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webcam_h_c_detector.py
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webcam_h_c_detector.py
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#This script written to detect half circle objects with webcam.
#I chose red and half circled objects.You can chose your filter too, please write Read.me on git.
#@ dasmehdix
import cv2
import numpy as np
def pixDis(a1,b1,a2,b2):
#distance between points(pixels)
y = b2-b1
x = a2-a1
return np.sqrt(x*x+y*y)
def nothing(x):
# any operation
pass
cap = cv2.VideoCapture(0)
cv2.namedWindow("Trackbars")
cv2.createTrackbar("L-H", "Trackbars", 62, 180, nothing)
cv2.createTrackbar("L-S", "Trackbars", 66, 255, nothing)
cv2.createTrackbar("L-V", "Trackbars", 134, 255, nothing)
cv2.createTrackbar("U-H", "Trackbars", 180, 255, nothing)
cv2.createTrackbar("U-S", "Trackbars", 255, 255, nothing)
cv2.createTrackbar("U-V", "Trackbars", 243, 255, nothing)
font = cv2.FONT_HERSHEY_COMPLEX
global center
while True:
ret, frame = cap.read()
frame = cv2.GaussianBlur(frame,(5,5),0)
gray= cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
l_h = cv2.getTrackbarPos("L-H", "Trackbars")
l_s = cv2.getTrackbarPos("L-S", "Trackbars")
l_v = cv2.getTrackbarPos("L-V", "Trackbars")
u_h = cv2.getTrackbarPos("U-H", "Trackbars")
u_s = cv2.getTrackbarPos("U-S", "Trackbars")
u_v = cv2.getTrackbarPos("U-V", "Trackbars")
# lower mask (0-10)
''' lower_red = np.array([0,50,50])
upper_red = np.array([10,255,255])
mask0 = cv2.inRange(hsv, lower_red, upper_red)
# upper mask (170-180)
lower_red = np.array([170,50,50])
upper_red = np.array([180,255,255])
mask1 = cv2.inRange(hsv, lower_red, upper_red)
mask = mask0+mask1 '''
lower_red = np.array([l_h, l_s, l_v])
upper_red = np.array([u_h, u_s, u_v])
mask = cv2.inRange(hsv, lower_red, upper_red)
kernel = np.ones((5, 5), np.uint8)
mask = cv2.dilate(mask, kernel)
mask[np.where(mask==0)] = 0
#mask = cv2.Canny(mask,50,100)
# Contours detection
if int(cv2.__version__[0]) > 3:
# Opencv 4.x.x
contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
else:
# Opencv 3.x.x
_, contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
oldArea = 0
oldCnt = 0
for cnt in contours:
area = cv2.contourArea(cnt)
approx = cv2.approxPolyDP(cnt, 0.02*cv2.arcLength(cnt, True), True)
diameter = np.sqrt(4*area/np.pi)
x = approx.ravel()[0]
y = approx.ravel()[1]
convvex = cv2.isContourConvex(cnt)
#print(len(cnt))
if cv2.arcLength(cnt,True) != 0:
circularity = (4*np.pi*area)/((cv2.arcLength(cnt,True))*(cv2.arcLength(cnt,True)))
if area > 500 and 0.5 <=float(circularity) <= 0.7 and 4< len(approx) <= 7 and convvex == False:
#roundness = (4*area)/(np.pi*diameter*diameter)
#print(float(roundness))
x1, y1 ,w1, h1 = cv2.boundingRect(cnt)
''' print(cv2.boundingRect(cnt))
cv2.rectangle(frame,(x1-20,y1-20),(x1+w1+20,y1+h1+20),(0,255,0),2) '''
x2 = x1 + w1
y2 = y1 + h1
if x1<0:
x1=1
if y1<0:
y1=1
if x2>639:
x2 = 639
if y2>479:
y2=479
gray = gray[(y1):(y2),(x1):(x2)]
if gray.shape[0] != 0:
if gray.shape[1] != 0:
if y2>y1:
if x2>x1:
''' print(gray.shape)
cv2.imshow("ngray", gray) '''
rows = gray.shape[0]
#cv2.imshow("daire",gray)
circles = cv2.HoughCircles(gray,cv2.HOUGH_GRADIENT,1,rows/8,param1=50,param2=15,minRadius=15,maxRadius=120)
if circles is not None:
circles = np.uint16(np.around(circles))
for i in circles[0,:]:
center = (i[0]+x1, i[1]+y1)
radius = i[2]
#cv2.circle(frame, center, radius, (111, 23, 111), 3)
''' if len(approx.ravel()) <= 12:
yayDif = pixDis(approx.ravel()[0],approx.ravel()[1],approx.ravel()[4],approx.ravel()[5])
#yaydif cemberde ilk ve 3. nokta arasındaki mesafe ref ise olması gerek uzunluğu
referance = np.sqrt(2)*pixDis(approx.ravel()[0],approx.ravel()[1],approx.ravel()[8],approx.ravel()[9])
if referance-2<yayDif<referance+2: '''
if area >= oldArea:
M = cv2.moments(cnt)
cX = int(M["m10"] / M["m00"])
cY = int(M["m01"] / M["m00"])
if abs(center[0]-cX) < 40:
#This place is where we understand that it's a half circle
cv2.drawContours(frame, [approx], 0, (0, 0, 0), 5)
cv2.line(frame,(cX,cY),(cX,cY-60),(0,255,0),thickness=2)
cv2.line(frame,(cX,cY),(cX+60,cY),(255,0,0),thickness=2)
cv2.line(frame,(cX,cY),(cX-30,cY+30),(0,0,255),thickness=2)
cv2.putText(frame,"Yarim Daire Bulundu",(x,y),font,1,(100,244,237),thickness=2)
oldArea = area
oldCnt = cnt
''' if len(approx) == 3:
cv2.putText(frame, "Triangle", (x, y), font, 1, (0, 0, 0))
elif len(approx) == 4:
cv2.putText(frame, "Rectangle", (x, y), font, 1, (0, 0, 0))
elif len(approx) == 5:
cv2.putText(frame,"Half-Circle",(x,y),font,1,(0,255,0))
elif 10 < len(approx) < 20:
cv2.putText(frame, "Circle", (x, y), font, 1, (0, 0, 0)) '''
cv2.imshow("FrameR", frame)
cv2.imshow("Maske", mask)
key = cv2.waitKey(1)
if key == 27:
break
cap.release()
cv2.destroyAllWindows()