Assignment_1_YatharthSharma.py

# -*- coding: utf-8 -*-
"""robo_task1.ipynb

Automatically generated by Colab.

Original file is located at
    https://colab.research.google.com/drive/1slKTcWp4D6mbCvZfyesiGG3anx9oCSNQ
"""
# Run on collab, as cv2_imshow is used instead of cv2.imshow

import numpy as np
import pandas as pd
import matplotlib.pyplot as plt
import cv2
from google.colab.patches import cv2_imshow

img = cv2.imread("tennis_ball.jpeg")

cv2_imshow(img)



hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
print("Shape of HSV image:", hsv.shape)

lower_yellow = np.array([30, 100, 100], dtype=np.uint8)
upper_yellow = np.array([40, 255, 255], dtype=np.uint8)
print("Shape of lower_yellow:", lower_yellow.shape)
print("Shape of upper_yellow:", upper_yellow.shape)
mask = cv2.inRange(hsv, lower_yellow, upper_yellow)

# Bitwise-AND mask and original image
result = cv2.bitwise_and(img,img, mask= mask)

# display the mask and masked image
cv2_imshow(mask)
cv2.waitKey(0)
cv2_imshow(result)
cv2.waitKey(0)
cv2.destroyAllWindows()

# Step 6: Convert the masked image to grayscale
gray = cv2.cvtColor(result, cv2.COLOR_BGR2GRAY)

# Step 7: Apply Gaussian Blur to the grayscale image
blurred = cv2.GaussianBlur(gray, (9, 9), 2)

edges = cv2.Canny(blurred, 50, 150)

blurred

"""### max_circle should be defined to get better results"""

circles = cv2.HoughCircles(edges, cv2.HOUGH_GRADIENT, dp=1, minDist=20,
                           param1=50, param2=30, minRadius=0, maxRadius=0)


# if circles is not None:
#     circles = np.uint16(np.around(circles))
#     for i in circles[0, :]:
#         # Draw the outer circle
#         cv2.circle(img, (i[0], i[1]), i[2], (0, 255, 0), 2)
#         # Draw the center of the circle
#         cv2.circle(img, (i[0], i[1]), 2, (0, 0, 255), 3)
final_img = img.copy()

max_circles = 3

if circles is not None:
    # Convert circles to integer coordinates for drawing
    circles = np.uint16(np.around(circles))

    # Limit the number of circles drawn (based on max_circles)
    circles_to_draw = circles[0, :max_circles]

    for i in circles_to_draw:
      # Draw the outer circle
      cv2.circle(final_img, (i[0], i[1]), i[2], (0, 255, 0), 2)
      # Draw the center of the circle
      cv2.circle(final_img, (i[0], i[1]), 2, (0, 0, 255), 3)

cv2_imshow(final_img)
cv2.waitKey(0)
cv2.destroyAllWindows()

img