All the previous files

2026-08-18 13:53:01 +00:00 · 2014-02-05 10:44:04 +05:30
commit 12135f9a60
160 changed files with 8827 additions and 0 deletions
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+import SimpleCV as s
+import time
+import webcolors as w
+import serial_setup
+from math import sqrt,atan2,degrees,sin, cos,radians
+
+#Uncomment below line only while using serial
+#serial_setup.setup(port=8)
+
+def mean(list_a):
+    sum=0
+    for elements in list_a:
+        sum+=elements
+    return float(sum)/len(list_a)
+
+clock1=time.clock()
+cam=s.JpegStreamCamera(r"http://192.168.173.109:8080/videofeed")
+def loop():
+    #img=s.Image(r"C:\Users\Abhas_2\Desktop\untitled.png").scale(.25)
+    img=cam.getImage()
+    #clock1=time.clock()
+    #print("0: "+str(1/(time.clock()-clock1)))
+    img2=img.toGray()
+    #print("1: "+str(1/(time.clock()-clock1)))
+    img_black=img2.stretch(50,50)
+    #img_black=img2.threshold(10)
+    #print("2: "+str(1/(time.clock()-clock1)))
+    bot_blobs=img_black.invert().findBlobs()
+    if bot_blobs:
+        bot=bot_blobs[-1:][0]
+        #print("3: "+str(1/(time.clock()-clock1)))
+        bot_hole=(img2.crop(bot)-bot.hullMask().invert()).morphOpen()
+        #print("4: "+str(1/(time.clock()-clock1)))
+        hole_blobs=bot_hole.findBlobs()
+        if hole_blobs:
+            hole=hole_blobs[-1:][0]
+        hole_center=[bot.topLeftCorner()[0]+hole.x, bot.topLeftCorner()[1]+hole.y]
+        #print("5: "+str(1/(time.clock()-clock1)))
+        bot_center=bot.centroid()
+        bot_radius=bot.radius()
+        bot_angle=ball_angle=degrees(atan2(-(hole_center[1]-bot_center[1]),hole_center[0]-bot_center[0]))
+        img3=(img2-img)+(img-img2)
+        #img3.show()
+
+        #f[0].show()
+        #print("6: "+str(1/(time.clock()-clock1)))
+        img_=img-img3.threshold(5).invert()
+        #print("7: "+str(1/(time.clock()-clock1)))
+        f=img_.findBlobs()
+        #print("8: "+str(1/(time.clock()-clock1)))
+        if f:
+            f=f[-1:]
+            c_match=f[0].meanColor()
+            ball_centre=[f[0].x,f[0].y]
+            ball_angle=degrees(atan2(-(ball_centre[1]-bot_center[1]),ball_centre[0]-bot_center[0]))
+            #print(ball_angle)
+            img.drawLine(ball_centre,bot_center,s.Color.YELLOW,5)
+            #img_.drawLine(bot_center,[bot_center[0]+cos(radians( bot_angle))*bot_radius,bot_center[1]-sin(radians(bot_angle))*bot_radius],s.Color.BLUE,5)
+            #img_.show()
+            #c=f[0].centroid()
+            #out=img_.crop(c[0],c[1],f[0].width(),f[0].height(),True)
+
+            #img_in=out.crop(out.width/2,out.height/2,out.width/sqrt(2),out.height/sqrt(2),True)
+            #c_match=img_in.toRGB().meanColor()
+            #print(c_match)
+            c_match=s.Color.getHueFromRGB(c_match)
+            #print(c_match)
+            least=255*3
+            color=None
+            list_check=s.Color.colorlist
+            #list_check=[s.Color.getHueFromRGB(s.Color.YELLOW),s.Color.getHueFromRGB(s.Color.RED),s.Color.getHueFromRGB(s.Color.BLUE),s.Color.getHueFromRGB(s.Color.GREEN),s.Color.getHueFromRGB(s.Color.HOTPINK)]
+            for c in list_check:
+                c_=s.Color.getHueFromRGB(c)
+                diff=abs(c_match-c_)
+                if diff<least:
+                    #print(diff)
+                    #print(c_)
+                    color=c_
+                    least=diff
+            #print(color)
+            color=s.Color.hueToRGB(color)
+            #print(color)
+
+            color_name=w.rgb_to_name(color)
+            #print(color_name)
+        #print("9: "+str(1/(time.clock()-clock1)))
+        img.drawLine([bot.x,bot.y],hole_center,s.Color.AQUAMARINE,thickness=5)
+
+        #minimum angle between ball_angle and bot_angle
+        # returns positive angle for anti-clockwise rotation and else negative angle
+        diff_angle = ball_angle-bot_angle
+        diff_angle = (diff_angle + 180) % 360 - 180
+        print(diff_angle)
+
+        #send_signal(diff_angle)
+        #print("10: "+str(1/(time.clock()-clock1)))
+        img.show()
+
+def send_signal(diff_angle):
+    basic=120
+    total=255
+    mod_angle=abs(diff_angle)
+    sign=diff_angle/mod_angle
+    val=str(sign*(float(mod_angle)/360*(total-basic)+basic))
+    print("Sending: "+val)
+    serial_setup.ser.write(val)
+
+# Actual code
+while True:
+    loop()