Add vision code for qualification task

Author: prateekj117

.gitignore

@@ -1,2 +1,3 @@
 venv
 motion/__pycache__
+.idea

requirements.txt

@@ -6,6 +6,8 @@ GitPython==3.0.5
 input==0.0.0
 Mako==1.1.0
 MarkupSafe==1.1.1
+numpy==1.18.1
+opencv-python==4.1.2.30
 pigpio==1.44
 ruamel.yaml==0.16.5
 ruamel.yaml.clib==0.2.0

vision/qualification.py

@@ -0,0 +1,37 @@
+import numpy as np
+import cv2
+
+cap = cv2.VideoCapture(0)
+i = 0
+while (True):
+    # Capture frame-by-frame
+    ret, frame = cap.read()
+
+    # Display the resulting frame
+
+    blackLower = np.array([0, 50, 0], np.uint8)
+    blackUpper = np.array([20, 250, 255], np.uint8)
+
+    blurred = cv2.GaussianBlur(frame, (11, 11), 0)
+    hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
+
+    mask = cv2.inRange(hsv, blackLower, blackUpper)
+    mask = cv2.erode(mask, None, iterations=1)
+    mask = cv2.dilate(mask, None, iterations=1)
+    cv2.imshow('frame', mask)
+
+    contours, hierarchy = cv2.findContours(mask.copy(), cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+    # cv2.drawContours(frame, contours, -1, (0, 255, 0), 3)
+    cv2.imshow('mask', frame)
+    cnt = max(contours, key=cv2.contourArea)
+    cv2.drawContours(frame, cnt, -1, (0, 255, 0), 3)
+
+    x, y, w, h = cv2.boundingRect(cnt)
+    cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
+    cv2.imshow('frame', frame)
+    if cv2.waitKey(1) & 0xFF == ord('q'):
+        break
+
+# When everything done, release the capture
+cap.release()
+cv2.destroyAllWindows()