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test.py
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from imp import init_builtin
import cv2
import math
from RioComms import RioComms
tableName = "balls"
serverURL = "10.40.26.2"
rioComms = RioComms(serverURL)
def send(key, val):
rioComms.send(tableName, key, val)
def get(key):
rioComms.get(tableName, key, -1000)
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_EXPOSURE, -6)
while True:
_, initImg = cap.read()
img = initImg.copy()
redBalls = []
blueBalls = []
#cv2.imshow("yo", img)
img = cv2.resize(img, (133, 100))
img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(img, (0,255*1/3, 50), (360,255,255))
blueSat = cv2.inRange(img, (0, 255 * 1/3, 30), (360,255,255))
blueImg = cv2.bitwise_and(img, img, mask=blueSat)
img = cv2.bitwise_and(img, img, mask=mask)
#cv2.imshow("yo2", mask)
#cv2.imshow("yo3", img)
mask2 = cv2.inRange(img, (0, 0, 0), (10, 255, 255))
mask3 = cv2.inRange(img, (175, 0, 0), (180, 255, 255))
mask4 = cv2.bitwise_or(mask2, mask3)
mask5 = cv2.bitwise_and(mask4, mask)
maskBlue = cv2.inRange(blueImg, (90, 0, 0), (110, 255, 255))
maskBlue = cv2.bitwise_and(maskBlue, blueSat)
#cv2.imshow("blue", cv2.bitwise_and(blueImg, blueImg, mask=maskBlue))
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, ksize=(5, 5))
maskBlue = cv2.dilate(maskBlue, kernel)
maskBlue = cv2.erode(maskBlue, kernel)
maskBlue = cv2.erode(maskBlue, kernel, iterations=2)
maskBlue = cv2.dilate(maskBlue, kernel, iterations=2)
mask5 = cv2.dilate(mask5, kernel, iterations=1)
mask5 = cv2.erode(mask5, kernel, iterations=1)
mask5 = cv2.erode(mask5, kernel, iterations=2)
mask5 = cv2.dilate(mask5, kernel, iterations=2)
#mask5 = cv2.dilate(mask5, kernel, iterations=2)
img = cv2.bitwise_and(img, img, mask=mask5)
img = cv2.cvtColor(img, cv2.COLOR_HSV2BGR)
#cv2.imshow("yo5", mask5)
cnts = cv2.findContours(mask5.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
#print(len(cnts[0]))
for i in cnts[0]:
peri = cv2.arcLength(i, True)
area = cv2.contourArea(i)
if(area > 100):
M = cv2.moments(i)
cX = int((M["m10"] / M["m00"])) / 133
cY = int((M["m01"] / M["m00"])) / 100
peri = cv2.arcLength(i, True)
area = cv2.contourArea(i)
rat = peri/math.sqrt(area)
if rat < 4 and rat > 3.4 and area > 100:
#print(rat)
initImg = cv2.circle(initImg,(math.floor(cX * 640), math.floor(cY * 480)), 20, (255,0,0), -1)
redBalls.append([cX, cY])
#print(peri/math.sqrt(area))
#print("x: " + str(cX) + ", y: " + str(cY))
cnts = cv2.findContours(maskBlue.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
#print(len(cnts[0]))
for i in cnts[0]:
peri = cv2.arcLength(i, True)
area = cv2.contourArea(i)
if(area > 100):
M = cv2.moments(i)
cX = int((M["m10"] / M["m00"])) / 133
cY = int((M["m01"] / M["m00"])) / 100
peri = cv2.arcLength(i, True)
area = cv2.contourArea(i)
rat = peri/math.sqrt(area)
if rat < 4 and rat > 3.4 and area > 100:
#print(rat)
initImg = cv2.circle(initImg,(math.floor(cX * 640), math.floor(cY * 480)), 20, (0,0,255), -1)
#print(cX * 640)
blueBalls.append([cX, cY])
#print(peri/math.sqrt(area))
#print("x: " + str(cX) + ", y: " + str(cY))
if len(redBalls) > 0:
send("redX", redBalls[0][0])
send("redY", redBalls[0][1])
if len(blueBalls) > 0:
send("blueX", blueBalls[0][0])
send("blueY", blueBalls[0][1])
#cv2.imshow("yo4", img)
cv2.imshow("final", initImg)
cv2.waitKey(5)