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index_2.py
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# -*- coding: utf-8 -*-
import platform
import numpy as np
import argparse
import cv2
import serial
import time
import sys
from threading import Thread
import math
X_255_point = 0
Y_255_point = 0
X_Size = 0
Y_Size = 0
Area = 0
Angle = 0
# -----------------------------------------------
Top_name = 'Kongdols Team Setting'
hsv_Lower = 0
hsv_Upper = 0
hsv_Lower0 = 0
hsv_Upper0 = 0
hsv_Lower1 = 0
hsv_Upper1 = 0
# ----------- 0:노란색, 1:빨강색, 3:파란색
color_num = [0, 1, 2, 3, 4]
h_max = [210, 65, 196, 111, 110]
h_min = [180, 0, 158, 59, 74]
s_max = [164, 200, 223, 110, 255]
s_min = [139, 140, 150, 51, 133]
v_max = [92, 151, 239, 156, 255]
v_min = [63, 95, 104, 61, 104]
min_area = [50, 50, 50, 10, 10]
now_color = 0
serial_use = 1
serial_port = None
Temp_count = 0
Read_RX = 0
mx, my = 0, 0
threading_Time = 5 / 1000.
winname = 'Kongdols --video'
# -----------------------------------------------
def nothing(x):
pass
# 트랙바를 조정할 때 마다 실행되는 콜백 함수를 정의해야 합니다.
# 포스팅의 예제에선 트랙바를 조절할 때마다 따로 실행할 명령이 없기 때문에
# 아무일도 하지 않는 더미 함수를 만듭니다.
# -----------------------------------------------
def create_blank(width, height, rgb_color=(0, 0, 0)):
image = np.zeros((height, width, 3), np.uint8)
color = tuple(reversed(rgb_color))
image[:] = color
return image
# -----------------------------------------------
def draw_str2(dst, target, s):
x, y = target
cv2.putText(dst, s, (x + 1, y + 1), cv2.FONT_HERSHEY_PLAIN, 0.6, (0, 0, 0), thickness=2, lineType=cv2.LINE_AA)
cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 0.6, (255, 255, 255), lineType=cv2.LINE_AA)
# -----------------------------------------------
def draw_str3(dst, target, s):
x, y = target
cv2.putText(dst, s, (x + 1, y + 1), cv2.FONT_HERSHEY_PLAIN, 1.5, (0, 0, 0), thickness=2, lineType=cv2.LINE_AA)
cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 1.5, (255, 255, 255), lineType=cv2.LINE_AA)
# -----------------------------------------------
def draw_str_height(dst, target, s, height):
x, y = target
cv2.putText(dst, s, (x + 1, y + 1), cv2.FONT_HERSHEY_PLAIN, height, (0, 0, 0), thickness=2, lineType=cv2.LINE_AA)
cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, height, (255, 255, 255), lineType=cv2.LINE_AA)
# -----------------------------------------------
def clock():
return cv2.getTickCount() / cv2.getTickFrequency()
# -----------------------------------------------
def Trackbar_change(now_color):
global hsv_Lower, hsv_Upper
hsv_Lower = (h_min[now_color], s_min[now_color], v_min[now_color])
hsv_Upper = (h_max[now_color], s_max[now_color], v_max[now_color])
# -----------------------------------------------
def Hmax_change(a):
h_max[now_color] = cv2.getTrackbarPos('Hmax', Top_name)
Trackbar_change(now_color)
# 트랙바에 Hmax 라 이름을 주고 Top_name 윈도우(?) 접근;
# -----------------------------------------------
def Hmin_change(a):
h_min[now_color] = cv2.getTrackbarPos('Hmin', Top_name)
Trackbar_change(now_color)
# -----------------------------------------------
def Smax_change(a):
s_max[now_color] = cv2.getTrackbarPos('Smax', Top_name)
Trackbar_change(now_color)
# -----------------------------------------------
def Smin_change(a):
s_min[now_color] = cv2.getTrackbarPos('Smin', Top_name)
Trackbar_change(now_color)
# -----------------------------------------------
def Vmax_change(a):
v_max[now_color] = cv2.getTrackbarPos('Vmax', Top_name)
Trackbar_change(now_color)
# -----------------------------------------------
def Vmin_change(a):
v_min[now_color] = cv2.getTrackbarPos('Vmin', Top_name)
Trackbar_change(now_color)
# -----------------------------------------------
def min_area_change(a):
min_area[now_color] = cv2.getTrackbarPos('Min_Area', Top_name)
if min_area[now_color] == 0:
min_area[now_color] = 1
cv2.setTrackbarPos('Min_Area', Top_name, min_area[now_color])
Trackbar_change(now_color)
# -----------------------------------------------
def Color_num_change(a):
global now_color, hsv_Lower, hsv_Upper
now_color = cv2.getTrackbarPos('Color_num', Top_name)
cv2.setTrackbarPos('Hmax', Top_name, h_max[now_color])
cv2.setTrackbarPos('Hmin', Top_name, h_min[now_color])
cv2.setTrackbarPos('Smax', Top_name, s_max[now_color])
cv2.setTrackbarPos('Smin', Top_name, s_min[now_color])
cv2.setTrackbarPos('Vmax', Top_name, v_max[now_color])
cv2.setTrackbarPos('Vmin', Top_name, v_min[now_color])
cv2.setTrackbarPos('Min_Area', Top_name, min_area[now_color])
hsv_Lower = (h_min[now_color], s_min[now_color], v_min[now_color])
hsv_Upper = (h_max[now_color], s_max[now_color], v_max[now_color])
# cv2.setTrackbarPos( 내가 설정한 이름, 윈도우 이름 , 초기값 )
# -----------------------------------------------
def TX_data(serial, one_byte): # one_byte= 0~255
global Temp_count
try:
serial.write(chr(int(one_byte)))
except:
Temp_count = Temp_count + 1
print("Serial Not Open " + str(Temp_count))
pass
# -----------------------------------------------
def RX_data(serial):
global Temp_count
try:
if serial.inWaiting() > 0:
result = serial.read(1)
RX = ord(result)
return RX
else:
return 0
except:
Temp_count = Temp_count + 1
print("Serial Not Open " + str(Temp_count))
return 0
pass
# -----------------------------------------------
# *************************
# mouse callback function
def mouse_move(event, x, y, flags, param):
global mx, my
if event == cv2.EVENT_MOUSEMOVE:
mx, my = x, y
# *************************
def receiving(ser):
global receiving_exit
global X_255_point
global Y_255_point
global X_Size
global Y_Size
global Area, Angle
receiving_exit = 1
while True:
if receiving_exit == 0:
break
time.sleep(threading_Time)
while False: # ser.inWaiting() > 0:
result = ser.read(1)
RX = ord(result)
# print ("RX=" + str(RX))
if RX >= 100 and RX < 200: # Color mode
now_color = (RX - 100) / 10
cv2.setTrackbarPos('Color_num', Top_name, now_color)
RX = RX % 10
if RX == 2: # Center - X
ser.write(chr(int(X_255_point)))
elif RX == 3: # Center - Y
ser.write(chr(int(Y_255_point)))
elif RX == 4: # X_Size
ser.write(chr(int(X_Size)))
elif RX == 5: # Y_Size
ser.write(chr(int(Y_Size)))
elif RX == 6: # Angle
ser.write(chr(int(Angle)))
print("106=>" + str(Angle))
elif RX == 1: # Area
ser.write(chr(int(Area)))
else:
ser.write(chr(int(0)))
else:
ser.write(chr(int(0)))
def GetLengthTwoPoints(XY_Point1, XY_Point2):
return math.sqrt((XY_Point2[0] - XY_Point1[0]) ** 2 + (XY_Point2[1] - XY_Point1[1]) ** 2)
# *************************
def FYtand(dec_val_v, dec_val_h):
return (math.atan2(dec_val_v, dec_val_y) * (180.0 / math.pi))
# *************************
# degree 값을 라디안 값으로 변환하는 함수
def FYrtd(rad_val):
return (rad_val * (180.0 / math.pi))
# *************************
# 라디안값을 degree 값으로 변환하는 함수
def FYdtr(dec_val):
return (dec_val / 180.0 * math.pi)
# *************************
def GetAngleTwoPoints(XY_Point1, XY_Point2):
xDiff = XY_Point2[0] - XY_Point1[0]
yDiff = XY_Point2[1] - XY_Point1[1]
cal = math.degrees(math.atan2(yDiff, xDiff)) + 90
if cal > 90:
cal = cal - 180
return cal
# *************************
# **************************************************
# **************************************************
# **************************************************
if __name__ == '__main__':
# -------------------------------------
print("-------------------------------------")
print("[2019-11-22] MINI Robot Program. Kongdols Corp.")
print("-------------------------------------")
print("")
os_version = platform.platform()
print(" ---> OS " + os_version)
python_version = ".".join(map(str, sys.version_info[:3]))
print(" ---> Python " + python_version)
opencv_version = cv2.__version__
print(" ---> OpenCV " + opencv_version)
# -------------------------------------
# ---- user Setting -------------------
# -------------------------------------
W_View_size = 320
# H_View_size = int(W_View_size / 1.777)
H_View_size = int(W_View_size / 1.333)
BPS = 4800 # 4800,9600,14400, 19200,28800, 57600, 115200
serial_use = 1 ###### <+=========== ************* ADFADSFASFSD
now_color = 0
View_select = 1
# -------------------------------------
print(" ---> Camera View: " + str(W_View_size) + " x " + str(H_View_size))
print("")
print("-------------------------------------")
# -------------------------------------
ap = argparse.ArgumentParser()
ap.add_argument("-v", "--video",
help="path to the (optional) video file")
ap.add_argument("-b", "--buffer", type=int, default=64,
help="max buffer size")
args = vars(ap.parse_args())
img = create_blank(320, 50, rgb_color=(0, 0, 255))
cv2.namedWindow(Top_name)
cv2.createTrackbar('Hmax', Top_name, h_max[now_color], 255, Hmax_change)
cv2.createTrackbar('Hmin', Top_name, h_min[now_color], 255, Hmin_change)
cv2.createTrackbar('Smax', Top_name, s_max[now_color], 255, Smax_change)
cv2.createTrackbar('Smin', Top_name, s_min[now_color], 255, Smin_change)
cv2.createTrackbar('Vmax', Top_name, v_max[now_color], 255, Vmax_change)
cv2.createTrackbar('Vmin', Top_name, v_min[now_color], 255, Vmin_change)
cv2.createTrackbar('Min_Area', Top_name, min_area[now_color], 255, min_area_change)
cv2.createTrackbar('Color_num', Top_name, color_num[now_color], 4, Color_num_change)
Trackbar_change(now_color)
draw_str3(img, (15, 25), 'Kongdols Corp.')
cv2.imshow(Top_name, img)
# ---------------------------
if not args.get("video", False):
camera = cv2.VideoCapture(0)
else:
camera = cv2.VideoCapture(args["video"])
# ---------------------------
camera.set(3, W_View_size)
camera.set(4, H_View_size)
time.sleep(0.5)
# ---------------------------
if serial_use != 0:
serial_port = serial.Serial('/dev/ttyAMA0', BPS, timeout=0.001)
serial_port.flush() # serial cls
# ---------------------------
(grabbed, frame) = camera.read()
draw_str2(frame, (5, 15), 'X_Center x Y_Center = Area')
draw_str2(frame, (5, H_View_size - 5), 'View: %.1d x %.1d. Space: Fast <=> Video and Mask.'
% (W_View_size, H_View_size))
draw_str_height(frame, (5, int(H_View_size / 2)), 'Fast operation...', 3.0)
cv2.imshow(winname, frame)
cv2.setMouseCallback(winname, mouse_move)
#
# ---------------------------
if serial_use != 0:
t = Thread(target=receiving, args=(serial_port,))
time.sleep(0.1)
t.start()
#
# First -> Start Code Send
#TX_data(serial_port, 1)
#TX_data(serial_port, 1)
#TX_data(serial_port, 1)
old_time = clock()
# -------- Main Loop Start --------
while True:
key=cv2.waitKey(1) #key==ord("a")
if key==27:
break
#grab the current frame
(grabbed, frame) = camera.read()
if not grabbed:
break
height, width = frame.shape[:2]
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2YUV)
cut_frame1 = frame[2*height//3:,:2*width//3]
cut_frame2 = frame[2 * height // 3:, 1 * width // 3:2 * width // 3]
cut_frame3 = frame[2 * height // 3:, 2 * width // 3:]
cut_hsv1 = hsv[2*height//3:,:2*width//3] # HSV => YUV
cut_hsv2 = hsv[2 * height // 3:, 1 * width // 3:2 * width // 3]
cut_hsv3 = hsv[2 * height // 3:, 2 * width // 3:]
canvas = np.zeros(frame.shape[:2])
mask1 = cv2.inRange(cut_hsv1, hsv_Lower, hsv_Upper)
mask1 = cv2.erode(mask1, None, iterations=1)
mask1 = cv2.dilate(mask1, None, iterations=1)
mask2 = cv2.inRange(cut_hsv2, hsv_Lower, hsv_Upper)
mask2 = cv2.erode(mask2, None, iterations=1)
mask2 = cv2.dilate(mask2, None, iterations=1)
mask3 = cv2.inRange(cut_hsv3, hsv_Lower, hsv_Upper)
mask3 = cv2.erode(mask3, None, iterations=1)
mask3 = cv2.dilate(mask3, None, iterations=1)
# mask = cv2.GaussianBlur(mask, (3, 3), 2) # softly
cnts1 = cv2.findContours(mask1.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
cnts2 = cv2.findContours(mask2.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
cnts3 = cv2.findContours(mask3.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
if len(cnts1) > 0:
c = max(cnts1, key=cv2.contourArea)
((X, Y), radius) = cv2.minEnclosingCircle(c)
cv2.circle(cut_frame1, (int(X), int(Y)), int(radius), (0, 0, 255), 2)
Area = cv2.contourArea(c) / min_area[now_color]
if Area > 255:
Area = 255
if Area > min_area[now_color]:
x4, y4, w4, h4 = cv2.boundingRect(c)
cv2.rectangle(cut_frame1, (x4, y4), (x4 + w4, y4 + h4), (0, 255, 0), 2)
# ----------------------------------------
rows, cols = cut_frame1.shape[:2]
[vx, vy, x, y] = cv2.fitLine(c, cv2.DIST_L2, 0, 0.01, 0.01)
# print("rows = " + str(rows) + ", cols= " + str(cols) + ", vx= " + str(vx) + ", vy= " + str(vy) + ", x=" + str(x) + ", y= " + str(y))
lefty = int((-x * vy / vx) + y)
righty = int(((cols - x) * vy / vx) + y)
try:
cv2.line(cut_frame1, (cols - 1, righty), (0, lefty), (0, 0, 255), 2)
except:
print("cv2.line error~ " + str(righty) + ", " + str(lefty))
pass
point1 = (cols - 1, righty)
point2 = (0, lefty)
Angle = 100 + int(GetAngleTwoPoints(point2, point1))
#----------DO---------------------------------
print(Angle)
# ----------------------------------------
X_Size = int((255.0 / W_View_size) * w4)
Y_Size = int((255.0 / H_View_size) * h4)
X_255_point = int((255.0 / W_View_size) * X)
Y_255_point = int((255.0 / H_View_size) * Y)
if mask2.any():
if Angle < 85:
TX_data(serial_port, 6)
cv2.waitKey(1)
elif Angle > 115:
TX_data(serial_port, 4)
cv2.waitKey(1)
else:
TX_data(serial_port, 5)
cv2.waitKey(1)
else:
TX_data(serial_port,26)
TX_data(serial_port,13)
TX_data(serial_port,13)
if mask2.any():
TX_data(serial_port, 26)
cv2.waitKey(1)
break
elif len(cnts2) > 0:
c = max(cnts2, key=cv2.contourArea)
((X, Y), radius) = cv2.minEnclosingCircle(c)
cv2.circle(cut_frame2, (int(X), int(Y)), int(radius), (0, 0, 255), 2)
Area = cv2.contourArea(c) / min_area[now_color]
if Area > 255:
Area = 255
if Area > min_area[now_color]:
x4, y4, w4, h4 = cv2.boundingRect(c)
cv2.rectangle(cut_frame2, (x4, y4), (x4 + w4, y4 + h4), (0, 255, 0), 2)
# ----------------------------------------
rows, cols = cut_frame2.shape[:2]
[vx, vy, x, y] = cv2.fitLine(c, cv2.DIST_L2, 0, 0.01, 0.01)
# print("rows = " + str(rows) + ", cols= " + str(cols) + ", vx= " + str(vx) + ", vy= " + str(vy) + ", x=" + str(x) + ", y= " + str(y))
lefty = int((-x * vy / vx) + y)
righty = int(((cols - x) * vy / vx) + y)
try:
cv2.line(cut_frame2, (cols - 1, righty), (0, lefty), (0, 0, 255), 2)
except:
print("cv2.line error~ " + str(righty) + ", " + str(lefty))
pass
point1 = (cols - 1, righty)
point2 = (0, lefty)
Angle = 100 + int(GetAngleTwoPoints(point2, point1))
# ----------DO---------------------------------
print(Angle)
# ----------------------------------------
X_Size = int((255.0 / W_View_size) * w4)
Y_Size = int((255.0 / H_View_size) * h4)
X_255_point = int((255.0 / W_View_size) * X)
Y_255_point = int((255.0 / H_View_size) * Y)
if mask2.any():
if Angle < 85:
TX_data(serial_port, 6)
cv2.waitKey(1)
elif Angle > 115:
TX_data(serial_port, 4)
cv2.waitKey(1)
else:
TX_data(serial_port, 5)
cv2.waitKey(1)
else:
TX_data(serial_port, 26)
TX_data(serial_port, 13)
TX_data(serial_port, 13)
if mask2.any():
TX_data(serial_port, 26)
cv2.waitKey(1)
break
elif len(cnts3) > 0:
c = max(cnts3, key=cv2.contourArea)
((X, Y), radius) = cv2.minEnclosingCircle(c)
cv2.circle(cut_frame3, (int(X), int(Y)), int(radius), (0, 0, 255), 2)
Area = cv2.contourArea(c) / min_area[now_color]
if Area > 255:
Area = 255
if Area > min_area[now_color]:
x4, y4, w4, h4 = cv2.boundingRect(c)
cv2.rectangle(cut_frame3, (x4, y4), (x4 + w4, y4 + h4), (0, 255, 0), 2)
# ----------------------------------------
rows, cols = cut_frame3.shape[:2]
[vx, vy, x, y] = cv2.fitLine(c, cv2.DIST_L2, 0, 0.01, 0.01)
# print("rows = " + str(rows) + ", cols= " + str(cols) + ", vx= " + str(vx) + ", vy= " + str(vy) + ", x=" + str(x) + ", y= " + str(y))
lefty = int((-x * vy / vx) + y)
righty = int(((cols - x) * vy / vx) + y)
try:
cv2.line(cut_frame3, (cols - 1, righty), (0, lefty), (0, 0, 255), 2)
except:
print("cv2.line error~ " + str(righty) + ", " + str(lefty))
pass
point1 = (cols - 1, righty)
point2 = (0, lefty)
Angle = 100 + int(GetAngleTwoPoints(point2, point1))
# ----------DO---------------------------------
print(Angle)
# ----------------------------------------
X_Size = int((255.0 / W_View_size) * w4)
Y_Size = int((255.0 / H_View_size) * h4)
X_255_point = int((255.0 / W_View_size) * X)
Y_255_point = int((255.0 / H_View_size) * Y)
if mask2.any():
if Angle < 85:
TX_data(serial_port, 6)
cv2.waitKey(1)
elif Angle > 115:
TX_data(serial_port, 4)
cv2.waitKey(1)
else:
TX_data(serial_port, 5)
cv2.waitKey(1)
else:
TX_data(serial_port, 26)
TX_data(serial_port, 13)
TX_data(serial_port, 13)
if mask2.any():
TX_data(serial_port, 26)
cv2.waitKey(1)
break
else:
x = 0
y = 0
X_255_point = 0
Y_255_point = 0
X_Size = 0
Y_Size = 0
Area = 0
Angle = 0
#--------------------------------------
Read_RX = RX_data(serial_port)
if Read_RX != 0:
print("Read_RX = " + str(Read_RX))
#TX_data(serial_port,255)
#--------------------------------------
Frame_time = (clock() - old_time) * 1000.
old_time = clock()
if View_select == 0: # Fast operation
# print(" " + str(W_View_size) + " x " + str(H_View_size) + " = %.1f ms Angle: %.2f" % (Frame_time , Angle))
# temp = Read_RX
pass
elif View_select == 1: # Debug
draw_str2(frame, (3, 15),
'X: %.1d, Y: %.1d, Area: %.1d, Angle: %.2f ' % (X_255_point, Y_255_point, Area, Angle))
draw_str2(frame, (3, H_View_size - 5), 'View: %.1d x %.1d Time: %.1f ms Space: Fast <=> Video and Mask.'
% (W_View_size, H_View_size, Frame_time))
# ------------------------------------------
mx2 = mx
my2 = my
pixel = hsv[my2, mx2]
set_H = pixel[0]
set_S = pixel[1]
set_V = pixel[2]
pixel2 = frame[my2, mx2]
#frame[2*height//3:,:] = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR)
if my2 < (H_View_size / 2):
if mx2 < 50:
x_p = -30
elif mx2 > (W_View_size - 50):
x_p = 60
else:
x_p = 30
draw_str2(frame, (mx2 - x_p, my2 + 15), '-HSV-')
draw_str2(frame, (mx2 - x_p, my2 + 30), '%.1d' % (pixel[0]))
draw_str2(frame, (mx2 - x_p, my2 + 45), '%.1d' % (pixel[1]))
draw_str2(frame, (mx2 - x_p, my2 + 60), '%.1d' % (pixel[2]))
else:
x_p = 30
draw_str2(frame, (mx2 - x_p, my2 - 60), '-HSV-')
draw_str2(frame, (mx2 - x_p, my2 - 45), '%.1d' % (pixel[0]))
draw_str2(frame, (mx2 - x_p, my2 - 30), '%.1d' % (pixel[1]))
draw_str2(frame, (mx2 - x_p, my2 - 15), '%.1d' % (pixel[2]))
cv2.imshow(winname,frame)
canvas[2 * height // 3:, :2 * width // 3] = mask1
canvas[2 * height // 3:, 1 * width // 3:2 * width // 3] = mask2
canvas[2 * height // 3:, 2 * width // 3:] = mask3
cv2.imshow('canvas(frame) - Video', canvas)
# ----------------------------------------------
key = 0xFF & cv2.waitKey(1)
if key == 27: # ESC Key
break
elif key == ord(' '): # spacebar Key
if View_select == 0:
View_select = 1
else:
View_select = 0
cv2.destroyAllWindows()
# cleanup the camera and close any open windows
if serial_use != 0:
serial_port.close()
camera.release()
cv2.destroyAllWindows()