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colorTrack.py
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colorTrack.py
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import cvzone
from cvzone.ColorModule import ColorFinder
import cv2
from collections import deque
import numpy as np
from cvzone import FPS
import win32api
import win32con
from ardFunc import laserFunc, laserOff, laserOn, fire
import math
import time
import threading
import socket
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
serverAddressPort = ("127.0.0.1", 5052)
cap=cv2.VideoCapture(0)
maxAdjFactorX = 7.5
maxAdjFactorY = maxAdjFactorX
trStatus = None
capx = 1280
capy = 720
adjFactor = 5
cenX = capx/2
cenY = capy/2
#laser_hsv={'hmin': 0, 'smin': 2, 'vmin': 95, 'hmax': 179, 'smax': 185, 'vmax': 255}
cap.set(3, capx)
cap.set(4, capy)
#cap.set(cv2.CAP_PROP_FPS, 50)
theTime = 0
deltaTime = 0
mlen = int(30)
fireThread = threading.Thread(target=fire, name="shooter")
centers = deque(maxlen=mlen)
dyncenters = deque(maxlen=mlen)
finder = ColorFinder(False)
fps = FPS()
global rectFrame
rectFrame = None
positionX = 90
positionY = 90
blue = {'hmin': 99, 'smin': 120, 'vmin': 69, 'hmax': 110, 'smax': 192, 'vmax': 212}
yellow = {'hmin': 12, 'smin': 157, 'vmin': 62, 'hmax': 36, 'smax': 252, 'vmax': 255}
india = {'hmin': 0, 'smin': 89, 'vmin': 57, 'hmax': 17, 'smax': 152, 'vmax': 162}
green = {'hmin': 31, 'smin': 70, 'vmin': 106, 'hmax': 76, 'smax': 251, 'vmax': 215} # rubix cube
laser = {'hmin': 0, 'smin': 2, 'vmin': 95, 'hmax': 179, 'smax': 185, 'vmax': 255}
hsvVals = 'red'
mousemove = False
dragging = False
currentpt = ()
refPt = []
cropping = None
def adjustPos(cx, cy, adjSize):
global positionX
global positionY
global cenX
global cenY
percentX = ((abs(cx-cenX))/cenX)
percentY = ((abs(cy-cenY))/cenY)/1.618
percentXpid = 0
percentYpid = 0
propX = maxAdjFactorX * percentX
propY = maxAdjFactorY * percentY
#print("propX: " + str(propX))
#print("propY: " + str(propY))
if cx < cenX - adjSize:
positionX += propX
if positionX > 180:
positionX = 180
else:
positionX = positionX
elif cx > cenX + adjSize:
positionX -= propX
if positionX < 1:
positionX = 1
else:
positionX = positionX
if cy < cenY - adjSize:
positionY += propY
if positionY > 145:
positionY = 145
else:
positionY = positionY
elif cy > cenY + adjSize:
positionY -= propY
if positionY < 57:
positionY = 57
else:
positionY = positionY
#print("posX: " + str(positionX))
#print("posY: " + str(positionY))
laserFunc(180 - positionX, 180 - positionY)
def click_and_crop(event, x, y, flags, param):
# grab references to the global variables
global refPt, cropping, rec, finalhsv, mousemove, currentpt, dragging
# if the left mouse button was clicked, record the starting
# (x, y) coordinates and indicate that cropping is being
# performed
if event == cv2.EVENT_LBUTTONDOWN and dragging == False:
refPt = [(x, y)]
cropping = True
dragging = True
elif event == cv2.EVENT_MOUSEMOVE and dragging == True:
currentpt = (x, y)
mousemove = True
# check to see if the left mouse button was released
elif event == cv2.EVENT_LBUTTONUP and dragging == True:
# record the ending (x, y) coordinates and indicate that
# the cropping operation is finished
refPt.append((x, y))
cropping = False
rec = cv2.rectangle(bro1, refPt[0], refPt[1], (0, 255, 0), 2)
dragging = False
mousemove = False
elif event == cv2.EVENT_RBUTTONDOWN:
# record the ending (x, y) coordinates and indicate that
# the cropping operation is finished
cropping = True
finalhsv = {'hmin': 0, 'smin': 0, 'vmin': 0, 'hmax': 0, 'smax': 0, 'vmax': 0}
def doubleline(wndw, contours, centers, trace=True, larRec=True,):
global theTime
global trStatus
timStat = True
if contours:
cnzTarea = 0
largeCnt = None
for cntZ in contours:
if (int(cntZ['area']) > cnzTarea):
cnzTarea = int(cntZ['area'])
largeCnt = cntZ
#print(cnzTarea)
larCord = largeCnt['bbox']
if larRec:
wndw = cv2.rectangle(wndw, (larCord[0], larCord[1]), (larCord[0] + larCord[2], larCord[1] + larCord[3]), (200, 0, 128), 2)
#print("area: ", int(contours[0]['area']))
cx = int(contours[0]['center'][0])
cy = int(contours[0]['center'][1])
trStatus = capx/2+math.sqrt(cnzTarea)/2+adjFactor > cx > capx/2-math.sqrt(cnzTarea)/2-adjFactor and capy/2+math.sqrt(cnzTarea)/2+adjFactor > cy > capy/2-math.sqrt(cnzTarea)/2-adjFactor
print(trStatus)
if theTime == 0 and trStatus:
#print("tracking")
theTime = time.time()
if not trStatus:
theTime = 0
#print(largeCnt['area'])
adjustPos(cx, cy, 0)
#print(tuple(contours[0]['bbox']))
modcy = capy - cy
cv2.line(wndw, (cx, 0), (cx, capy), (0, 255, 0), 2)
cv2.line(wndw, (0, cy), (capx, cy), (0, 255, 0), 2)
center = (cx,cy)
modcen = (cx, modcy)
loc = "centroid: " + str(modcen)
#print(loc)
cv2.putText(wndw,loc, (cx + 10,cy - 10), cv2.FONT_HERSHEY_DUPLEX, .45, (0, 255, 255))
centers.appendleft(center)
if trace == True:
for i in range(1, len(centers)):
# if either of the tracked points are None, ignore
# them
if centers[i - 1] is None or centers[i] is None:
continue
# otherwise, compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(mlen / float(i + 1)) * 2.5)
cv2.line(wndw, centers[i - 1], centers[i], (0, 0, 255), thickness)
def recCrop(recFrame, contours):
if contours:
cnzTarea = 0
largeCnt = None
for cntZ in contours:
if (int(cntZ['area']) > cnzTarea):
cnzTarea = int(cntZ['area'])
largeCnt = cntZ
#print(cnzTarea)
larCord = largeCnt['bbox']
#print(larCord)
rectFrame = recFrame[larCord[1]:larCord[1] + larCord[3], larCord[0]:larCord[0] + larCord[2]]
return rectFrame
else:
return recFrame
cv2.namedWindow('dynamic')
finalhsv = {'hmin': 0, 'smin': 0, 'vmin': 0, 'hmax': 0, 'smax': 0, 'vmax': 0}
while True:
k = cv2.waitKey(1)
win32api.SetCursor(win32api.LoadCursor(0, win32con.IDC_ARROW))
success, img= cap.read()
img = cv2.flip(img, 1)
rectFrame = img
#img = cv2.GaussianBlur(img,(5,5),cv2.BORDER_DEFAULT)
imgColor, mask, rawhsv = finder.update(img, hsvVals)
imgContour, contours = cvzone.findContours(img, mask, minArea=50, c=(0,0,255), xrec=True, drawCon=False)
center = None
#print(deltaTime)
doubleline(imgContour, contours, centers)
bro, mask1, dynrawhsv = finder.update(img, finalhsv)
bro1, dyncontours = cvzone.findContours(img, mask1, minArea=50, c=(0,0,255), xrec=False, drawCon=False)
cv2.setMouseCallback("dynamic", click_and_crop)
if cropping is False:
#print(refPt)
#bro1 = rec
width = abs(refPt[0][0] - refPt[1][0])
height = abs(refPt[0][1] - refPt[1][1])
#print("width: ", width, " height: ", height)
lxval = []
lyval = []
allhsv = []
hVals = []
sVals = []
vVals = []
for tem in range(0, width + 1):
lxval.append(refPt[0][0] + tem)
for temy in range(0, height + 1):
lyval.append(refPt[0][1] + temy)
for xhsv in lxval:
for yhsv in lyval:
allhsv.append(dynrawhsv[yhsv, xhsv])
for hval in allhsv:
hVals.append(hval[0])
for sval in allhsv:
sVals.append(sval[1])
for vval in allhsv:
vVals.append(vval[2])
lower = np.array([min(hVals), min(sVals), min(vVals)])
upper = np.array([max(hVals), max(sVals), max(vVals)])
print(lower)
print(upper)
finalhsv = {"hmin": lower[0], "smin": lower[1], "vmin": lower[2],
"hmax": upper[0], "smax": upper[1], "vmax": upper[2]}
print(finalhsv)
cropping = True
doubleline(bro1, dyncontours, dyncenters, trace=True)
rectFrame = recCrop(rectFrame, dyncontours)
rectFrame = cv2.resize(rectFrame,(426,240))
deltaTime = time.time() - theTime
if deltaTime >= 2.5 and trStatus:
print(deltaTime)
theTime = 0
if fireThread.is_alive() == False:
fireThread = threading.Thread(target=fire, name="shooter")
fireThread.start()
if mousemove == True:
bro1 = cv2.rectangle(bro1, refPt[0], currentpt, (255, 0, 0), 1)
fps.update(img=bro1)
#cv2.imshow("preset", imgContour)
#cv2.imshow("preset - mask", mask)
#cv2.imshow("preset - raw", imgColor)
if fireThread.is_alive() == True:
cv2.putText(bro1,"Firing", (1000 ,70), cv2.FONT_HERSHEY_DUPLEX, 3, (0, 255, 0))
cv2.imshow("dynamic", bro1)
cv2.imshow("dynamic - mask", bro)
cv2.imshow("rectFrame", rectFrame)
if k & 0xFF == ord('l'):
laserOn()
elif k & 0xFF == ord('o'):
laserOff()
elif k & 0xFF == ord('r'):
positionX =90
positionY = 90
laserFunc(positionX,positionY)
time.sleep(.5)
elif k & 0xFF == ord('f'):
print(fireThread.is_alive())
if fireThread.is_alive() == False:
fireThread = threading.Thread(target=fire, name="shooter")
fireThread.start()
elif k & 0xFF == ord('q'):
break
#sock.sendto(str.encode(str(str(positionX)+","+str(positionY))), serverAddressPort) FOR UNITY
cap.release()
cv2.destroyAllWindows()