Refectored Workspace

.gitattributes

@@ -1,2 +0,0 @@
-# Auto detect text files and perform LF normalization
-* text=auto

.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

.idea/Project.iml

@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$">
-      <excludeFolder url="file://$MODULE_DIR$/.venv" />
-    </content>
-    <orderEntry type="inheritedJdk" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

.idea/misc.xml

@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="Black">
-    <option name="sdkName" value="Python 3.11 (Project)" />
-  </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.11 (Project)" project-jdk-type="Python SDK" />
-</project>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/Project.iml" filepath="$PROJECT_DIR$/.idea/Project.iml" />
-    </modules>
-  </component>
-</project>

.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="" vcs="Git" />
-  </component>
-</project>

Computer Vision/1.py

@@ -0,0 +1,160 @@
+import cv2
+import numpy as np
+from scipy.spatial import distance as dist, distance
+import main1
+
+
+
+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 []
+
+
+# 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:
+        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)
+
+    # 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.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"
+        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
+
+
+# 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 = "Assets/Images/BotsAndBall.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
+        circles = detect_circles(img)
+
+        if circles is not None:
+            circles = np.uint8(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()

Computer Vision/2.py

@@ -0,0 +1,163 @@
+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 []
+
+
+# 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:
+        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)
+
+    # 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.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"
+        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
+
+
+# Main function
+def main():
+    global robotList, robotMarks
+    global ball
+
+    # Initialize globals
+    robotList = []
+    robotMarks = []
+    ball = Ball()  # Ensure ball is always an instance of Ball
+
+    # Load and process the image
+    imgpath = "Assets/Images/BotsAndBall.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
+    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)
+
+    # 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()

Computer Vision/3.py

@@ -0,0 +1,160 @@
+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, 0], img[y, x, 0]
+    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=1,
+                               maxRadius=99)
+    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)
+
+    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
+
+
+# Main function
+def main():
+    global robotList, robotMarks
+    global ball
+
+    # Open the video file
+    video_path = "Assets/Images/BotsAndBall.png"
+    cap = cv2.VideoCapture(1)
+
+    if not cap.isOpened():
+        print(f"Failed to open video file: {video_path}")
+        return
+
+    while cap.isOpened():
+        ret, frame = cap.read()
+        if not ret:
+            break
+
+        # Initialize globals for each frame
+        robotList = []
+        robotMarks = []
+        ball = Ball()  # Ensure ball is always an instance of Ball
+
+        # Detect circles in the frame
+        circles = detect_circles(frame)
+
+        if circles is not None:
+            circles = np.uint16(np.around(circles))
+            for circle in circles[0, :]:
+                IdentifyCircles(frame, circle)
+                cv2.circle(frame, (circle[0], circle[1]), circle[2], (0, 255, 0), 2)
+                cv2.circle(frame, (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(frame, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
+                    for mark in robot.circles:
+                        cv2.circle(frame, (mark[0], mark[1]), 10, (0, 0, 0), 5)
+
+        else:
+            print("No circles detected")
+
+        annotate_image(frame)
+        cv2.imshow("Annotated Frame", frame)
+
+        if cv2.waitKey(1) & 0xFF == ord('q'):
+            break
+
+    cap.release()
+    cv2.destroyAllWindows()
+
+
+if __name__ == "__main__":
+    main()

Computer Vision/main1.py

@@ -28,15 +28,15 @@ ball = Ball()
 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:
+    elif blue < 50 and green > 200 and red > 200:
         return 'Yellow'
-    if blue > 200 and green < 50 and red > 200:
+    elif blue > 200 and green < 50 and red > 200:
         return 'Purple'
-    if blue < 50 and green > 220 and red < 50:
+    elif blue < 50 and green > 220 and red < 50:
         return 'Green'
-    if blue < 50 and green < 200 and red > 220:
+    elif blue < 50 and green < 200 and red > 220:
         return 'Orange'
-    return 'Unidentified'
+    return f'Unidentified Color R:{red}, G:{green}, B:{blue}'
 
 def IdentifyCircles(img, circle):
     global ball
@@ -49,7 +49,6 @@ def IdentifyCircles(img, circle):
         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])
 
@@ -76,8 +75,8 @@ 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'\nID{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)
+        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:
         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)
@@ -92,7 +91,7 @@ def main():
     ball = None
 
     # Load and process the video
-    video_path = "/Users/mannpatel/Desktop/Project/Computer Vision/Test2.mp4"
+    video_path = "/Users/mannpatel/Desktop/Robocup/Assets/Video/Test2.mp4"
     cap = cv2.VideoCapture(video_path)
 
     while cap.isOpened():
@@ -116,10 +115,10 @@ def main():
 
             assignIDmarks()
 
-            for robot in robotList:
+            # 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 circles:')
-                for mark in robot.circles:
+            #     for mark in robot.circles:
-                    print(mark)
+            #         print(mark)
 
             if ball:
                 print(f'Ball found at {ball.pos}')

Computer Vision/main2.py

@@ -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'{team_color}', (robot.pos[0] + 20, robot.pos[1] - 40), cv2.FONT_HERSHEY_SIMPLEX, .75,
-        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)
+                    (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)
+        cv2.putText(img, f'ID{robot.ID}', (robot.pos[0] + 20, robot.pos[1] - 20), cv2.FONT_HERSHEY_SIMPLEX, .75,
-        # Assuming orientation and other details are part of robot attributes
+                    (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)
+            if robot.pos:
-            for mark in robot.circles:
+                cv2.circle(img, (robot.pos[0], robot.pos[1]), 10, (0, 0, 0), 5)
-                cv2.circle(img, (mark[0], mark[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()

GUI/GUI.py

@@ -1,22 +0,0 @@
-import dearpygui.dearpygui as dpg
-
-dpg.create_context()
-
-with dpg.window(label="Example Window"):
-    dpg.add_text("Hello, world")
-    dpg.add_button(label="Save")
-    dpg.add_input_text(label="string", default_value="Quick brown fox")
-    dpg.add_slider_float(label="float", default_value=0.273, max_value=1)
-
-dpg.create_viewport(title='Custom Title', width=600, height=200)
-dpg.setup_dearpygui()
-dpg.show_viewport()
-
-# below replaces, start_dearpygui()
-while dpg.is_dearpygui_running():
-    # insert here any code you would like to run in the render loop
-    # you can manually stop by using stop_dearpygui()
-    print("this will run every frame")
-    dpg.render_dearpygui_frame()
-
-dpg.destroy_context()