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two_camera.py
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two_camera.py
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#https://www.codesofinterest.com/2018/09/using-multiple-cameras-with-opencv.html
import numpy as np
import cv2
import time
import serial
baudRate = 9600
arduinoComPort = "/dev/ttyACM0"
serialPort = serial.Serial(arduinoComPort, baudRate, timeout=1)
def create_limits(low1,low2,low3,high1,high2,high3):
lower_limit = np.array([low1,low2,low3])
upper_limit = np.array([high1,high2,high3])
return lower_limit,upper_limit
def create_mask(hsv,lower_limit,upper_limit):
mask = cv2.inRange(hsv,lower_limit,upper_limit)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
return mask
def find_contours(mask):
contours = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
coordinates = []
return contours, center, coordinates
def main():
# 0 for computer camera, 1 for external camera
cap1 = cv2.VideoCapture(1)
cap2 = cv2.VideoCapture(2)
write_code = 0
i = 0
while(True):
# Capture frame-by-frame
ret1, frame1 = cap1.read()
ret2, frame2 = cap2.read()
frame1 = frame1[170:350,250:520]
frame2 = frame2[200:400,100:400]
blurred_frame = cv2.GaussianBlur(frame1.copy(), (5,5), 0)
hsv = cv2.cvtColor(blurred_frame, cv2.COLOR_BGR2HSV)
# of red
lower_red, upper_red = create_limits(0, 130, 155, 221, 193, 255)
# of blue
lower_blue, upper_blue = create_limits(80, 125, 80, 240, 255, 143)
# of green
lower_green, upper_green = create_limits(45, 125, 0, 150, 255, 150)
mask_red = create_mask(hsv,lower_red,upper_red)
mask_blue = create_mask(hsv,lower_blue,upper_blue)
mask_green = create_mask(hsv,lower_green,upper_green)
if i % 200 == 0:
image1 = frame1
image2 = frame2
gray1 = cv2.cvtColor(image1, cv2.COLOR_RGB2GRAY)
gray2 = cv2.cvtColor(image2, cv2.COLOR_RGB2GRAY)
refined_image1 = cv2.bilateralFilter(gray1,9,75,75)
refined_image2 = cv2.bilateralFilter(gray2,9,75,75)
ret1, threshold_image1 = cv2.threshold(refined_image1,0,255,cv2.THRESH_OTSU)
ret2, threshold_image2 = cv2.threshold(refined_image2,0,255,cv2.THRESH_OTSU)
canny1 = cv2.Canny(threshold_image1, 250, 255)
canny2 = cv2.Canny(threshold_image2, 250, 255)
kernel = np.ones((3,3), np.uint8)
dilated_image1 = cv2.dilate(canny1,kernel, iterations=1)
dilated_image2 = cv2.dilate(canny2,kernel, iterations=1)
contours1,h1 = cv2.findContours(dilated_image1,cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[:2]
contours2,h2 = cv2.findContours(dilated_image2,cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[:2]
c1 = sorted(contours1, key=cv2.contourArea, reverse=True)[:1]
c2 = sorted(contours2, key=cv2.contourArea, reverse=True)[:1]
# cv2.drawContours(image1, c1, 0, (0,255,0), 3)
# cv2.drawContours(image2, c2, 0, (255,0,0), 3)
x1,y1,w1,h1 = cv2.boundingRect(c1[0])
cv2.rectangle(image1,(x1,y1),(x1+w1,y1+h1), (0,255,0),3)
x2,y2,w2,h2 = cv2.boundingRect(c2[0])
cv2.rectangle(image2,(x2,y2),(x2+w2,y2+h2), (255,0,0),3)
rect1 = cv2.minAreaRect(c1[0])
box1 = cv2.cv.BoxPoints(rect1)
box1 = np.int0(box1)
cv2.drawContours(image1,[box1],0,(0,255,0),3)
rect2 = cv2.minAreaRect(c2[0])
box2 = cv2.cv.BoxPoints(rect2)
box2 = np.int0(box2)
cv2.drawContours(image2,[box2],0,(255,0,0),3)
summ = cv2.contourArea(box1) + cv2.contourArea(box2)
print(summ)
if summ < 10000:
write_code += 1
elif summ > 10000 and summ < 11000:
write_code += 3
elif summ > 13000:
write_code += 2
contours_red, red_center, red_coordinates = find_contours(mask_red)
contours_blue, blue_center, blue_coordinates = find_contours(mask_blue)
contours_green, green_center, green_coordinates = find_contours(mask_green)
if len(contours_red) > 0:
write_code = write_code + 10
elif len(contours_blue) > 0:
# unnecessary
write_code = write_code + 20
elif len(contours_green) > 0:
write_code = write_code + 30
if write_code == 21:
print("Blue 2x2")
serialPort.write("20")
elif write_code == 22:
print(" Blue 2x4")
serialPort.write("40")
elif write_code == 23:
print(" Blue 1x4")
serialPort.write("60")
elif write_code == 11:
print("Red 2x2")
serialPort.write("80")
elif write_code == 12:
print("Red 2x4")
serialPort.write("100")
elif write_code == 13:
print(" Red 1x4")
serialPort.write("120")
elif write_code == 31:
print("Green 2x2")
serialPort.write("140")
elif write_code == 32:
print("Green 2x4")
serialPort.write("160")
elif write_code == 33:
print("Green 1x4")
serialPort.write("180")
else:
print("Unknown")
serialPort.write("0")
i += 1
# print(write_code)
write_code = 0
if ret1:
cv2.imshow('Cam1',image1)
if ret2:
cv2.imshow("Cam2", image2)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# When everything done, release the capture
cap1.release()
cap2.release()
cv2.destroyAllWindows()
if __name__ == "__main__" :
main()