Create PythonCV

projects/Kalman Filter/KalmanDelrin/.gitignore

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+/bin/

projects/Kalman Filter/KalmanDelrin/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>KalmanDelrin</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>

projects/Kalman Filter/KalmanDelrinConfig/.gitignore

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+/bin/

projects/Kalman Filter/KalmanDelrinConfig/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>KalmanDelrinConfig</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+	</natures>
+</projectDescription>

projects/PythonCV/IPCamera.py

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+__author__ = 'Leon Agmon Nacht'
+
+import cv2
+import numpy as np
+import urllib
+
+
+class IPCamera():
+    '''
+    IPCamera- This class handles all the needed variables and methods for the camera (python side) of the project.
+    '''
+
+    def __init__(self, path, flag_file_path, results_file_path, minimum_bounding_size, min_color, max_color):
+        '''
+        This method initialising the variables for the IPCamera instance.
+        :param path: The FTP path for the current jpeg image (the jpeg image should be updated using the roborio code).
+        :param minimum_bounding_size: The minimum contour area to be considered as an object.
+        :param max_color: The max color to be passed in the mask. (in the format: np.array([R, G, B])
+        :param min_color: The min color to be passed in the mask. (in the format: np.array([R, G, B])
+        :param results_file_path: The path for the results to be used by the java process.
+        :param flag_file_path: The path for the flags:
+            - First line: Should read next image(1), if first line is 0 the java process should write image.
+                          After finish reading image should change flag to 0.
+        :return: None
+        '''
+        self.path = path
+        self.current_image = None
+        self.current_image_object_width = None
+        self.known_distance = None
+        self.known_width = None
+        self.focal_length = None
+        self.distance_image = None
+        self.minimum_bounding_rect_size = minimum_bounding_size
+        self.max_color = max_color
+        self.min_color = min_color
+        self.image_width = None
+        self.image_height = None
+        self.flag_file_path = flag_file_path
+        self.results_file_path = results_file_path
+        self.masked_image = None
+        # The scales of the object in self.current_image, should be updated using self.update_object_scales.
+        self.object_width = None
+        self.object_height = None
+        self.object_x = None
+        self.object_y = None
+
+    # MARK: Running Once Methods.
+
+    def set_distance_vars(self, distance, width, image):
+        '''
+        This method sets the needed variables for calculating the distance of an object from the camera.
+
+        :param distance: The distance of the object from the camera in image.
+        :param width: The real world width of the object.
+        :param image: The pre-taken image of the object, in image the object is in distance distance(var) from the camera.
+        :return: None
+        '''
+        gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
+        gray = cv2.GaussianBlur(gray, (5, 5), 0)
+        edged = cv2.Canny(gray, 35, 125)
+
+        # find the contours in the edged image and keep the largest one
+        # we'll assume that this is our wanted object in the image
+        (cnts, _) = cv2.findContours(edged.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
+        marker = max(cnts, key = cv2.contourArea)
+
+        self.distance_image = image
+        self.known_distance = distance
+        self.known_width = width
+
+        self.focal_length = (marker[1][0] * distance) / width
+
+
+    def set_image_scales(self):
+        '''
+        This method sets the scales of the image(self.current_image).
+        This method is auto called, and should be called only if the image size changes.
+        :return:
+        '''
+        height, width = self.current_image.shape[:2]
+        self.image_height = height
+        self.image_width
+    # MARK: Update Methods.
+
+    def update_image(self):
+
+        '''
+        This method is called when needed to update the self.current_image.
+        self.current_image is being updated to the image in self.path.
+        :return: None.
+        '''
+
+        if self.current_image is not None and self.image_width is None and self.image_height is None:
+            self.set_image_scales()
+
+        with open(self.flag_file_path, "r") as f:
+            flag = f.readline().strip()
+        #if flag == "1": # Should read image.
+        if True:
+            req = urllib.urlopen(self.path)
+            arr = np.asarray(bytearray(req.read()), dtype=np.uint8)
+            img = cv2.imdecode(arr, -1)
+            self.current_image = img  # The current image in the instance path. (already in cv2 format).
+            self.update_flag_file()
+
+    def update_object_scales(self):
+        '''
+        This method updates the vars holding the scales of the object.
+        :return: None
+        '''
+        (x, y, w, h) = self.calculate_bounding_rect()
+        self.object_height = h
+        self.object_width = w
+        self.object__x = x
+        self.object_y = y
+
+    def update_results_file(self, results):
+        '''
+        This method updates the result in self.results_file.
+        :param results: The result to be written.
+        :return: None.
+        '''
+        result_file = open(self.results_file_path, "w")
+        result_file.write(str(results))
+        result_file.close()
+
+    def update_flag_file(self):
+        '''
+        This method sets the flag file to 0.
+        :return: None.
+        '''
+        with open(self.flag_file_path, "w") as f:
+            f.write("1")
+
+    # MARK: Calculating Methods.
+
+    def calculate_bounding_rect(self):
+        '''
+        This method calculates the bounding rect of the biggest right color object in self.current_image.
+        :return: None if no object else the bounding rect in the format of (x, y, w, h).
+        '''
+        hsv = cv2.cvtColor(self.current_image, cv2.COLOR_BGR2HSV)
+
+        # Threshold the HSV image to get only blue colors.
+        mask = cv2.inRange(hsv, self.min_color, self.max_color)
+
+        # Bitwise-AND mask and original image.
+        res = cv2.bitwise_and(self.current_image, self.current_image, mask= mask)
+        self.masked_image = res
+        thresh = cv2.threshold(mask, 25, 255, cv2.THRESH_BINARY)[1]
+
+        # dilate the thresholded image to fill in holes, then find contours on thresholded image.
+        thresh = cv2.dilate(thresh, None, iterations=2)
+        (cnts, _) = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
+        if cnts != []:
+            c = max(cnts, key = cv2.contourArea)
+            if cv2.contourArea(c) > self.minimum_bounding_rect_size:
+                return cv2.boundingRect(c)
+        return None
+
+    def calculate_distance(self):
+        '''
+        This method calculates the distance of the object from the camera.
+        Using- distance from camera = (self.known_width * self.focal_length) / self.image_object_width.
+        Should call self.update_object_scales before.
+        :return: The distance of the object from the camera.
+        '''
+        return float(self.known_width * self.focal_length) / float(self.object_width)
+
+    # MARK: Getters.
+
+    def get_object_center(self):
+        '''
+        This method returns the center of the object on the screen (x,y).
+        :return: The center of the object, in the format of (x,y)
+        '''
+        x = self.object_x + self.object_width/2
+        y = self.object_y + self.object_height/2
+        return (x,y)
+
+    def get_distance_from_frame_center(self):
+        '''
+        This method calculates the distance (from center) of the object from the center of the frame.
+        :return: The distance of the object from the center of the frame.
+        '''
+        frame_center = self.image_width/2
+        return frame_center - (self.object_x + self.object_width/2)
+        # If the object is left from the center of the frame,
+        # the result will be positive.

projects/PythonCV/PythonCV.py

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+__author__ = 'Leon Agmon Nacht'
+
+import cv2
+import numpy as np
+import IPCamera
+
+path = 'ftp://roborio-3316.local/home/lvuser/Pics/image_from_camarea.jpeg'
+#path = 'http://192.168.8.161/snap.jpg?'
+flag_path = 'temp.txt'
+result_file = 'result.txt'
+min_color = np.array([110,50,50]) # Blue.
+max_color = np.array([130,255,255]) # Blue.
+minimum_bounding_size = 500
+cam = IPCamera.IPCamera(path, flag_path, result_file, minimum_bounding_size , min_color, max_color)
+
+with open(cam.flag_file_path, "w") as f:
+    f.write("1")
+
+#distance, width, image = 10, 10, cv2.imread(path) # Read docs to implement, won't work without it!
+#cam.set_distance_vars(distance, width, image)
+cam.known_distance = 100
+cam.known_width = 11
+cam.focal_length = 100**2 / 11
+
+while True:
+    cam.update_image()
+    cam.update_object_scales()
+    distance_from_camera = cam.calculate_distance()
+    if cam.masked_image is not None:
+        cv2.imshow('MASKED IMG', cam.masked_image)
+        cv2.imshow('ORIGINAL IMG', cam.current_image)
+    print(distance_from_camera)
+    k = cv2.waitKey(5) & 0xFF
+    if k == 27:
+        break
+
+cv2.destroyAllWindows()

projects/PythonCV/TrackYellowTote/.classpath

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+<classpath>
+  <classpathentry kind="src" path="src"/>
+  <classpathentry kind="var" path="wpilib" sourcepath="wpilib.sources"/>
+  <classpathentry kind="var" path="networktables" sourcepath="networktables.sources"/>
+  <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-1.6"/>
+  <classpathentry kind="output" path="bin"/>
+</classpath>

projects/PythonCV/TrackYellowTote/.project

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+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>TrackYellowTote</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.jdt.core.javabuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.jdt.core.javanature</nature>
+		<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
+	</natures>
+</projectDescription>

projects/PythonCV/TrackYellowTote/build.properties

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+# Project specific information
+package=org.usfirst.frc.team3316.robot
+robot.class=${package}.Robot
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world

projects/PythonCV/TrackYellowTote/build.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<project name="FRC Deployment" default="deploy">
+
+  <!--
+  The following properties can be defined to override system level
+  settings. These should not be touched unless you know what you're
+  doing. The primary use is to override the wpilib version when
+  working with older robots that can't compile with the latest
+  libraries.
+  -->
+
+  <!-- By default the system version of WPI is used -->
+  <!-- <property name="version" value=""/> -->
+
+  <!-- By default the system team number is used -->
+  <!-- <property name="team-number" value=""/> -->
+
+  <!-- By default the target is set to 10.TE.AM.2 -->
+  <!-- <property name="target" value=""/> -->
+
+  <!-- Any other property in build.properties can also be overridden. -->
+
+  <property file="${user.home}/wpilib/wpilib.properties"/>
+  <property file="build.properties"/>
+  <property file="${user.home}/wpilib/java/${version}/ant/build.properties"/>
+
+  <import file="${wpilib.ant.dir}/build.xml"/>
+
+</project>