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Refectored Workspace

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Mann Patel
2024-07-20 14:58:49 -06:00
parent 69d0507c3e
commit c9cd98a03a
22 changed files with 1896 additions and 111 deletions
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243
Computer Vision/main2.py
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@@ -1,50 +1,202 @@
# import cv2
# import numpy as np
# from scipy.spatial import distance as dist, distance
#
# class Robot:
# def __init__(self, pos=None, team='-no team!-', ID='-no ID!-'):
# self.pos = pos if pos is not None else []
# self.team = team
# self.ID = ID
# self.circles = []
#
# def add_marking(self, circle=None):
# if circle is None:
# circle = [0, 0, [0, 0, 0]]
# self.circles.append(circle)
#
# class Ball:
# def __init__(self, pos=None):
# self.pos = pos if pos is not None else []
#
# ball = Ball()
# robotList = []
# robotMarks = []
#
# def Color_Detection(blue, green, red):
# if blue >= 220 and green <= 50 and red <= 50:
# return 'Blue'
# if blue <= 50 and green >= 200 and red >= 200:
# return 'Yellow'
# if blue >= 200 and green <= 50 and red >= 200:
# return 'Purple'
# if blue <= 50 and green >= 220 and red <= 50:
# return 'Green'
# if blue <= 50 and green <= 200 and red >= 180:
# return 'Orange'
# return 'Unidentified'
#
#
# def IdentifyCircles(img, circle):
# global ball
#
# x, y = int(circle[0]), int(circle[1])
# blue, green, red = img[y, x, 0], img[y, x, 1], img[y, x, 2]
# color = Color_Detection(blue, green, red)
#
# if color == 'Blue' or color == 'Yellow':
# robotList.append(Robot([x, y], color))
# elif color == 'Green' or color == 'Purple':
# robotMarks.append([x, y, color])
# print('ROBOT FOUND')
# elif color == 'Orange':
# ball.pos = [x, y]
# print(f"Ball found at ({x}, {y})")
#
#
# def assignIDmarks():
# if robotList is not None:
# for idx, robot in enumerate(robotList):
# distances = []
#
# for i, mark in enumerate(robotMarks):
# mark_dist = distance.euclidean(mark[:2], robot.pos)
# distances.append((i, mark_dist))
# distances.sort(key=lambda x: x[1])
# closest_marks_indices = [i for i, _ in distances[:4]]
# robot.circles = [robotMarks[i] for i in closest_marks_indices]
# robot.ID = idx + 1
#
#
# def detect_circles(image):
# gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# blurred = cv2.GaussianBlur(gray, (9, 9), 0)
# circles = cv2.HoughCircles(blurred, cv2.HOUGH_GRADIENT, 1, minDist=20, param1=50, param2=14, minRadius=15,
# maxRadius=50)
# return circles
#
#
# def annotate_image(img):
# for robot in robotList:
# team_color = "B" if robot.team == 'Blue' else "Y"
# sting = f'Team: {team_color} | ID: {robot.ID} | POS: {robot.pos}'
# cv2.putText(img, sting, (robot.pos[0] + 20, robot.pos[1] - 40), cv2.FONT_HERSHEY_SIMPLEX, .75,
# (255, 255, 255), 2, cv2.LINE_AA)
#
# if ball.pos:
# cv2.putText(img, f'Ball {ball.pos}', (ball.pos[0] + 20, ball.pos[1] + 20), cv2.FONT_HERSHEY_SIMPLEX, 1,
# (255, 255, 255), 2, cv2.LINE_AA)
#
# # Main function
# def main():
# global robotList, robotMarks
# global ball
#
# while True:
# # Initialize globals
# robotList = []
# robotMarks = []
# ball = Ball() # Ensure ball is always an instance of Ball
#
# # Load and process the image
# imgpath = "/Users/mannpatel/Desktop/Project/Computer Vision/Test2.jpeg"
# img = cv2.imread(imgpath)
# if img is None:
# print(f"Failed to load image at path: {imgpath}")
# return
#
# cv2.imshow("Original Image", img)
#
# # Detect circles in the image
# circles = detect_circles(img)
#
# if circles is not None:
# circles = np.uint16(np.around(circles))
# for circle in circles[0, :]:
# IdentifyCircles(img, circle)
# cv2.circle(img, (circle[0], circle[1]), circle[2], (0, 255, 0), 2)
# cv2.circle(img, (circle[0], circle[1]), 2, (0, 0, 255), 3)
# assignIDmarks()
#
# for robot in robotList:
# print(f'There is a {robot.team} robot with these ID circles:')
# for mark in robot.circles:
# print(mark)
#
# if ball.pos:
# print(f'Ball found at {ball.pos}')
#
# for robot in robotList:
# if robot.pos:
# cv2.circle(img, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
# for mark in robot.circles:
# cv2.circle(img, (mark[0], mark[1]), 10, (0, 0, 0), 5)
#
# else:
# print("No circles detected")
#
# annotate_image(img)
# cv2.imshow("Annotated Image", img)
# cv2.waitKey(0)
# cv2.destroyAllWindows()
#
#
# if __name__ == "__main__":
# main()
import cv2
import numpy as np
from scipy.spatial import distance as dist, distance
import copy
# Initialize empty lists for robots and ID markings
robotList = []
robotMarks = []
class Robot:
def __init__(self, pos=None, team='-no team!-', ID='-no ID!-'):
# Initialize with default empty list if pos is not provided
self.pos = pos if pos is not None else []
self.team = team
self.ID = ID
self.circles = [] # ID markings [x, y, color]
self.circles = []
def add_marking(self, circle=None):
# Initialize with default circle if none is provided
if circle is None:
circle = [0, 0, [0, 0, 0]]
self.circles.append(circle)
class Ball:
def __init__(self, pos=None):
# Initialize with default empty list if pos is not provided
self.pos = pos if pos is not None else []
# Initialize the ball with default position
ball = Ball()
# Initialize empty lists for robots and ID markings
robotList = []
robotMarks = []
def Color_Detection(blue, green, red):
if blue > 220 and green < 50 and red < 50:
if blue >= 220 and green <= 50 and red <= 50:
return 'Blue'
if blue < 50 and green > 200 and red > 200:
if blue <= 50 and green >= 200 and red >= 200:
return 'Yellow'
if blue > 200 and green < 50 and red > 200:
if blue >= 200 and green <= 50 and red >= 200:
return 'Purple'
if blue < 50 and green > 220 and red < 50:
if blue <= 50 and green >= 220 and red <= 50:
return 'Green'
if blue < 50 and green < 200 and red > 220:
if blue <= 50 and green <= 200 and red >= 220:
return 'Orange'
return 'Unidentified'
# def Color_Detection(blue, green, red):
# if blue == 246 and green == 0 and red == 0:
# return 'Blue'
# if blue <= 0 and green >= 250 and red > 350:
# return 'Yellow'
# if blue == 247 and green == 51 and red == 235:
# return 'Purple'
# if blue == 77 and green == 252 and red == 118:
# return 'Green'
# if blue == 50 and green == 113 and red == 228:
# return 'Orange'
# return 'Unidentified'
def IdentifyCircles(img, circle):
global ball
@@ -53,13 +205,17 @@ def IdentifyCircles(img, circle):
blue, green, red = img[y, x, 0], img[y, x, 1], img[y, x, 2]
color = Color_Detection(blue, green, red)
# Debugging statements
print(f"Circle at ({x}, {y}) with BGR ({blue}, {green}, {red}) detected as {color}")
if color == 'Blue' or color == 'Yellow':
robotList.append(Robot([x, y], color))
elif color == 'Green' or color == 'Purple':
robotMarks.append([x, y, color])
print('ROBOT FOUND')
elif color == 'Orange':
ball = Ball([x, y])
ball.pos = [x, y]
print(f"Ball found at ({x}, {y})")
def assignIDmarks():
@@ -79,32 +235,44 @@ def assignIDmarks():
def detect_circles(image):
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(gray, (9, 9), 0)
circles = cv2.HoughCircles(blurred, cv2.HOUGH_GRADIENT, 1, minDist=20, param1=50, param2=14, minRadius=15, maxRadius=25)
circles = cv2.HoughCircles(blurred, cv2.HOUGH_GRADIENT, 1, minDist=20, param1=50, param2=14, minRadius=15,
maxRadius=50)
return circles
def annotate_image(img):
for robot in robotList:
team_color = "B" if robot.team == 'Blue' else "Y"
cv2.putText(img, f'{team_color}', (robot.pos[0] + 20, robot.pos[1] - 40), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
cv2.putText(img, f'ID{robot.ID}', (robot.pos[0] + 20, robot.pos[1] - 20), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
cv2.putText(img, f'{robot.pos}', (robot.pos[0] + 20, robot.pos[1]), cv2.FONT_HERSHEY_SIMPLEX, .75, (255, 255, 255), 2, cv2.LINE_AA)
# Assuming orientation and other details are part of robot attributes
cv2.putText(img, f'{team_color}', (robot.pos[0] + 20, robot.pos[1] - 40), cv2.FONT_HERSHEY_SIMPLEX, .75,
(255, 255, 255), 2, cv2.LINE_AA)
cv2.putText(img, f'ID{robot.ID}', (robot.pos[0] + 20, robot.pos[1] - 20), cv2.FONT_HERSHEY_SIMPLEX, .75,
(255, 255, 255), 2, cv2.LINE_AA)
cv2.putText(img, f'{robot.pos}', (robot.pos[0] + 20, robot.pos[1]), cv2.FONT_HERSHEY_SIMPLEX, .75,
(255, 255, 255), 2, cv2.LINE_AA)
if ball.pos:
cv2.putText(img, f'Ball {ball.pos}', (ball.pos[0] + 20, ball.pos[1] + 20), cv2.FONT_HERSHEY_SIMPLEX, 1,
(255, 255, 255), 2, cv2.LINE_AA)
cv2.circle(img, (ball.pos[0], ball.pos[1]), 10, (0, 165, 255), -1) # Orange color for the ball
if ball:
cv2.putText(img, f'Ball {ball.pos}', (ball.pos[0] + 20, ball.pos[1] + 20), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 255, 255), 2, cv2.LINE_AA)
# Main function
def main():
global robotList, robotMarks, ball
global robotList, robotMarks
global ball
# Initialize globals
robotList = []
robotMarks = []
ball = None
ball = Ball() # Ensure ball is always an instance of Ball
# Load and process the image
imgpath = "/Users/mannpatel/Desktop/Project/Template.jpg"
imgpath = "/Users/mannpatel/Desktop/Robocup/Computer Vision/Template1.png"
img = cv2.imread(imgpath)
if img is None:
print(f"Failed to load image at path: {imgpath}")
return
cv2.imshow("Original Image", img)
# Detect circles in the image
@@ -120,26 +288,33 @@ def main():
assignIDmarks()
for robot in robotList:
print(f'There is a {robot.team} robot with these ID circles:')
print(f'There is a {robot.team} robot with these ID {robot.ID}')
for mark in robot.circles:
print(mark)
if ball:
if ball.pos:
print(f'Ball found at {ball.pos}')
for robot in robotList:
cv2.circle(img, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
for mark in robot.circles:
cv2.circle(img, (mark[0], mark[1]), 10, (0, 0, 0), 5)
if robot.pos:
cv2.circle(img, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
for mark in robot.circles:
cv2.circle(img, (mark[0], mark[1]), 10, (0, 0, 0), 5)
else:
print("No circles detected")
annotate_image(img)
cv2.imshow("Annotated Image", img)
cv2.waitKey(0)
# Use cv2.waitKey() to display the window until a key is pressed
while True:
key = cv2.waitKey(1) & 0xFF
if key == ord('q'):
break
cv2.destroyAllWindows()
if __name__ == "__main__":
main()
main()