import cv2
import numpy as np
from  motorm import turn

def tarbox(image):
    Lx=image.shape[1]; Ly=image.shape[0];
    Lxg=Lx; Lyg=Ly; Fg=1
    img2 = cv2.resize(image, (Lxg,Lyg), interpolation=cv2.INTER_AREA)
    img2=np.copy(image)
    gray = cv2.cvtColor(img3, cv2.COLOR_BGR2GRAY)
    cnts1,_ = cv2.findContours(gray.copy(), cv2.RETR_EXTERNAL, 
          cv2.CHAIN_APPROX_SIMPLE) # cv2.RETR_LIST
    lcnts1=len(cnts1); #print('lcnts1=',lcnts1)
    N1=0; ax=0; cx=0; px=0; mx1=0; Kc1=0; xx1=[0 for i in range(5)]
    clone1=img2.copy(); data1=[]
    for c in cnts1:
        M=cv2.moments(c)
        if(M['m00']==0): M['m00']=1
        cX=int(M['m10']/M['m00']); cY=int(M['m01']/M['m00'])
        area = cv2.contourArea(c); area3=round(area,3); #print(j,area3)
        area=int(area)
        if(area<1000): continue
        Kc1=1; N1+=1; (x,y,w,h)=cv2.boundingRect(c);
        xx1=(x,y,w,h); mx1=(cX,cY)
        d=[area,xx1,mx1]; data1.append(d)
        cv2.circle(clone1,mx1,6,(0,125,255),-1)
        x,y,w,h=xx1[0],xx1[1],xx1[2],xx1[3]
        cv2.rectangle(clone1,(x,y),(x+w,y+h),(255,125,0),1)
        #cv2.imshow('tarbox',clone1)
    lenda=len(data1)
    #print(lenda,data1)
    #cv2.waitKey(0)
    return lenda,data1,clone1


def bluebox(image):
    low=np.array([105,120 ,120 ])
    upp=np.array([115,255 ,255 ])
    img=cv2.resize(image,(640,480))
    hsv=cv2.cvtColor(img,cv2.COLOR_BGR2HSV)
    mask1=cv2.inRange(hsv,low,upp)
    imgmask=cv2.bitwise_and(img,img,mask=mask1)
    img3=cv2.resize(imgmask,(640,480))
    lenda,data1,imgt=tarbox(img3)
    cv2.imshow('mask1',mask1)
    cv2.imshow('imgt',imgt)
    if(lenda>0):
        print(j,data1)
        for i in range(lenda):
            Ni+=1; sn=str(Ni).zfill(3); fn='NUM4_'+sn+'.png'
            (x,y,w,h)=data1[i][1]
            imgi=img3[y:y+h,x:x+w,:]
            imgir=cv2.resize(imgi,(100,130))
            imgis=cv2.resize(imgi,(200,260))
            #cv2.imshow('tar'+sn,imgis)
            cv2.imshow('tar',imgis)
            #cv2.imwrite(fn,imgir)
            cv2.waitKey(0)