)
f = open(pathses, 'w')
##print(w1,h1,counters,w1/(counters),h1/(counters))
#print(pathses)
#print("dsfj sdjfhjdsfdsfjdsjf jdsfjds jfdsjjf sjfdjsfjdsh")
f.write('{} {} {} {} {} {}'.format(xmin, ymin, xmax, ymax,
w1 / (counters), h1 / (counters)))
f.close()
coordinates_of_segments[file] = temp_coordinates
cv2.imwrite(segment_path + filename, actual_image)
time.sleep(0.30)
#cv2.waitKey(50)
print "^^^^^^^^^^^^^^", time.time()
i = count + 1
# while soft_sheet['A'+str(i)]==None:
soft_sheet['A' + str(i)] = file
soft_sheet['B' + str(i)] = number
if not DCcount == 0:
soft_sheet['C' + str(i)] = DCcount
pathses, tail = os.path.split(pathses)
pathses, tail = os.path.split(pathses)
soft_data.save('data.xlsx')
mc_and_dc_list.append([red_number, green_number, number, tail[8:]])
return mc_and_dc_list, number, segment_list, original_segment_list, coordinates_list, coordinates_of_segments
def detect_markers(gray_img,grid_size,min_marker_perimeter=40,aperture=11,visualize=False):
edges = cv2.adaptiveThreshold(gray_img, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY, aperture, 9)
contours, hierarchy = cv2.findContours(edges,
mode=cv2.RETR_TREE,
method=cv2.CHAIN_APPROX_SIMPLE,offset=(0,0)) #TC89_KCOS
# remove extra encapsulation
hierarchy = hierarchy[0]
contours = np.array(contours)
# keep only contours with parents and children
contained_contours = contours[np.logical_and(hierarchy[:,3]>=0, hierarchy[:,2]>=0)]
# turn on to debug contours
# cv2.drawContours(gray_img, contours,-1, (0,255,255))
# cv2.drawContours(gray_img, aprox_contours,-1, (255,0,0))
# contained_contours = contours #overwrite parent children check
#filter out rects
aprox_contours = [cv2.approxPolyDP(c,epsilon=2.5,closed=True) for c in contained_contours]
# any rectagle will be made of 4 segemnts in its approximation
# also we dont need to find a marker so small that we cannot read it in the end...
# also we want all contours to be counter clockwise oriented, we use convex hull fot this:
rect_cand = [cv2.convexHull(c,clockwise=True) for c in aprox_contours if c.shape[0]==4 and cv2.arcLength(c,closed=True) > min_marker_perimeter]
# a non convex quadrangle is not what we are looking for.
rect_cand = [r for r in rect_cand if r.shape[0]==4]
if visualize:
cv2.drawContours(gray_img, rect_cand,-1, (255,100,50))
markers = {}
size = 10*grid_size
#top left,bottom left, bottom right, top right in image
mapped_space = np.array( ((0,0),(size,0),(size,size),(0,size)) ,dtype=np.float32).reshape(4,1,2)
for r in rect_cand:
if correct_gradient(gray_img,r):
r = np.float32(r)
M = cv2.getPerspectiveTransform(r,mapped_space)
flat_marker_img = cv2.warpPerspective(gray_img, M, (size,size) )#[, dst[, flags[, borderMode[, borderValue]]]])
# Otsu documentation here :
# https://opencv-python-tutroals.readthedocs.org/en/latest/py_tutorials/py_imgproc/py_thresholding/py_thresholding.html#thresholding
_ , otsu = cv2.threshold(flat_marker_img,0,255,cv2.THRESH_BINARY+cv2.THRESH_OTSU)
# getting a cleaner display of the rectangle marker
kernel = cv2.getStructuringElement(cv2.MORPH_CROSS, (3,3))
cv2.erode(otsu,kernel,otsu, iterations=3)
# kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (3,3))
# cv2.dilate(otsu,kernel,otsu, iterations=1)
marker = decode(otsu, grid_size)
if marker is not None:
angle,msg = marker
# define the criteria to stop and refine the marker verts
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.001)
cv2.cornerSubPix(gray_img,r,(3,3),(-1,-1),criteria)
centroid = r.sum(axis=0)/4.
centroid.shape = (2)
# angle is number of 90deg rotations
# roll points such that the marker points correspond with oriented marker
# rolling may not make the verts appear as you expect,
# but using m_screen_to_marker() will get you the marker with proper rotation.
r = np.roll(r,angle+1,axis=0) #np.roll is not the fastest when using these tiny arrays...
marker = {'id':msg,'verts':r,'perimeter':cv2.arcLength(r,closed=True),'centroid':centroid,"frames_since_true_detection":0}
if visualize:
marker['img'] = np.rot90(otsu,-angle/90)
if markers.has_key(marker['id']) and markers[marker['id']]['perimeter'] > marker['perimeter']:
pass
else:
markers[marker['id']] = marker
return markers.values()
def get_grid_dimensions(image):
"""
Tries to locate the grid dimension from a raw image
Process:
1. Converts the given image into greyscale
2. Apply gaussian blur to smooth the image
3. Apply thresholding to obtain a inverted binary image (Lines will be white while background will be black)
4. Apply contour detection and sort the contours from largest to smallest
5. Loop and filter the contour. Finding the largest and square contour (Assume the largest square contour will be the grid)
6. Returns the grid dimensions
:param image: type: numpy.ndarray
The raw sudoku image in color format
:return: type: tuple if grid is found, else None
Returns the grid coordinates in top left, top right, bottom right, bottom left order. If no grid is found, returns None
"""
# Reduce noise
# Convert image to greyscale
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# Gaussian blur
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# Thresholding
thresh = cv2.adaptiveThreshold(blur, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C,
cv2.THRESH_BINARY_INV, 11, 3)
# Contour detection, assuming grid is the biggest contour in the image
cnts, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# Sort from descending order & loop
for cnt in sorted(cnts, key=lambda x: cv2.contourArea(x), reverse=True):
# Use contours to transform grid into "Top down view/bird's eye view
# Find perimeter
peri = cv2.arcLength(cnt, True)
# Find corners
approx = cv2.approxPolyDP(cnt, 0.04 * peri, True)
# Filter only square/rect for grid
if len(approx) == 4:
# Unpack & Identify corners
corners = sorted([(corner[0][0], corner[0][1])
for corner in approx],
key=lambda x: x[0],
reverse=False)
top_corners, bottom_corners = corners[:-2], corners[2:]
top_left, bottom_left = sorted(top_corners,
key=lambda x: x[1],
reverse=False)
top_right, bottom_right = sorted(bottom_corners,
key=lambda x: x[1],
reverse=False)
# Return detected grid dimensions
return top_left, top_right, bottom_right, bottom_left
# Unable to find grid
return None
def identify_colors(self, ros_image):
try:
cv_image = self.bridge.imgmsg_to_cv2(ros_image, "bgr8")
#turn image to hsv image
hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
#setting up lower and upper hsv bounds
#these bounds were found using the hue_adjust script
lower_green = np.array([22, 88, 0])
upper_green = np.array([65, 255, 255])
lower_blue = np.array([66, 47, 0])
upper_blue = np.array([149, 255, 255])
lower_yellow = np.array([15, 159, 164])
upper_yellow = np.array([107, 255, 255])
#erode rectangle elementof size 3x3 pixels
erode_element = cv2.getStructuringElement(cv2.MORPH_RECT, (3, 3))
#dilate rectangle element of size 8x8 pixels
dilate_element = cv2.getStructuringElement(cv2.MORPH_RECT, (8, 8))
mask_green = cv2.inRange(hsv, lower_green, upper_green)
mask_blue = cv2.inRange(hsv, lower_blue, upper_blue)
mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
#erode hsv image to get rid of outliers
mask_green = cv2.erode(mask_green, erode_element)
#dilate hsv to recover lost points of interest
mask_green = cv2.dilate(mask_green, dilate_element)
#erode hsv image to get rid of outliers
mask_blue = cv2.erode(mask_blue, erode_element)
#dilate hsv to recover lost points of interest
mask_blue = cv2.dilate(mask_blue, dilate_element)
#erode hsv image to get rid of outliers
mask_yellow = cv2.erode(mask_yellow, erode_element)
#dilate hsv to recover lost points of interest
mask_yellow = cv2.dilate(mask_yellow, dilate_element)
###################### FIND YELLOW ###################################
(cnts, nah) = cv2.findContours(mask_yellow.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = sorted(cnts, key=cv2.contourArea, reverse=True)[:1]
for c in cnts:
#get the perimeter of the countour
peri = cv2.arcLength(c, True)
#approximate perimeter to generate smooth shape
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
screenCnt = approx
#get the area bounded by the contour
area = cv2.contourArea(c)
#if the area is bigger than 30x30 pixels
if area >= 30 * 30:
moment = cv2.moments(c)
#getting centroid coordinates
cx = int(moment['m10'] / moment['m00'])
cy = int(moment['m01'] / moment['m00'])
h = int(peri / 5)
w = int(peri / 20)
#Draw yellow rectangle around yellow block
cv2.rectangle(cv_image, (cx - h, cy - w), (cx + h, cy + w),
(10, 240, 240), 2)
# Write on image
#write 'yellow block' and the coordinates of the crentroid
yellow_caption = "YELLOW BLOCK (%s,%s)" % (cx, cy)
cv2.putText(cv_image, yellow_caption, (cx, cy),
cv2.FONT_HERSHEY_COMPLEX, 0.4, (255, 0, 0), 1,
1)
#cv2.drawContours(image, [screenCnt], -1, (0, 255, 0), 2)
######################################################################################################
############################### FIND BLUE #################################
(blue_cnts, nah2) = cv2.findContours(mask_blue.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = sorted(blue_cnts, key=cv2.contourArea, reverse=True)[:1]
for c in blue_cnts:
#get the perimeter of the countour
peri = cv2.arcLength(c, True)
#approximate perimeter to generate smooth shape
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
screenCnt = approx
#get the area bounded by the contour
area = cv2.contourArea(c)
#if the area is bigger than 30x30 pixels
if area >= 30 * 30:
moment = cv2.moments(c)
#getting centroid coordinates
cx = int(moment['m10'] / moment['m00'])
cy = int(moment['m01'] / moment['m00'])
h = int(peri / 5)
w = int(peri / 20)
#Draw yellow rectangle around yellow block
cv2.rectangle(cv_image, (cx - h, cy - w), (cx + h, cy + w),
(255, 0, 0), 2)
# Write on image
#write 'yellow block' and the coordinates of the crentroid
blue_caption = "BLUE BLOCK (%s,%s)" % (cx, cy)
cv2.putText(cv_image, blue_caption, (cx, cy),
cv2.FONT_HERSHEY_COMPLEX, 0.4, (255, 0, 0), 1,
1)
############################################################################################################
######################### FIND GREEN ###############################################
(green_cnts, nah3) = cv2.findContours(mask_green.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
green_cnts = sorted(green_cnts, key=cv2.contourArea,
reverse=True)[:1]
for c in green_cnts:
#get the perimeter of the countour
peri = cv2.arcLength(c, True)
#approximate perimeter to generate smooth shape
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
screenCnt = approx
#get the area bounded by the contour
area = cv2.contourArea(c)
#if the area is bigger than 30x30 pixels
if area >= 30 * 30:
moment = cv2.moments(c)
#getting centroid coordinates
cx = int(moment['m10'] / moment['m00'])
cy = int(moment['m01'] / moment['m00'])
h = int(peri / 5)
w = int(peri / 20)
#Draw yellow rectangle around yellow block
cv2.rectangle(cv_image, (cx - h, cy - w), (cx + h, cy + w),
(0, 255, 0), 2)
# Write on image
#write 'yellow block' and the coordinates of the crentroid
green_caption = "GREEN BLOCK (%s,%s)" % (cx, cy)
cv2.putText(cv_image, green_caption, (cx, cy),
cv2.FONT_HERSHEY_COMPLEX, 0.4, (255, 0, 0), 1,
1)
####################################################################################################################
# Why is it not publishing??
#self.image_pub.publish(self.bridge.cv2_to_imgmsg(cv_image, "bgr8"))
cv2.imshow("COLORS", cv_image)
key = cv2.waitKey(20)
if key == 27:
exit()
except CvBridgeError, e:
print e
frame = cv2.drawContours(frame, contours, -1, (0, 0, 250), 1)
cv2.fillPoly(frame, pts=contours, color=(255, 0, 255))
cv2.imshow('CONTOUR', frame)
cv2.moveWindow('CONTOUR', 1400, 0)
#get conture centers
contours_poly = len(contours)
center = len(contours)
radius = len(contours)
#find enclosing polygon which fits around the contures
rMax = 1
origo = (100, 100)
for i in range(0, len(contours)):
cont = contours[i]
approx = cv2.approxPolyDP(cont, 2, True)
#(x,y),radius = cv2.minEnclosingCircle(approx)
(x, y), radius = cv2.minEnclosingCircle(cont)
center = (int(x), int(y))
radius = int(radius)
frameCircle = cv2.circle(frame, center, radius, (255, 0, 0), 2)
if x > 0 and x < 640 and y > 0 and y < 480: #ROI window for region of interes can be smaller (not the full window)
if int(radius) > rMax:
rMax = int(radius)
origo = center
print("rMax & origo: ")
print(rMax, origo)
frameCircle = cv2.line(frame, (100, 200), (100, 100), (0, 255, 255),
2) # ideal line
frameCircle = cv2.line(frame, (100, 200), origo, (0, 0, 250),
white, contours, hierarchy = cv2.findContours(
white, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
#cv2.drawContours(white,contours,-1,100,3)
block_n = detectors.block_number_detector(bNw)
#print 'block number = ', block_n
all_shape = []
all_angle = []
for contour in contours:
perimeter = cv2.arcLength(contour, True)
approx = cv2.approxPolyDP(contour, 0.04 * perimeter, True)
shape, angle = detectors.shape_detector(approx)
all_shape.append(shape)
all_angle.append(angle)
#print all_shape
#print 'orientation:', all_angle
eva = 'Wrong'
if block_n == 1:
top = detectors.top_detector(all_shape, all_angle)
print 'top surface:', top
elif block_n == 0:
pass
def Draw_triangle(self,contours,rgb,obj_desire):
##################
DELAY = 0.02
USE_CAM = 1
IS_FOUND = 0
count=0#count feature tile numbers
cnt=0
central_list=[]
uvuv=uv()
tile_uv=tileuv()
##################
_width = 480.0
_height = 640.0
_margin = 0.0
corners = np.array(
[
[[ _margin, _margin ]],
[[ _margin, _height + _margin ]],
[[ _width + _margin, _height + _margin ]],
[[ _width + _margin, _margin ]],
]
)
pts_dst = np.array( corners, np.float32 )
latest_central=(0,0)
for cont in contours:
resultuv = []
"""
#1,num,2,centeral point 3,for angular point uv ,4,clockwise direction
#caculating Area for tile selected just one tile
"""
# print "cont----------", cont
# 获取轮廓长度
arc_len = cv2.arcLength(cont, True)
# 多边形拟合
approx = cv2.approxPolyDP(cont, 0.1 * arc_len, True)
# print "cv2.contourArea(cont)",cv2.contourArea(cont)
# print "approx",len(np.array(approx).reshape(-1,2))
if cv2.contourArea(cont) > 3000 and cv2.contourArea(cont) < 8000:
# if cv2.contourArea(cont) > 3000:
if (len(approx) == 4):
IS_FOUND = 1
M = cv2.moments(cont)
# 获取图像质心坐标
cX = int(M["m10"] / M["m00"])
cY = int(M["m01"] / M["m00"])
now_central = (cX, cY)
if self.Judge_isnot_same_tile(latest_central, now_central) != 1:
count += 1
cv2.putText(rgb, str(count), (cX, cY), cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 0, 255), 3)
print "CX,CY", [cX, cY]
central_list.append([cX, cY])
pts_src = np.array(approx, np.float32)
# print "pts_src", pts_src
cv2.circle(rgb, (cX, cY), 5, (0, 0, 0), -1)
# print approx.tolist()
angular_point = []
new_approx=self.Sort_tile_feature(approx)
print "new_approx",new_approx
for i in range(len(new_approx)):
if i == 0:
cv2.circle(rgb, (new_approx[i][0], new_approx[i][1]), 5, (20, 60, 220), -1)
angular_point.append([new_approx[i][0], new_approx[i][1]])
cv2.putText(rgb, str(i), (new_approx[i][0], new_approx[i][1]),
cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 0, 0), 1)
else:
cv2.circle(rgb, (new_approx[i][0], new_approx[i][1]), 5, (0, 255, 0), -1)
angular_point.append([new_approx[i][0], new_approx[i][1]])
cv2.putText(rgb, str(i), (new_approx[i][0], new_approx[i][1]),
cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 0, 0), 1)
resultuv.append([[count],[cX, cY], angular_point])
# draw trangle in image
h, status = cv2.findHomography(pts_src, pts_dst)
out = cv2.warpPerspective(rgb, h, (int(_width + _margin * 2), int(_height + _margin * 2)))
cv2.drawContours(rgb, [approx], -1, (0, 255, 255), 3)
# cv2.drawContours(rgb, [approx], -1, (20*count, 255, 0), -1, cv2.LINE_AA)
print "all info for tile------", resultuv
cv2.line(rgb, ((angular_point[0][0]+angular_point[1][0])/2,(angular_point[0][1]+angular_point[1][1])/2), (cX,cY), (255,0,0), 3)
print "Now tile id",count
if count == 1:
tile_uv.tile_id = count
tile_uv.obj_desire = obj_desire
tile_uv.cen_uv.uvinfo = [cX, cY]
tile_uv.f1th_uv.uvinfo = angular_point[0]
tile_uv.s2th_uv.uvinfo = angular_point[1]
tile_uv.t3th_uv.uvinfo = angular_point[2]
tile_uv.f4th_uv.uvinfo = angular_point[3]
self.tile_pub.publish(tile_uv)
latest_central = now_central
else:
pass
# count += 1
# cnt += 11
return rgb.copy()
# find contours in the edged image, then initialize the contour that corresponds to the document
cnts=cv2.findContours(edged.copy(),cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
cnts=imutils.grab_contours(cnts)
docCnt = None
# ensure that at least one contour was found
if len(cnts)>0:
# sort the contours according to their size in descending order
cnts=sorted(cnts,key=cv2.contourArea,reverse=True)
# loop over sorted contours
for c in cnts:
# approximate the contour
peri=cv2.arcLength(c,True)
approx=cv2.approxPolyDP(c,peri*0.02,True)
# if approximated contour has four points,then we can assume we have found the paper
if len(approx)==4:
docCnt=approx
break
# show the Outlined image
outline=image.copy()
cv2.drawContours(outline,[docCnt],-1,(0,255,0),2)
print(docCnt)
cv2.imshow("Outline",outline)
cv2.waitKey(0)
cv2.destroyAllWindows()
# apply a four point perspective transform to both the original image and grayscale image to obtain a top-down birds eye view of the paper
paper=four_point_transform(image,docCnt.reshape(4,2))
def imageProcess(img):
NONE = -1
FRONT = 0
STOP = 1
LEFTLINE = 2
RIGHTLINE = 3
i_param = NONE
def onMouse(event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
print("(%d, %d)" % (x, y))
pixel = np.uint8([[img[y, x]]])
print("BGR=", end='')
print(pixel[0][0])
pixel_hsv = cv2.cvtColor(pixel, cv2.COLOR_BGR2HSV)
print("HSV=", end='')
print(pixel_hsv[0][0])
cv2.setTrackbarPos("LowH", "Trackbar Windows",
pixel_hsv[0][0][0] - 25)
cv2.setTrackbarPos("HighH", "Trackbar Windows",
pixel_hsv[0][0][0] + 25)
cv2.setTrackbarPos("LowS", "Trackbar Windows",
pixel_hsv[0][0][1] - 35)
cv2.setTrackbarPos("HighS", "Trackbar Windows",
pixel_hsv[0][0][1] + 35)
cv2.setTrackbarPos("LowV", "Trackbar Windows",
pixel_hsv[0][0][2] - 40)
cv2.setTrackbarPos("HighV", "Trackbar Windows",
pixel_hsv[0][0][2] + 40)
def hough(src):
lines = cv2.HoughLinesP(src,
rho=2,
theta=np.pi / 180.0,
threshold=50,
minLineLength=20,
maxLineGap=10)
return lines
##################################################
img_show = img.copy()
# weighted_img(img, img)
# gray scaling
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# Gaussian blur
gray_blur = cv2.GaussianBlur(gray, ksize=(3, 3), sigmaX=0.0)
blur = cv2.GaussianBlur(img, ksize=(3, 3), sigmaX=0.0)
# HSV color
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
lower_Green = (65, 100, 50)
upper_Green = (80, 255, 255)
lower_Blue = (95, 75, 30)
upper_Blue = (120, 255, 255)
hsvGreen = cv2.inRange(hsv, lower_Green, upper_Green)
hsvBlue = cv2.inRange(hsv, lower_Blue, upper_Blue)
# pinkL, pinkU = getTrackbar()
# hsvPink = cv2.inRange(hsv, pinkL, pinkU)
# Canny
edges = cv2.Canny(gray_blur, 50, 100)
# add hsv and edges binary image
img_bin = cv2.add(edges, hsvGreen)
## ROI
height, width = img.shape[:2]
# traffic light ROI
hsvBlue_roi = roi(
hsvBlue,
np.array([[(width // 2, 0), (width, 0), (width, int(height * 0.6)),
(width // 2, int(height * 0.6))]],
dtype=np.int32))
# delete small objects
kernel = np.ones((7, 7), np.uint8)
hsvBlue_roi = cv2.morphologyEx(hsvBlue_roi, cv2.MORPH_CLOSE, kernel)
retval, labels, stats, centroids = cv2.connectedComponentsWithStats(
hsvBlue_roi)
min_pixels = 1000
blue_vertices = []
for i in range(1, retval):
(x, y, w, h, area) = stats[i]
# select two biggest areas
if area > min_pixels:
vertices1 = np.array([[(x, y), (x + w, y), (x + w, y + h),
(x, y + h)]],
dtype=np.int32)
blue_vertices.append(vertices1)
hsvBlue_roi = roi(hsvBlue_roi, blue_vertices)
_, contours, hierarchy = cv2.findContours(hsvBlue_roi, cv2.RETR_CCOMP,
cv2.CHAIN_APPROX_NONE)
# find traffic light
lower_GL = (60, 0, 200)
upper_GL = (100, 100, 255)
lower_RL = (0, 0, 150)
upper_RL = (30, 100, 255)
for i in range(len(contours)):
approx = cv2.approxPolyDP(contours[i],
cv2.arcLength(contours[i], True) * 0.02,
True)
vtc = len(approx)
if vtc == 4 and hierarchy[0][i][2] != -1:
inner_cont = hierarchy[0][i][2]
approx = cv2.approxPolyDP(
contours[inner_cont],
cv2.arcLength(contours[inner_cont], True) * 0.02, True)
vtc = len(approx)
if vtc == 4:
(c_x, c_y, c_w, c_h) = cv2.boundingRect(contours[inner_cont])
hsv_TL = hsv[c_y:c_y + c_h, c_x:c_x + c_w]
hsv_TL_green = cv2.inRange(hsv_TL, lower_GL, upper_GL)
hsv_TL_red = cv2.inRange(hsv_TL, lower_RL, upper_RL)
# cv2.imshow('TL_G', hsv_TL_green)
cv2.imshow('TL_R', hsv_TL_red)
for i in hsv_TL_red:
if list(i).count(255) > 2:
i_param = STOP
cv2.rectangle(img_show, (c_x, c_y),
(c_x + c_w, c_y + c_h), (255, 0, 0), 1)
cv2.putText(img_show, 'Light', (c_x, c_y + 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255))
break
for i in hsv_TL_green:
if list(i).count(255) > 5:
i_param = FRONT
cv2.rectangle(img_show, (c_x, c_y),
(c_x + c_w, c_y + c_h), (255, 0, 0), 1)
cv2.putText(img_show, 'Light', (c_x, c_y + 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0))
break
if i_param == NONE:
cv2.rectangle(img_show, (c_x, c_y), (c_x + c_w, c_y + c_h),
(255, 0, 0), 1)
cv2.putText(img_show, 'Light', (c_x, c_y + 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255))
if i_param == NONE:
i_param = FRONT
# line ROI
near_roi_height = 100
mid_roi_height = 80
# far_roi_height = 80
near_height = height - near_roi_height
mid_height = height - near_roi_height - mid_roi_height
# far_height = height - near_roi_height - mid_roi_height - far_roi_height
# detect line
near_vertices, near_detected = get_roi_square(hsvGreen, img_bin, img_show,
near_height, height)
mid_vertices, mid_detected = get_roi_square(hsvGreen, img_bin, img_show,
mid_height, near_height)
# far_vertices, far_lines = get_roi_square(hsvGreen, img_bin, img_show, far_height, mid_height)
roi_bin = roi(img_bin, near_vertices + mid_vertices)
detected = [near_detected, mid_detected]
# draw center line
cv2.line(img_show, (width // 2, height), (width // 2, height // 2),
(50, 180, 50), 2)
# cv2.imshow('origin', ori_img)
cv2.imshow('frame', img_show)
cv2.imshow('edges', edges)
cv2.imshow('HSV green', hsvGreen)
cv2.imshow('roi_bin', roi_bin)
cv2.setMouseCallback('frame', onMouse)
ret, buffer = cv2.imencode('.jpg', img_show)
frame = buffer.tobytes()
return frame, detected, i_param
def buscador(cola_frames, val_ini, color, cola_obj):
cv.namedWindow("Barras " + color)
cv.createTrackbar('L-H', "Barras " + color, val_ini.l_h, 180, nothing)
cv.createTrackbar('U-H', "Barras " + color, val_ini.u_h, 180, nothing)
cv.createTrackbar('L-S', "Barras " + color, val_ini.l_s, 255, nothing)
cv.createTrackbar('U-S', "Barras " + color, val_ini.u_s, 255, nothing)
cv.createTrackbar('L-V', "Barras " + color, val_ini.l_v, 255, nothing)
cv.createTrackbar('U-V', "Barras " + color, val_ini.u_v, 255, nothing)
while True:
if (cola_frames.empty()):
nothing(1)
else:
frame = cola_frames.get()
hsv = cv.cvtColor(frame, cv.COLOR_BGR2HSV)
l_h = cv.getTrackbarPos('L-H', "Barras " + color)
l_s = cv.getTrackbarPos('L-S', "Barras " + color)
l_v = cv.getTrackbarPos('L-V', "Barras " + color)
u_h = cv.getTrackbarPos('U-H', "Barras " + color)
u_s = cv.getTrackbarPos('U-S', "Barras " + color)
u_v = cv.getTrackbarPos('U-V', "Barras " + color)
color_min = np.array([l_h, l_s, l_v])
color_max = np.array([u_h, u_s, u_v])
mask = cv.inRange(hsv, color_min, color_max)
kernel = np.ones((5, 5), np.uint8)
mask = cv.erode(mask, kernel)
contours, _ = cv.findContours(mask, cv.RETR_TREE,
cv.CHAIN_APPROX_SIMPLE)
if (len(contours) < 1):
if cola_obj.full():
pass
else:
cola_obj.put([color, "NA"])
else:
areamax = 0
for contour in contours:
area = cv.contourArea(contour)
approx = cv.approxPolyDP(
contour, 0.02 * cv.arcLength(contour, True), True)
x = approx.ravel()[0]
y = approx.ravel()[1]
if (area > 400):
momentos = cv.moments(contour)
cx = int(momentos['m10'] / momentos['m00'])
cy = int(momentos['m01'] / momentos['m00'])
if len(approx) == 3:
cv.drawContours(frame, [approx], 0,
(val_ini.B, val_ini.G, val_ini.R),
2)
cv.circle(frame, (cx, cy), 3,
(val_ini.B, val_ini.G, val_ini.R), -1)
if cola_obj.full():
pass
else:
cola_obj.put([color, area, "T", cx, cy])
cv.putText(frame, "Base", (x, y), font, 1,
(255, 255, 255))
elif len(approx) >= 4 and len(approx) <= 8:
if area > areamax:
areamax = area
cv.drawContours(
frame, [approx], 0,
(val_ini.B, val_ini.G, val_ini.R), 2)
cv.circle(frame, (cx, cy), 3,
(val_ini.B, val_ini.G, val_ini.R),
-1)
if cola_obj.full():
pass
else:
cola_obj.put([color, area, "C", cx, cy])
cv.putText(frame, "Objetivo", (x, y), font, 1,
(255, 255, 255))
cv.imshow("Mask " + color, mask)
cv.imshow("Siguiendo " + color, frame)
if cv.waitKey(1) == ord('q'):
break
cv.waitKey(1)
files = glob.glob(f"{path}/map.topo.*.png")
files.sort()
for file in files:
image = imageio.imread(file)
image[mask[0], mask[1], :] = 0
for region in regions:
min_row, min_col, max_row, max_col = region.bbox
rotated = img_as_ubyte(
rotate(image[min_row:max_row, min_col:max_col, :],
angle=90 - math.degrees(region.orientation),
order=0))
_, thresh = cv2.threshold(cv2.cvtColor(rotated, cv2.COLOR_BGR2GRAY), 1,
255, cv2.THRESH_BINARY)
contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
x, y, w, h = cv2.boundingRect(contours[-1])
crop = rotated[y:y + h, x:x + w, :]
cv2.imwrite(
file.replace(".png", f".reg{region.label}.png").replace(
"map.topo", "arrow."), crop)
mask_img = cv2.imread(f"{path}/mask.png")
_, thresh = cv2.threshold(cv2.cvtColor(mask_img, cv2.COLOR_BGR2GRAY), 1, 255,
cv2.THRESH_BINARY)
contours, _ = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
image = cv2.imread(f"{path}/nets.sh7.png")
for cnt in contours:
approx = cv2.approxPolyDP(cnt, 0.009 * cv2.arcLength(cnt, True), True)
cv2.drawContours(image, [approx], 0, (0, 0, 0), 5)
cv2.imwrite(f"{path}/arrow.nets.sh7.png", image)
# apply Canny Edge Detection
edged = cv2.Canny(blurred, 0, 50)
orig_edged = edged.copy()
# find contours in the edged image
# keep the largest contours and initialize the screen contour
(contours, _) = cv2.findContours(edged, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
contours = sorted(contours, key=cv2.contourArea, reverse=True)
#x,y,w,h = cv2.boundingRect(contours[0])
#cv2.rectangle(image,(x,y),(x+w,y+h),(0,0,255),0)
# get approximate contour
for c in contours:
p = cv2.arcLength(c, True)
approx_cont = cv2.approxPolyDP(c, 0.02 * p, True)
if len(approx_cont) == 4:
target = approx_cont
break
# mapping target points to 800x800 quadrilateral
approx_cont = rect.rectify(target)
pts2 = np.float32([[0,0],[800,0],[800,800],[0,800]])
M = cv2.getPerspectiveTransform(approx_cont,pts2)
dst = cv2.warpPerspective(orig,M,(800,800))
cv2.drawContours(image, [target], -1, (0, 255, 0), 2)
dst = cv2.cvtColor(dst, cv2.COLOR_BGR2GRAY)
plt.subplot(223), plt.imshow(cv2.cvtColor(
orig, cv2.COLOR_BGR2RGB)), plt.title('Contour')
plt.xticks([]), plt.yticks([])
orig2 = img.copy()
# create hull array for convex hull points
hull_arr = []
simple = []
# calculate points for each contour
for i in range(len(contours)):
# creating convex hull object for each contour
hull = cv2.convexHull(contours[i], True)
hull_arr.append(hull)
peri = cv2.arcLength(contours[i], True)
approx = cv2.approxPolyDP(contours[i], 0.01 * peri, True)
simple.append(approx)
#x, y, w, h = cv2.boundingRect(contours[i])
#cv2.rectangle(orig2, (x, y), (x + w, y + h), (0, 0, 255), 2)
rows, cols = orig2.shape[:2]
[vx, vy, x, y] = cv2.fitLine(contours[i], cv2.DIST_L2, 0, 0.01, 0.01)
lefty = int((-x * vy / vx) + y)
righty = int(((cols - x) * vy / vx) + y)
cv2.line(orig2, (cols - 1, righty), (0, lefty), (0, 0, 255), 3)
M = cv2.moments(hull)
cX = int(M['m10'] / M['m00'])
cY = int(M['m01'] / M['m00'])
cv2.circle(orig2, (cX, cY), 25, (255, 0, 255), -1)
cv2.drawContours(orig2, hull_arr, -1, (0, 255, 0), 3)
def approx_poly(cnt, e):
#cnt = an input contour
#e = percentage value of arc length used to define approximation
#returns an approximation of cnt
return cv2.approxPolyDP(cnt, e * arc_len(cnt), True)
cv2.THRESH_BINARY,11,2)
#invert
th3=cv2.bitwise_not(th3)
cv2.imshow('threshold',th3)
cv2.waitKey(0)
#find contours
im2, contours, hierarchy = cv2.findContours(th3,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
c2=[]
#filter out small contours by area
for i in contours:
area = cv2.contourArea(i)
if area>80:
epsilon = 0.0001*cv2.arcLength(i,True)
approx = cv2.approxPolyDP(i,epsilon,True)
c2.append(approx)
print(area)
# create new image with only contours and blur it using mean blur
a=np.zeros(img.shape,np.uint8)
cv2.drawContours(a, c2, -1, (255,255,255), 1)
a=cv2.cvtColor(a,cv2.COLOR_BGR2GRAY)
a=cv2.bitwise_not(a)
kernel = np.ones((5,5),np.float32)/25
#
#a=cv2.bitwise_not(a)
a = cv2.filter2D(a,-1,kernel)
cv2.imwrite("c2.jpeg",a)
cv2.imshow('fin',a)
## so that they can be picked up by a robotic system and placed in different bins
import numpy as np
import cv2
img2 = cv2.imread('Task 5.png')
img = img2.copy()
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) #convert to gray scale
ret, thresh = cv2.threshold(gray, 127, 255, 0) #randomly selected threshold
contours, h = cv2.findContours(thresh, 1,
2) # built in funcino to find contours
for cnt in contours:
approx = cv2.approxPolyDP(cnt, 0.01 * cv2.arcLength(cnt, True),
True) #count number of arcs to make a contour
#highlight different contours in different ways based on number of sides
if len(approx) == 4:
print("square")
cv2.drawContours(img, [cnt], 0, (0, 0, 255),
3) #draw contours on image
elif len(approx) == 9:
print("half-circle")
cv2.drawContours(img, [cnt], 0, (255, 255, 0), 3)
elif (len(approx) > 9):
print("circle")
cv2.drawContours(img, [cnt], 0, (10, 100, 100), 3)
if len(approx) >= 14:
print("Hole")
cv2.drawContours(img, [cnt], 0, (100, 0, 10), 3)
def get_corners(img):
'''Finds the bounding rectangle of the most likely rectangle
in the given greyscale image, and returns its corners'''
gray = threshold(img)
contours, hierachy = cv2.findContours(gray, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
best_contour = sorted(contours, key=lambda c:c.size, reverse=True)[0]
approx = cv2.approxPolyDP(best_contour, 0.01*cv2.arcLength(best_contour, True), True)
# print 'Length:', len(approx)
print 'Got %d contours' % len(contours)
# print 'C1:', contours[0]
# print 'Shape:', contours[0].shape
# size = [c.size for c in contours]
# plt.hist(size, bins=20)
# plt.show()
red = cv2.cv.CV_RGB(255,0,0)
cv2.drawContours(img, [best_contour], -1, red, 2)
# cv2.drawContours(img, [approx], -1, red, 2)
plt.imshow(img)
plt.show()
# cv2.imshow('Frame', img)
# cv2.waitKey(0)
# cv2.destroyAllWindows()
corners = approx.flatten().reshape(len(approx), 2)
sorted_corners = sorted(corners, key=np.sum)
print 'Corners:', sorted_corners
return sorted_corners