]> wolfpit.net Git - hardware/fuck_tomatoes/.git/commitdiff
Added some blob detection testing
authorunknown <michaelreeves808@gmail.com>
Sat, 23 Feb 2019 11:01:23 +0000 (03:01 -0800)
committerunknown <michaelreeves808@gmail.com>
Sat, 23 Feb 2019 11:01:23 +0000 (03:01 -0800)
Printer.pyc
Tests.py
Thumbs.db [new file with mode: 0644]
common.py [new file with mode: 0644]
common.pyc [new file with mode: 0644]
salad.jpg [new file with mode: 0644]
utils/Gcode.pyc
utils/PrinterUtils.pyc

index c8fb482ceb2a04de4014b1627c5c088b6bb65b46..f665442cd862209bd44e66166c6e6bd852a4fabc 100644 (file)
Binary files a/Printer.pyc and b/Printer.pyc differ
index 148bc7aca3a7d3b1b2b9428c2d119dcf1429fb49..79c5e8c70ca34f29b2c8a80156b2769d678e8f9d 100644 (file)
--- a/Tests.py
+++ b/Tests.py
@@ -1,24 +1,30 @@
-import Printer, time
+import Printer, time, cv2
+import numpy as np
 from utils import Gcode
 
-testPoints = [
-    (176, 204),
-    (306, 150),
-    (176, 204), 
-    (306, 150)
-]
-
-start_time = time.time()
-p = Printer.Printer('COM4', (200,200))
-
-cum = False
-while 1:
-    if time.time() - start_time > 8:
-        if not cum:
-            cum = True
-            p.sendPackage(testPoints)
-            
-        res = p.packageIsExecuting()
-        if not res:
-            print('Is HOmed: ' + str(time.time()))
-            p.sendPackage(testPoints)
+detector = cv2.SimpleBlobDetector_create()
+
+img = cv2.imread('salad.jpg')
+kernelOpen=np.ones((3,3))
+kernelClose=np.ones((7,7))
+lowerBound=np.array([0,180,180])
+upperBound=np.array([10,255,255])
+
+hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
+mask = cv2.inRange(hsv, lowerBound, upperBound)
+
+maskImg = cv2.bitwise_and(img,img, mask= mask)
+
+points = detector.detect(maskImg)
+print(points)
+
+img = cv2.drawKeypoints(img, points, np.array([]), (255,0,0), cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
+
+cv2.imshow('REEE', img)
+cv2.waitKey(0)
+cv2.destroyAllWindows()
+
+
+# mask=cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernelOpen, iterations = 2)
+# mask=cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernelClose)
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diff --git a/Thumbs.db b/Thumbs.db
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diff --git a/common.py b/common.py
new file mode 100644 (file)
index 0000000..1dd46bd
--- /dev/null
+++ b/common.py
@@ -0,0 +1,237 @@
+#!/usr/bin/env python
+
+'''
+This module contains some common routines used by other samples.
+'''
+
+# Python 2/3 compatibility
+from __future__ import print_function
+import sys
+PY3 = sys.version_info[0] == 3
+
+if PY3:
+    from functools import reduce
+
+import numpy as np
+import cv2 as cv
+
+# built-in modules
+import os
+import itertools as it
+from contextlib import contextmanager
+
+image_extensions = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.pbm', '.pgm', '.ppm']
+
+class Bunch(object):
+    def __init__(self, **kw):
+        self.__dict__.update(kw)
+    def __str__(self):
+        return str(self.__dict__)
+
+def splitfn(fn):
+    path, fn = os.path.split(fn)
+    name, ext = os.path.splitext(fn)
+    return path, name, ext
+
+def anorm2(a):
+    return (a*a).sum(-1)
+def anorm(a):
+    return np.sqrt( anorm2(a) )
+
+def homotrans(H, x, y):
+    xs = H[0, 0]*x + H[0, 1]*y + H[0, 2]
+    ys = H[1, 0]*x + H[1, 1]*y + H[1, 2]
+    s  = H[2, 0]*x + H[2, 1]*y + H[2, 2]
+    return xs/s, ys/s
+
+def to_rect(a):
+    a = np.ravel(a)
+    if len(a) == 2:
+        a = (0, 0, a[0], a[1])
+    return np.array(a, np.float64).reshape(2, 2)
+
+def rect2rect_mtx(src, dst):
+    src, dst = to_rect(src), to_rect(dst)
+    cx, cy = (dst[1] - dst[0]) / (src[1] - src[0])
+    tx, ty = dst[0] - src[0] * (cx, cy)
+    M = np.float64([[ cx,  0, tx],
+                    [  0, cy, ty],
+                    [  0,  0,  1]])
+    return M
+
+
+def lookat(eye, target, up = (0, 0, 1)):
+    fwd = np.asarray(target, np.float64) - eye
+    fwd /= anorm(fwd)
+    right = np.cross(fwd, up)
+    right /= anorm(right)
+    down = np.cross(fwd, right)
+    R = np.float64([right, down, fwd])
+    tvec = -np.dot(R, eye)
+    return R, tvec
+
+def mtx2rvec(R):
+    w, u, vt = cv.SVDecomp(R - np.eye(3))
+    p = vt[0] + u[:,0]*w[0]    # same as np.dot(R, vt[0])
+    c = np.dot(vt[0], p)
+    s = np.dot(vt[1], p)
+    axis = np.cross(vt[0], vt[1])
+    return axis * np.arctan2(s, c)
+
+def draw_str(dst, target, s):
+    x, y = target
+    cv.putText(dst, s, (x+1, y+1), cv.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 0), thickness = 2, lineType=cv.LINE_AA)
+    cv.putText(dst, s, (x, y), cv.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255), lineType=cv.LINE_AA)
+
+class Sketcher:
+    def __init__(self, windowname, dests, colors_func):
+        self.prev_pt = None
+        self.windowname = windowname
+        self.dests = dests
+        self.colors_func = colors_func
+        self.dirty = False
+        self.show()
+        cv.setMouseCallback(self.windowname, self.on_mouse)
+
+    def show(self):
+        cv.imshow(self.windowname, self.dests[0])
+
+    def on_mouse(self, event, x, y, flags, param):
+        pt = (x, y)
+        if event == cv.EVENT_LBUTTONDOWN:
+            self.prev_pt = pt
+        elif event == cv.EVENT_LBUTTONUP:
+            self.prev_pt = None
+
+        if self.prev_pt and flags & cv.EVENT_FLAG_LBUTTON:
+            for dst, color in zip(self.dests, self.colors_func()):
+                cv.line(dst, self.prev_pt, pt, color, 5)
+            self.dirty = True
+            self.prev_pt = pt
+            self.show()
+
+
+# palette data from matplotlib/_cm.py
+_jet_data =   {'red':   ((0., 0, 0), (0.35, 0, 0), (0.66, 1, 1), (0.89,1, 1),
+                         (1, 0.5, 0.5)),
+               'green': ((0., 0, 0), (0.125,0, 0), (0.375,1, 1), (0.64,1, 1),
+                         (0.91,0,0), (1, 0, 0)),
+               'blue':  ((0., 0.5, 0.5), (0.11, 1, 1), (0.34, 1, 1), (0.65,0, 0),
+                         (1, 0, 0))}
+
+cmap_data = { 'jet' : _jet_data }
+
+def make_cmap(name, n=256):
+    data = cmap_data[name]
+    xs = np.linspace(0.0, 1.0, n)
+    channels = []
+    eps = 1e-6
+    for ch_name in ['blue', 'green', 'red']:
+        ch_data = data[ch_name]
+        xp, yp = [], []
+        for x, y1, y2 in ch_data:
+            xp += [x, x+eps]
+            yp += [y1, y2]
+        ch = np.interp(xs, xp, yp)
+        channels.append(ch)
+    return np.uint8(np.array(channels).T*255)
+
+def nothing(*arg, **kw):
+    pass
+
+def clock():
+    return cv.getTickCount() / cv.getTickFrequency()
+
+@contextmanager
+def Timer(msg):
+    print(msg, '...',)
+    start = clock()
+    try:
+        yield
+    finally:
+        print("%.2f ms" % ((clock()-start)*1000))
+
+class StatValue:
+    def __init__(self, smooth_coef = 0.5):
+        self.value = None
+        self.smooth_coef = smooth_coef
+    def update(self, v):
+        if self.value is None:
+            self.value = v
+        else:
+            c = self.smooth_coef
+            self.value = c * self.value + (1.0-c) * v
+
+class RectSelector:
+    def __init__(self, win, callback):
+        self.win = win
+        self.callback = callback
+        cv.setMouseCallback(win, self.onmouse)
+        self.drag_start = None
+        self.drag_rect = None
+    def onmouse(self, event, x, y, flags, param):
+        x, y = np.int16([x, y]) # BUG
+        if event == cv.EVENT_LBUTTONDOWN:
+            self.drag_start = (x, y)
+            return
+        if self.drag_start:
+            if flags & cv.EVENT_FLAG_LBUTTON:
+                xo, yo = self.drag_start
+                x0, y0 = np.minimum([xo, yo], [x, y])
+                x1, y1 = np.maximum([xo, yo], [x, y])
+                self.drag_rect = None
+                if x1-x0 > 0 and y1-y0 > 0:
+                    self.drag_rect = (x0, y0, x1, y1)
+            else:
+                rect = self.drag_rect
+                self.drag_start = None
+                self.drag_rect = None
+                if rect:
+                    self.callback(rect)
+    def draw(self, vis):
+        if not self.drag_rect:
+            return False
+        x0, y0, x1, y1 = self.drag_rect
+        cv.rectangle(vis, (x0, y0), (x1, y1), (0, 255, 0), 2)
+        return True
+    @property
+    def dragging(self):
+        return self.drag_rect is not None
+
+
+def grouper(n, iterable, fillvalue=None):
+    '''grouper(3, 'ABCDEFG', 'x') --> ABC DEF Gxx'''
+    args = [iter(iterable)] * n
+    if PY3:
+        output = it.zip_longest(fillvalue=fillvalue, *args)
+    else:
+        output = it.izip_longest(fillvalue=fillvalue, *args)
+    return output
+
+def mosaic(w, imgs):
+    '''Make a grid from images.
+
+    w    -- number of grid columns
+    imgs -- images (must have same size and format)
+    '''
+    imgs = iter(imgs)
+    if PY3:
+        img0 = next(imgs)
+    else:
+        img0 = imgs.next()
+    pad = np.zeros_like(img0)
+    imgs = it.chain([img0], imgs)
+    rows = grouper(w, imgs, pad)
+    return np.vstack(map(np.hstack, rows))
+
+def getsize(img):
+    h, w = img.shape[:2]
+    return w, h
+
+def mdot(*args):
+    return reduce(np.dot, args)
+
+def draw_keypoints(vis, keypoints, color = (0, 255, 255)):
+    for kp in keypoints:
+        x, y = kp.pt
+        cv.circle(vis, (int(x), int(y)), 2, color)
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