From 756ddd89897ef6d44eb106d887d57c8851489e8f Mon Sep 17 00:00:00 2001
From: Stelios Giakoumidis <cse43995@uniwa.gr>
Date: Sat, 11 Jan 2020 18:26:05 +0200
Subject: [PATCH] Added initial drone detection algorithm

---
 camera module/main.py | 58 ++++++++++++++++++++++++++++++++++++++++---
 1 file changed, 55 insertions(+), 3 deletions(-)

diff --git a/camera module/main.py b/camera module/main.py
index 1bea7ea..fabea1a 100644
--- a/camera module/main.py	
+++ b/camera module/main.py	
@@ -1,4 +1,56 @@
-import servo
+import cv2
+
+# Constant variables definition.
+DESIRED_HEIGHT = 480 # The input image will be resized to this height, preserving its aspect ratio.
+BLUE_THRESHOLD = 128 # If the blue channel is bigger than this, it is considered background and removed.
+
+
+# Function definitions
+def resizeImage(img):
+	"Resize the input image based on the DESIRED_HEIGHT variable."
+	p = img.shape;
+	aspectRatio = p[0]/p[1]
+	width = DESIRED_HEIGHT*aspectRatio
+	img = cv2.resize(img, ( DESIRED_HEIGHT, int(width) ))
+	return img
+
+#####################################################################################
+
+# Read image from source
+img = cv2.imread('/home/stelios/Desktop/IoT/drone.jpg', cv2.IMREAD_COLOR)
+
+
+# Resize image to the desired height.
+img = resizeImage(img)
+
+imgOriginal = img.copy()
+
+# Remove BLUE
+p = img.shape
+for i in range(p[0]):
+	for j in range(p[1]):
+		if (img[i,j,0] > BLUE_THRESHOLD):
+			img[i,j,:] = 0
+
+# Convert to grayscale.
+img = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
+
+#####################################################################
+
+thres1, img2 = cv2.threshold(img, 1, 255, cv2.THRESH_BINARY)
+
+im2, contours, hierarchy = cv2.findContours(img2, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
+
+maxContour = max(contours, key = cv2.contourArea)
+
+cv2.drawContours(imgOriginal, maxContour, -1, (0,0,255), 1)
+print(len(maxContour))
+
+x,y,w,h = cv2.boundingRect(maxContour)
+
+# draw the biggest contour (c) in green
+cv2.rectangle(imgOriginal,(x,y),(x+w,y+h),(0,20,255),2)
+
+cv2.imshow('Test', imgOriginal)
+cv2.waitKey(0)
 
-servo.SetAngleUp(180)
-servo.SetAngleDown(180)
\ No newline at end of file