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color_detector.py
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color_detector.py
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import numpy as np
import cv2
import time
import serial
baudRate = 9600
arduinoComPort = "/dev/ttyACM0"
serialPort = serial.Serial(arduinoComPort, baudRate, timeout=1)
def main():
cap = cv2.VideoCapture(0)
current_lego = 0
i = 0
while(True):
# value = input()
# if value == "t":
# break
ret,frame = cap.read()
# gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
blurred_frame = cv2.GaussianBlur(frame.copy(), (5,5), 0)
hsv = cv2.cvtColor(blurred_frame, cv2.COLOR_BGR2HSV)
# of red
lower_red = np.array([0, 110, 110])
upper_red = np.array([10, 255, 255])
# of blue
lower_blue = np.array([110, 50, 50])
upper_blue = np.array([130, 255, 255])
# of green
lower_green = np.array([30, 50, 0])
upper_green = np.array([100, 255, 150])
# of yellow
lower_yellow = np.array([0, 80, 70])
upper_yellow = np.array([255, 255, 255])
mask_red = cv2.inRange(hsv, lower_red, upper_red)
mask_red = cv2.erode(mask_red, None, iterations=2)
mask_red = cv2.dilate(mask_red, None, iterations=2)
# blue mask, binary, reduce noise
mask_blue = cv2.inRange(hsv, lower_blue, upper_blue)
mask_blue = cv2.erode(mask_blue, None, iterations=2)
mask_blue = cv2.dilate(mask_blue, None, iterations=2)
mask_green = cv2.inRange(hsv, lower_green, upper_green)
mask_green = cv2.erode(mask_green, None, iterations=2)
mask_green = cv2.dilate(mask_green, None, iterations=2)
mask_yellow = cv2.inRange(hsv, lower_yellow, upper_yellow)
mask_yellow = cv2.erode(mask_yellow, None, iterations=2)
mask_yellow = cv2.dilate(mask_yellow, None, iterations=2)
if i % 50 == 0:
contours_red = cv2.findContours(mask_red.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
red_center = None
red_coordinates = []
contours_blue = cv2.findContours(mask_blue.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
blue_center = None
blue_coordinates = []
contours_green = cv2.findContours(mask_green.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
green_center = None
green_coordinates = []
contours_yellow = cv2.findContours(mask_yellow.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
yellow_center = None
yellow_coordinates = []
if len(contours_red) > 0:
c = max(contours_red, key=cv2.contourArea)
((x,y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
red_center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
cv2.circle(frame, (int(x), int(y)), int(radius), (0,255,255), 2)
cv2.circle(frame, red_center, 5, (0, 0, 255), -1)
red_coordinates.append(red_center[1])
if current_lego != 1:
current_lego = 1
print("red")
serialPort.write("4")
elif len(contours_blue) > 0:
c = max(contours_blue, key=cv2.contourArea)
((x,y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
blue_center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
cv2.circle(frame, (int(x), int(y)), int(radius), (0,255,255), 2)
cv2.circle(frame, blue_center, 5, (0, 0, 255), -1)
blue_coordinates.append(blue_center[1])
if current_lego != 2:
current_lego = 2
print("blue")
serialPort.write("1")
elif len(contours_green) > 0:
c = max(contours_green, key=cv2.contourArea)
((x,y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
green_center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
cv2.circle(frame, (int(x), int(y)), int(radius), (0,255,255), 2)
cv2.circle(frame, green_center, 5, (0, 0, 255), -1)
green_coordinates.append(green_center[1])
if current_lego != 3:
current_lego = 3
print("green")
serialPort.write("3")
elif len(contours_yellow) > 0:
c = max(contours_yellow, key=cv2.contourArea)
((x,y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
yellow_center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
cv2.circle(frame, (int(x), int(y)), int(radius), (0,255,255), 2)
cv2.circle(frame, yellow_center, 5, (0, 0, 255), -1)
red_coordinates.append(yellow_center[1])
if current_lego != 4:
current_lego = 4
print("yellow")
serialPort.write("2")
print(" ")
current_lego = 0
i += 1
print(i)
# res_red = cv2.bitwise_and(frame,frame, mask=mask_red)
## res_blue = cv2.bitwise_and(frame,frame, mask=mask_blue)
# res_green = cv2.bitwise_and(frame,frame, mask=mask_green)
# res_yellow = cv2.bitwise_and(frame,frame, mask=mask_yellow)
cv2.imshow('frame', frame)
# cv2.imshow('mask_red', mask_red)
#cv2.imshow('mask_blue', mask_blue)
# cv2.imshow('res_red', res_red)
#cv2.imshow('res_blue', res_blue)
# cv2.imshow('res_green', res_green)
# cv2.imshow('res_yellow', res_yellow)
# time.sleep(10)
print("step")
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
if __name__ == "__main__" :
main()