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Added comments and removed debug elements from the python code.

master
Stelios Giakoumidis 5 years ago
parent
commit
f4d4326e2d
  1. 21
      camera module/main.py

21
camera module/main.py

@ -38,25 +38,24 @@ def resizeImage(img):
def findMatchingContour(img, objX, objY):
dilated = img.copy()
#dilated = cv2.dilate(img, (5,5), iterations=1)
canny = cv2.Canny(dilated, CANNY_LOW_THRES, CANNY_HIGH_THRES)
# Apply the canny detector on the image and find the contours.
canny = cv2.Canny(img, CANNY_LOW_THRES, CANNY_HIGH_THRES)
if MAJOR_VERSION == 3:
_, contours, hierarchy = cv2.findContours(canny, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
else:
contours, hierarchy = cv2.findContours(canny, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
#print('len:' + str(len(contours)))
# Sort the contours based on their area.
contours.sort(key = cv2.contourArea, reverse = True)
#cv2.imshow('hey', canny)
# Determine which of the detected contours is the drone.
for i in range(len(contours)):
contour = contours[i]
x,y,w,h = cv2.boundingRect(contour)
area = w*h
dist = cv2.pointPolygonTest(contour, (objX,objY), False)
#print('dist: ' + str(dist))
if area >= MIN_CONTOUR_AREA and area <= MAX_CONTOUR_AREA and dist >= 0:
return (True, contour)
@ -66,7 +65,6 @@ def processImage(img):
# Resize image to the desired height.
resized = resizeImage(img)
#return removeColors(resized)
dim = resized.shape
# Convert to grayscale.
@ -100,18 +98,16 @@ def processImage(img):
objCenterY = int( (y + y + h) / 2)
imgCenterX = int(dim[1]/2)
imgCenterY = int(dim[0]/2)
#cv2.circle(resized, (objCenterX, objCenterY), 5, BLUE, LINE_THICKNESS)
ret, finalContour = findMatchingContour(blur, objCenterX, objCenterY)
if (ret == False):
return (resized, 0, 0)
#cv2.fillPoly(resized, finalContour, BLUE, cv2.LINE_4)
x,y,w,h = cv2.boundingRect(finalContour)
objCenterX = int( (x + x + w) / 2)
objCenterY = int( (y + y + h) / 2)
# Draw the bounding rectangle and its centroid to the image.
#cv2.circle(resized, (objCenterX, objCenterY), 5, YELLOW, LINE_THICKNESS)
cv2.rectangle(resized, (x,y), (x+w,y+h), RED, LINE_THICKNESS)
cv2.line(resized, (objCenterX, objCenterY), (imgCenterX, imgCenterY), YELLOW, LINE_THICKNESS)
@ -159,15 +155,14 @@ cap = cv2.VideoCapture(0)
if (cap.isOpened() == False):
print('Error opening stream.')
quit()
#cap.set(1, 30*6)
while (cap.isOpened()):
try:
ret, frame = cap.read()
if (ret == True):
img, xDir, yDir = processImage(frame)
#cv2.imshow('Frame', img)
# Encode and send the processed frame.
encoded, buffer = cv2.imencode('.jpg', img)
jpg_as_text = base64.b64encode(buffer)
footage_socket.send(jpg_as_text)

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