Use the largest item instead of quitting when there is more than one

detect.py

@@ -106,7 +106,7 @@ def detect(calibration_width, img_file, show, quick):
     edged = cv2.erode(edged, None, iterations=2)
     edged = cv2.dilate(edged, None, iterations=1)
     edged = cv2.erode(edged, None, iterations=1)
-    edged = cv2.dilate(edged, None, iterations=1)
+    edged = cv2.dilate(edged, None, iterations=2)
     #edged = cv2.erode(edged, None, iterations=1)
     #edged = cv2.dilate(edged, None, iterations=1)
     if show and not quick:
@@ -178,14 +178,24 @@ def detect(calibration_width, img_file, show, quick):
     orig = image.copy()
     objtype = "Object"
     objname = ""
+    c = None
     # loop over the contours individually
-    for c in cnts:
+    if len(cnts) == 0:
+        return ((),edged)
+    area = cv2.contourArea(cnts[0])
+    if area < 400:
+        area = 0
+    for contour in cnts:
+        if cv2.contourArea(contour) >= area and cv2.contourArea(contour) > 400:
+            area = cv2.contourArea(contour)
+            c = contour
+    if c is not None:
         #orig = image.copy()
         num += 1
         # if the contour is not sufficiently large, ignore it
         #pixelsPerMetric = 75
-        if cv2.contourArea(c) < 300 or pixelsPerMetric is None:
+        #if cv2.contourArea(c) < 300 or pixelsPerMetric is None:
-            continue
+            #continue
         # compute the rotated bounding box of the contour
         box = cv2.minAreaRect(c)
         box = cv2.cv.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box)
@@ -347,7 +357,7 @@ def detect(calibration_width, img_file, show, quick):
             #cv2.waitKey(1)
     if not quick:
         cv2.waitKey(0)
-    return (list, orig)
+    return (list, edged)
         
 def magicSort(contour):
     moments = cv2.moments(contour)

run_detect.py

@@ -30,7 +30,7 @@ def go():
                 #control_motor.goToBin(selectedBin)
 
 def sendString(string):
-    print("[ INFO ] Item found: " + string)
+    print("[ INFO ] Sending message: " + string)
     try:
         conn.sendall(string.encode('utf-8'))
     except socket.error:
@@ -42,7 +42,8 @@ if not video:
 	print(elapsed_time)
 
 else :
-    #capture = cv2.VideoCapture('tcpclientsrc port=5001 host=192.168.1.129 ! gdpdepay !  rtph264depay ! avdec_h264 ! videoconvert ! videorate ! video/x-raw,framerate=5/1 ! appsink', cv2.CAP_GSTREAMER)
+    #capture = cv2.VideoCapture('tcpclientsrc port=5000 host=192.168.1.129 ! gdpdepay !  rtph264depay ! avdec_h264 ! videoconvert ! videorate ! video/x-raw,framerate=5/1 ! appsink', cv2.CAP_GSTREAMER)
+    #capture = cv2.VideoCapture('tcpclientsrc host=192.168.1.129 port=5000 ! gdpdepay ! rtph264depay ! avdec_h264 ! autovideosink sync=false', cv2.CAP_GSTREAMER)
     capture = cv2.VideoCapture('udpsrc port=9000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! appsink sync=false', cv2.CAP_GSTREAMER)
     host = ''        # Symbolic name meaning all available interfaces
     port = 9001     # Arbitrary non-privileged port
@@ -72,6 +73,7 @@ else :
     x = 0
     currentItem = ""
     samples = 0
+    intake = False
     while True:
         ret = capture.grab()
         x+=1
@@ -81,14 +83,16 @@ else :
         #print('frame')
         if x > 1:
             ret,frame = capture.retrieve()
-            frame = frame[130:1100, 300:1300]
+            frame = frame[300:1080, 300:1620]
             #frame = frame[170:900, 475:1100]
             items,output = detect.detect(calibration_width, frame, True, True)
             cv2.imshow('Item Sorter', output)
             x = 0
             if len(items) > 0:
                 #items.remove("Penny")
+                if intake is True:
                     sendString("Pause ")
+                    intake = False
                 itema = items[0]
                 valid = True
                 for item in items:
@@ -105,6 +109,7 @@ else :
                     if samples >= 10:
                         samples = 0
                         capture.release()
+                        time.sleep(2)
                         sendString(currentItem)
                         waitForPi = True
                         while waitForPi is True:
@@ -122,8 +127,10 @@ else :
             else:
                 if samples > 0:
                     samples -= 1
-                if samples == 0:
+                if samples == 0 and intake is False:
                     sendString("Intake")
+                    intake = True
+                    time.sleep(0.25)
         if cv2.waitKey(1)&0xFF == ord('q'):
             print("[ EXIT ] Shutting down.")
             s.shutdown(1)