shark/item-sort
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Use the largest item instead of quitting when there is more than one

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This commit is contained in:
Cole Deck 2020-06-08 17:51:27 -05:00
parent 052ea30f73
commit 42ca50e4be
2 changed files with 27 additions and 10 deletions
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20
detect.py
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@ -106,7 +106,7 @@ def detect(calibration_width, img_file, show, quick):
edged = cv2.erode(edged, None, iterations=2) edged = cv2.erode(edged, None, iterations=2)
edged = cv2.dilate(edged, None, iterations=1) edged = cv2.dilate(edged, None, iterations=1)
edged = cv2.erode(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.erode(edged, None, iterations=1)
#edged = cv2.dilate(edged, None, iterations=1) #edged = cv2.dilate(edged, None, iterations=1)
if show and not quick: if show and not quick:
@ -178,14 +178,24 @@ def detect(calibration_width, img_file, show, quick):
orig = image.copy() orig = image.copy()
objtype = "Object" objtype = "Object"
objname = "" objname = ""
c = None
# loop over the contours individually # 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() #orig = image.copy()
num += 1 num += 1
# if the contour is not sufficiently large, ignore it # if the contour is not sufficiently large, ignore it
#pixelsPerMetric = 75 #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 # compute the rotated bounding box of the contour
box = cv2.minAreaRect(c) box = cv2.minAreaRect(c)
box = cv2.cv.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box) 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) #cv2.waitKey(1)
if not quick: if not quick:
cv2.waitKey(0) cv2.waitKey(0)
return (list, orig) return (list, edged)
def magicSort(contour): def magicSort(contour):
moments = cv2.moments(contour) moments = cv2.moments(contour)

17
run_detect.py
View File

@ -30,7 +30,7 @@ def go():
#control_motor.goToBin(selectedBin) #control_motor.goToBin(selectedBin)
def sendString(string): def sendString(string):
print("[ INFO ] Item found: " + string) print("[ INFO ] Sending message: " + string)
try: try:
conn.sendall(string.encode('utf-8')) conn.sendall(string.encode('utf-8'))
except socket.error: except socket.error:
@ -42,7 +42,8 @@ if not video:
print(elapsed_time) print(elapsed_time)
else : 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) 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 host = '' # Symbolic name meaning all available interfaces
port = 9001 # Arbitrary non-privileged port port = 9001 # Arbitrary non-privileged port
@ -72,6 +73,7 @@ else :
x = 0 x = 0
currentItem = "" currentItem = ""
samples = 0 samples = 0
intake = False
while True: while True:
ret = capture.grab() ret = capture.grab()
x+=1 x+=1
@ -81,14 +83,16 @@ else :
#print('frame') #print('frame')
if x > 1: if x > 1:
ret,frame = capture.retrieve() ret,frame = capture.retrieve()
frame = frame[130:1100, 300:1300] frame = frame[300:1080, 300:1620]
#frame = frame[170:900, 475:1100] #frame = frame[170:900, 475:1100]
items,output = detect.detect(calibration_width, frame, True, True) items,output = detect.detect(calibration_width, frame, True, True)
cv2.imshow('Item Sorter', output) cv2.imshow('Item Sorter', output)
x = 0 x = 0
if len(items) > 0: if len(items) > 0:
#items.remove("Penny") #items.remove("Penny")
sendString("Pause ") if intake is True:
sendString("Pause ")
intake = False
itema = items[0] itema = items[0]
valid = True valid = True
for item in items: for item in items:
@ -105,6 +109,7 @@ else :
if samples >= 10: if samples >= 10:
samples = 0 samples = 0
capture.release() capture.release()
time.sleep(2)
sendString(currentItem) sendString(currentItem)
waitForPi = True waitForPi = True
while waitForPi is True: while waitForPi is True:
@ -122,8 +127,10 @@ else :
else: else:
if samples > 0: if samples > 0:
samples -= 1 samples -= 1
if samples == 0: if samples == 0 and intake is False:
sendString("Intake") sendString("Intake")
intake = True
time.sleep(0.25)
if cv2.waitKey(1)&0xFF == ord('q'): if cv2.waitKey(1)&0xFF == ord('q'):
print("[ EXIT ] Shutting down.") print("[ EXIT ] Shutting down.")
s.shutdown(1) s.shutdown(1)