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FishSensor.py
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FishSensor.py
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import numpy as np
import cv2
from DataTypes import FishPosition
class FishSensor(object):
def __init__(self):
self.cap = cv2.VideoCapture(0)
self.cap.set(3, 280)
self.cap.set(4, 192)
#cv2.namedWindow("image")
#lower_b, lower_g, lower_r = 0, 0, 80
lower_b, lower_g, lower_r = 0, 55, 130
#upper_b, upper_g, upper_r = 130, 75, 115
upper_b, upper_g, upper_r = 100, 145, 195
self.lower = np.array([lower_b, lower_g, lower_r], dtype='uint8')
self.upper = np.array([upper_b, upper_g, upper_r], dtype='uint8')
self.old_x, self.old_y = 0.0, 0.0
self.old_count = 0
def poll(self):
ret, frame = self.cap.read()
mask = cv2.inRange(frame, self.lower, self.upper)
idx_rows, idx_cols = np.where(mask)
if len(idx_rows > 0):
row = int(round(idx_rows.mean()))
col = int(round(idx_cols.mean()))
marked_frame = cv2.circle(frame, (col, row), 5, (0, 0, 255), -1)
x = float(col)/(280/2)-1.0
y = float(row)/(192/2)-1.0
self.old_x = x
self.old_y = y
self.old_count = 0
else:
if self.old_count > 5:
x = 0.0
y = 0.0
else:
x = self.old_x
y = self.old_y
self.old_count += 1
#cv2.imshow("image", frame)
#key = cv2.waitKey(1)
return FishPosition(x=x, y=y)
if __name__ == "__main__":
cap = cv2.VideoCapture(0)
cap.set(3, 280)
cap.set(4, 192)
def onClick(event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
print x, y, frame[y, x]
cv2.namedWindow("image")
cv2.setMouseCallback("image", onClick)
#lower_b, lower_g, lower_r = 0, 0, 80
lower_b, lower_g, lower_r = 0, 55, 130
#upper_b, upper_g, upper_r = 130, 75, 115
upper_b, upper_g, upper_r = 100, 145, 195
mode = 0
while True:
ret, frame = cap.read()
lower = np.array([lower_b, lower_g, lower_r], dtype='uint8')
upper = np.array([upper_b, upper_g, upper_r], dtype='uint8')
mask = cv2.inRange(frame, lower, upper)
idx_rows, idx_cols = np.where(mask)
if len(idx_rows > 0):
row = int(round(idx_rows.mean()))
col = int(round(idx_cols.mean()))
marked_frame = cv2.circle(frame, (col, row), 5, (0, 0, 255), -1)
print "%.3f, %.3f" % (float(col) / (280.0/2) - 1,
float(row) / (192.0/2) - 1)
#cv2.imshow("image", marked_frame)
else:
pass
#cv2.imshow("image", frame)
if mode:
output = cv2.bitwise_and(frame, frame, mask=mask)
cv2.imshow("image", output)
else:
cv2.imshow("image", frame)
key = cv2.waitKey(1)
if key & 0xFF == ord('q'):
break
if key & 0xFF == ord('w'):
lower_b += 5
if key & 0xFF == ord('s'):
lower_b -= 5
if key & 0xFF == ord('e'):
lower_g += 5
if key & 0xFF == ord('d'):
lower_g -= 5
if key & 0xFF == ord('r'):
lower_r += 5
if key & 0xFF == ord('f'):
lower_r -= 5
if key & 0xFF == ord('t'):
upper_b += 5
if key & 0xFF == ord('g'):
upper_b -= 5
if key & 0xFF == ord('y'):
upper_g += 5
if key & 0xFF == ord('h'):
upper_g -= 5
if key & 0xFF == ord('u'):
upper_r += 5
if key & 0xFF == ord('j'):
upper_r -= 5
if key & 0xFF == ord('m'):
mode = 1 if mode == 0 else 0
if ord('a') <= (key & 0xFF) <= ord('z'):
print (lower_b, lower_g, lower_r), (upper_b, upper_g, upper_r)
cap.release()
cv2.destroyAllWindows()