LADS/imagedetection.py at main · KevinL135/LADS · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
import cv2
import numpy as np
from picamera2 import Picamera2

cam0 = Picamera2(0)
cam1 = Picamera2(1)

height = 600
width = 800
middle = (int(width / 2), int(height / 2))
cam0.configure(cam0.create_video_configuration(main={"format": 'RGB888', "size": (width, height)}))
cam0.start()
cam1.configure(cam0.create_video_configuration(main={"format": 'RGB888', "size": (width, height)}))
cam1.start()
lower_range=np.array([0,74,178])
upper_range=np.array([179,255,255])

Known_distance=1
Known_width=1

def Focal_Length_Finder(Known_distance, real_width, width_in_rf_image):

    focal_length = (width_in_rf_image * Known_distance) / real_width
    return focal_length

def obj_data(img):
     obj_pos = (0,0)
     hsv=cv2.cvtColor(img,cv2.COLOR_BGR2HSV)
     mask=cv2.inRange(hsv,lower_range,upper_range)
     _,mask1=cv2.threshold(mask,254,255,cv2.THRESH_BINARY)
     cnts,_=cv2.findContours(mask1,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_NONE)
     for c in cnts:
        x=600
        if cv2.contourArea(c)>x:
            x,y,w,h=cv2.boundingRect(c)
            cv2.rectangle(img,(x,y),(x+w,y+h),(0,255,0),2)
            obj_pos = (x,y)
     return obj_pos

# while True:
#     print("yo")
#     width = 800
#     height= 600
#
#     pointx = 400
#     pointy = 100
#
#     centerx = 400
#     centery = 300
#     frame0=cam0.capture_array()
#     frame0=cv2.resize(frame0,(width,height))
#     cv2.line(frame0, (pointx, pointy), (pointx, pointy), (0, 0, 255), 10)
#     cv2.line(frame0, (centerx,centery), (centerx,centery), (0, 255, 0), 10)
#     obj_width_in_frame0=obj_data(frame0)
#     if obj_width_in_frame0[0] != 0:
#         x=obj_width_in_frame0[0]
#         y=obj_width_in_frame0[1]
#         cv2.putText(frame0, f"Position: {x}, {y}", (30, 35),cv2.FONT_HERSHEY_COMPLEX, 0.6, (255,0,0), 2)
#
#     frame1=cam1.capture_array()
#     frame1=cv2.resize(frame1,(width,height))
#     cv2.line(frame1, (centerx,centery), (centerx,centery), (0, 255, 0), 10)
#     cv2.line(frame1, (pointx, pointy), (pointx, pointy), (0, 0, 255), 10)
#     obj_width_in_frame1=obj_data(frame1)
#     if obj_width_in_frame1[0] != 0:
#         x=obj_width_in_frame1[0]
#         y=obj_width_in_frame1[1]
#         cv2.putText(frame1, f"Position: {x}, {y}", (30, 35),cv2.FONT_HERSHEY_COMPLEX, 0.6, (255,0,0), 2)
#
#
#     cv2.imshow("Right",frame0)
#     cv2.imshow("Left",frame1)
#     if cv2.waitKey(1)&0xFF==27:
#         break

cv2.destroyAllWindows()
# cap.release()
# cv2.destroyAllWindows()

def camerasGetTargetPixel():

    frame0=cam0.capture_array()
    frame0=cv2.resize(frame0,(width,height))

    # obj_width_in_frame0=obj_data(frame0)
    # if obj_width_in_frame0[0] != 0:
    #     x=obj_width_in_frame0[0]
    #     y=obj_width_in_frame0[1]
    #     cv2.putText(frame0, f"Position: {x}, {y}", (30, 35),cv2.FONT_HERSHEY_COMPLEX, 0.6, (255,0,0), 2)

    # frame1=cam1.capture_array()
    # frame1=cv2.resize(frame1,(width,height))
    # #cv2.line(frame1, (centerx,centery), (centerx,centery), (0, 255, 0), 10)
    # #cv2.line(frame1, (pointx, pointy), (pointx, pointy), (0, 0, 255), 10)
    # obj_width_in_frame1=obj_data(frame1)
    # if obj_width_in_frame1[0] != 0:
    #     x=obj_width_in_frame1[0]
    #     y=obj_width_in_frame1[1]
    #     cv2.putText(frame1, f"Position: {x}, {y}", (30, 35),cv2.FONT_HERSHEY_COMPLEX, 0.6, (255,0,0), 2)


    # cv2.imshow("Right",frame0)
    # cv2.imshow("Left",frame1)
    # if cv2.waitKey(1)&0xFF==27:
    #     break
    # cap.release()
    # cv2.destroyAllWindows()
    return height