signal sleeve.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 61,
   "id": "1fc6b8e8",
   "metadata": {},
   "outputs": [],
   "source": [
    "import cv2\n",
    "import numpy as np\n",
    "import math as m"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 62,
   "id": "6cdc9e9e",
   "metadata": {},
   "outputs": [],
   "source": [
    "lower_orange = np.array([0, 141, 0])\n",
    "upper_orange = np.array([255, 255, 90])\n",
    "\n",
    "# lower_green = np.array([0, 100, 0])\n",
    "# upper_green = np.array([255, 130, 150])\n",
    "\n",
    "lower_green = np.array([0, 100, 0])\n",
    "upper_green = np.array([255, 130, 150])\n",
    "\n",
    "lower_pink = np.array([0, 180, 125])\n",
    "upper_pink = np.array([255, 255, 255])\n",
    "\n",
    "radius = 50\n",
    "start_point = (320 - 50, 240 - 50)\n",
    "end_point = (320 + 50, 240 + 50)\n",
    "\n",
    "horizon = 0\n",
    "minwidth = 20\n",
    "\n",
    "focal_length = 320/46*92.5\n",
    "camera_angle = np.pi / 6.0\n",
    "\n",
    "def ctransform(x, y):\n",
    "    return (x - 320, -y + 240)\n",
    "def theta(n):\n",
    "    return m.atan2(n, focal_length)\n",
    "def delta(n1, n2):\n",
    "    return theta(n2) - theta(n1)\n",
    "def estimateDistance(da):\n",
    "    return 1.0 / m.sin(da/2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 63,
   "id": "31e4dd84",
   "metadata": {},
   "outputs": [],
   "source": [
    "def findColor(img, label, lower, upper, conversion=cv2.COLOR_BGR2YCrCb):\n",
    "    ycrcb = cv2.cvtColor(img, conversion)\n",
    "    # cv2.imshow(label + \" ycrcb\", ycrcb)\n",
    "    \n",
    "    mask = cv2.inRange(ycrcb, lower, upper)\n",
    "    # cv2.imshow(label + \" mask\", mask)\n",
    "    \n",
    "    mask = cv2.GaussianBlur(mask, (5, 5), cv2.BORDER_DEFAULT)\n",
    "    # cv2.imshow(label + \" blur\", mask)\n",
    "    \n",
    "    res = cv2.bitwise_and(img, img, mask = mask)\n",
    "    \n",
    "    cv2.rectangle(res, start_point, end_point, (255, 0, 0), 2)\n",
    "    \n",
    "    total = 0\n",
    "    n = 0\n",
    "    for x in range(start_point[0], end_point[0]):\n",
    "        for y in range(start_point[1], end_point[1]):\n",
    "            total += mask[x, y] // 255\n",
    "            n += 1\n",
    "    average = total / n\n",
    "    \n",
    "    # cv2.imshow(label + \" img\", img)\n",
    "    cv2.imshow(label + \" res\", res)\n",
    "    \n",
    "    return average\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 69,
   "id": "341857e5",
   "metadata": {
    "scrolled": false
   },
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[ WARN:0] global /build/source/modules/videoio/src/cap_gstreamer.cpp (616) isPipelinePlaying OpenCV | GStreamer warning: GStreamer: pipeline have not been created\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
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   ],
   "source": [
    "capl = cv2.VideoCapture(2)\n",
    "while 1:\n",
    "    good, flip_img = capl.read()\n",
    "    img = cv2.rotate(flip_img, cv2.ROTATE_180)\n",
    "    if (good):\n",
    "        print(\n",
    "            orange := findColor(img, \"orange\", lower_orange, upper_orange),\n",
    "#             findColor(img, \"green\", lower_green, upper_green, conversion=cv2.COLOR_BGR2YCgCo),\n",
    "            pink := findColor(img, \"pink\", lower_pink, upper_pink),\n",
    "        )\n",
    "        if orange > 0.5: x = (\"orange\")\n",
    "        elif pink > 0.5: x = (\"pink\")\n",
    "        else: x = (\"green\")\n",
    "        cv2.putText(img, x, (50, 50), cv2.FONT_HERSHEY_SIMPLEX, 2, 255)\n",
    "        cv2.rectangle(img, start_point, end_point, (255, 0, 0), 2)\n",
    "        cv2.imshow(\"img\", img)\n",
    "    if (cv2.waitKey(1) & 0xFF == ord('q')):\n",
    "        break\n",
    "capl.release()\n",
    "cv2.destroyAllWindows()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "2ff47e2a",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "810b5ab1",
   "metadata": {},
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "ff0752a4",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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