import cv2 import numpy as np from time import sleep Lx=640; Ly=480; F=2; Lx2=int(Lx/F); Ly2=int(Ly/F); XLT=Lx2-100; XRT=Lx2+100 WD=0; F8=2; Lx8=int((Lx-2*WD)/F8); Ly8=int(Ly/F8); MIDX=int(Lx8/2) ########################fbarr def barrier(PIN,image): BLOW=120 img2 = cv2.resize(image, (Lx8,Ly8), interpolation=cv2.INTER_AREA) lower = np.array([PIN[0]-20,PIN[1]-50,120]) upper = np.array([PIN[0]+20,PIN[1]+50,250]) lower = np.array(lower, dtype="uint8") upper = np.array(upper, dtype="uint8") print('lower=',lower,' upper=',upper) mask = cv2.inRange(img2, lower, upper) hsv=cv2.cvtColor(img2,cv2.COLOR_BGR2HSV) pn=100 for i in range(Lx8):print(i,img2[pn,i,:],hsv[pn,i,:],mask[pn,i],lower,upper) cv2.line(img2,(0,pn),(Lx8-1,pn),(255,0,0),2) ori=np.copy(img2) #img3=mgray(img2,hsv) img3=np.copy(img2) gray = cv2.cvtColor(img3, cv2.COLOR_BGR2GRAY) cv2.imshow('gray',gray) cv2.imshow('img2',img2) cv2.imshow('img3',img3) blurred = cv2.GaussianBlur(gray, (5,5), 0) binary1 = cv2.Canny(blurred, 40, 150) #70 shadow bb0=np.copy(binary1) b0=np.copy(binary1) b0[:,b0.shape[1]-4:b0.shape[1]]=100 thr2=cv2.threshold(gray,30,255,cv2.THRESH_BINARY_INV+cv2.THRESH_OTSU)[1] ret,thr1=cv2.threshold(gray,BLOW,255,cv2.THRESH_BINARY_INV) kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (2,2)) op1=cv2.morphologyEx(thr1,cv2.MORPH_OPEN,kernel,iterations=3) hbin1=np.hstack((b0,op1)) binaryIMG=np.copy(op1) result=cv2.bitwise_and(ori,ori,mask=binaryIMG) res2=np.copy(result) #cv2.imshow('hbin1',hbin1) cv2.imshow('op1',op1) cv2.imshow('res2',res2) cv2.waitKey(0) #return res2,Bdat def contr(PIN,cap): _,image=cap.read() lower = [1, 0, 20] upper = [60, 40, 220] lower = np.array([PIN[0]-30,PIN[1]-50,20]) upper = np.array([PIN[0]+30,PIN[1]+50,250]) lower = np.array(lower, dtype="uint8") upper = np.array(upper, dtype="uint8") mask = cv2.inRange(image, lower, upper) output = cv2.bitwise_and(image, image, mask=mask) ret,thresh = cv2.threshold(mask, 40, 255, 0) #if (cv2.__version__[0] > 3): contours, hierarchy = cv2.findContours(thresh, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE) #else: # im2, contours, hierarchy = cv2.findContours(thresh, # cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE) if len(contours) != 0: # draw in blue the contours that were founded cv2.drawContours(output, contours, -1, 255, 3) # find the biggest countour (c) by the area c = max(contours, key = cv2.contourArea) x,y,w,h = cv2.boundingRect(c) # draw the biggest contour (c) in green cv2.rectangle(output,(x,y),(x+w,y+h),(0,255,0),2) # show the images cv2.imshow("Result", np.hstack([image, output])) cv2.imshow('mask',mask) cv2.waitKey(0) def BGR2HSV(): img2=np.full((200,200,3),0,dtype=np.uint8) for j in range(1): BGR=input('(BGR='); #G=input('G='); R=input('R=') a=BGR.split() B=int(a[0]); G=int(a[1]); R=int(a[2]) img2[:,:]=np.array([B,G,R], dtype=np.uint8) hsv = cv2.cvtColor(img2, cv2.COLOR_BGR2HSV) print('j=',j,img2[0,0],hsv[0,0]) cv2.imshow('img2',img2) cv2.waitKey(0) sleep(1) cv2.destroyWindow("img2") #cv2.destroyWindow('image') #cv2.destroyAllWindows() def HSV2BGR(): hsv=np.full((200,200,3),0,dtype=np.uint8) for j in range(1): HSV=input('(HSV='); a=HSV.split() H=int(a[0]); S=int(a[1]); V=int(a[2]) hsv[:,:]=np.array([H,S,V], dtype=np.uint8) img2 = cv2.cvtColor(hsv, cv2.COLOR_BGR2HSV) print('j=',j,hsv[0,0],img2[0,0]) cv2.imshow('img2',img2) cv2.waitKey(0) sleep(1) cv2.destroyWindow("img2") #cv2.destroyWindow('image') #cv2.destroyAllWindows() def showhsv(pin): HSV=np.full((100,100,3),0,dtype=np.uint8) for j in range(10): H,S,V=pin[0]+3*j,pin[1], pin[2] print('j=',j,[H,S,V]) HSV[:,:]=np.array([H,S,V], dtype=np.uint8) IMG = cv2.cvtColor(HSV, cv2.COLOR_HSV2BGR) cv2.imshow('IMG',IMG) cv2.waitKey(0) cv2.destroyWindow('IMG') sleep(1) input('11111') def targ(frame,lower,upper): hsv=cv2.cvtColor(frame,cv2.COLOR_BGR2HSV) mask=cv2.inRange(hsv,lower,upper) res = cv2.bitwise_and(frame,frame,mask= mask) #print('lower=',lower,' upper=',upper) pn=180 #for i in range(Lx8): #if(mask[pn,i]>10):print(i,frame[pn,i,:],hsv[pn,i,:],mask[pn,i],lower) #print(i,frame[pn,i,:],hsv[pn,i,:],mask[pn,i],lower) cv2.imshow('frame',frame) cv2.imshow('mask',mask) cv2.imshow('res',res) #cv2.waitKey(0) #cv2.destroyAllWindows() #--------------- GET PIN color in HSV def Fcolor(img): img2=cv2.resize(img,(80,60)) hsv=cv2.cvtColor(img2,cv2.COLOR_BGR2HSV) PIN=[0,0,0]; PIM=[0,0,0] for i in range(3): a=int(np.average(img2[30:40,35:45,i])) b=int(np.average(hsv[30:40,35:45,i])) #print(i,a,b) PIM[i]=a; PIN[i]=b cv2.circle(img2,(40,35), 5, (255,0,0), 2) img4=cv2.resize(img2,(640,480)) #cv2.imshow('img4',img4) #print('PIN_Fcolor_hsv=',PIN) #cv2.waitKey(0) return PIM,PIN,img4 Lx=320; Ly=240; F=8; Lx2=int(Lx/F); Ly2=int(Ly/F) cap = cv2.VideoCapture(0) cap.set(cv2.CAP_PROP_FRAME_WIDTH, Lx); cap.set(cv2.CAP_PROP_FRAME_HEIGHT, Ly) sleep(2) #----------- Get the HSV_PIN of the target PIN=[171, 188, 184] lower = np.array([PIN[0]-30,PIN[1]-50,20]) upper = np.array([PIN[0]+30,PIN[1]+50,250]) lower = np.array([PIN[0]-30,0,0]) upper = np.array([PIN[0]+30,255,255]) lower = np.array(lower, dtype="uint8") upper = np.array(upper, dtype="uint8") print('PIN=',PIN,lower,upper) if(1==1): for j in range(16): _,image=cap.read() PIM,PIN,img4=Fcolor(image) print('Fcolor_j=',j,PIM,PIN) f='RED_'+str(j)+'.png' cv2.imwrite(f,img4) cv2.imshow('img4',img4) targ(image,lower,upper) if cv2.waitKey(1) & 0xFF == ord('q'): break cv2.waitKey(0) cv2.destroyAllWindows() input('1111') #----------------------------------------- #contr(PIN,cap) #-----This part helps us learn the relationship between the two color encodings if(1==2): for j in range(10): K=int(input('1=BGR2HSV; 2=HSV2BGR \n K=')) if(K==1): BGR2HSV() if(K==2): HSV2BGR() input('BBBBBB') #lower_blue = np.array([110,50,50]) #lower_blue = np.array([50,50,110]) #upper_blue = np.array([255,255,130]) #PIN=[175,190,130] #[176, 198, 125] # PIN_Fcolor_hsv= [176, 233, 113] 21-1A no lamp #PIN=[176, 233, 113] PIN=[171, 188, 184] print('PIN=',PIN) #lower_red = np.array([PIN[0]-30,PIN[1]-50,PIN[2]-100]) #upper_red = np.array([PIN[0]+30,PIN[1]+50,PIN[2]+100]) lower = np.array([PIN[0]-30,PIN[1]-50,20]) upper = np.array([PIN[0]+30,PIN[1]+50,250]) #contr(PIN,cap) #_, image=cap.read() #barrier(PIN,image) #input('ccccc') while(1): _, frame = cap.read() hsv=cv2.cvtColor(frame,cv2.COLOR_BGR2HSV) mask=cv2.inRange(hsv,lower,upper) res = cv2.bitwise_and(frame,frame,mask= mask) #print('lower=',lower,' upper=',upper) pn=180 for i in range(Lx8): if(mask[pn,i]>10):print(i,frame[pn,i,:],hsv[pn,i,:],mask[pn,i],lower) #print(i,frame[pn,i,:],hsv[pn,i,:],mask[pn,i],lower) cv2.imshow('frame',frame) cv2.imshow('mask',mask) cv2.imshow('res',res) cv2.waitKey(0) k = cv2.waitKey(5) & 0xFF if k == 27: break cv2.destroyAllWindows()