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detector.py
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detector.py
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# -*- coding: utf-8 -*-
"""
Example code by Maximilian Schrapel
@author: Schrapel
"""
# from flask import Flask, render_template, Response
import numpy as np
import cv2
import math
import threading
import time
import serial
port = 'COM3' # change port if not COM4
baudrate = 115200
# stores the index of the selected emoji
imgindex = -1
def thread_function():
try:
arduino = serial.Serial(port, baudrate)
print("Connection successful!")
try:
signal = "b'happy\r\n'"
while True:
signal = arduino.readline()
#print(signal)
decoded_signal = signal.decode("utf-8")
decoded_signal = decoded_signal.replace("\r\n","")
res = decoded_signal
global imgindex
imgindex = int(res)
global stop_threads
stop_threads = False
if stop_threads:
break
finally:
arduino.close()
except:
print("Failed Connection")
# returns center of marker
def getCenter(prev_res):
xm=0
ym=0
for i in range(0,4):
ym+=prev_res[0][i][0]
xm+=prev_res[0][i][1]
xm=int(xm/4)
ym=int(ym/4)
center = (xm,ym)
return center
# returns size of marker
def getSize(res):
size=0
for i in range (0,4):
size=max(size,math.sqrt((res[0][i][1]-res[0][(i+1)%4][1])**2
+ (res[0][i][0]-res[0][(i+1)%4][0])**2))
return size
# returns the added example emoji
def emojiOverlay(src , overlay , pos=(0,0),scale = 1):
overlay = cv2.resize(overlay,(0,0),fx=scale,fy=scale)
ax=0
ay=0
# go through image and add emoji
# TODO: catch errors at the image corners
for px in range(pos[0]-int(overlay.shape[0]/2),pos[0]+int(overlay.shape[0]/2)):
for py in range(pos[1]-int(overlay.shape[1]/2),pos[1]+int(overlay.shape[1]/2)):
if overlay[ax,ay].any()>0:
if px>=0 and px<src.shape[0] and py>=0 and py <src.shape[1]:
src[px,py]=overlay[ax,ay]
ay+=1
ax+=1
ay=0
return src
#
def isMarker(img , marker):
minx=maxx=marker[0][0][1]
miny=maxy=marker[0][0][0]
for i in range (1,4):
minx=min(minx,marker[0][i][1])
maxx=max(maxx,marker[0][i][1])
miny=min(miny,marker[0][i][0])
maxy=max(maxy,marker[0][i][0])
n=(maxx-minx)*(maxy-miny)
count=0
for x in range (int(minx),int(maxx)):
for y in range (int(miny),int(maxy)):
if img[x,y] > 0:
count+=1
greenshare=count/n
return greenshare > 0.2
# Start arduino thread
x = threading.Thread(target=thread_function)
x.start()
# Opens webcam (set number according to your machine!)
cap = cv2.VideoCapture(0)
#TODO: More smileys
img_emojihappy=cv2.imread("emojihappy.png")
img_emojisad=cv2.imread("emojisad.png")
img_emojiangry=cv2.imread("emojiangry.png")
#TODO: resize depended on marker size
img_emojiangry=cv2.resize(img_emojiangry,(int(80),int(80)))
img_emojisad=cv2.resize(img_emojisad,(int(80),int(80)))
img_emojihappy=cv2.resize(img_emojihappy,(int(80),int(80)))
# stores the previous corners of the marker
prev_res=[]
# Aruco markers
dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_6X6_250)
parameters = cv2.aruco.DetectorParameters_create()
while(True):
# Capture frame-by-frame
ret, frame = cap.read()
# detect markers
res = cv2.aruco.detectMarkers(frame,dictionary)
# TODO add emoji selection (maybe Arduino buttons?)
# TODO add emoji selection with keyboard numbers
if imgindex == 1:
img_emoji=img_emojihappy
elif imgindex == 2:
img_emoji=img_emojisad
elif imgindex == 3:
img_emoji=img_emojiangry
if len(res[0]) > 0 and imgindex != -1:
for marker in res[0]:
size_x = marker[0][0]
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# For debugging: show markers
#cv2.aruco.drawDetectedMarkers(frame,res[0],res[1])
# store result temporarly
prev_res=res
# find center position
center=getCenter(prev_res[0][0])
# add emoji to image
#TODO: change size of emoji according to marker size
scale=(getSize(prev_res[0][0])/80) * 3
frame=emojiOverlay(frame , img_emoji , pos=center,scale=scale)
#TODO: make emoji motion smooth
elif prev_res!=[]:
# TODO: catch unrecognized markers
# TODO: make movement smooth and precise
# Hint: The marker color is green, you can might detect the marker by color selections
if len(res[2]) > 0:
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, (35, 25, 25), (90, 255,255))
#cv2.imshow("mask",mask)
for marker in res[2]:
if isMarker(mask,marker):
# find center position
center=getCenter(marker)
scale=(getSize(marker)/80) * 3
frame=emojiOverlay(frame , img_emoji , pos=center,scale=scale)
break
#prev_res =[]
cv2.imshow('frame',frame)
# press q to stop recording
k = cv2.waitKey(1) % 256
if k == ord('q'):
break
elif k == ord('h'):
imgindex = 1
elif k == ord('s'):
imgindex = 2
elif k == ord('a'):
imgindex = 3
else:
continue
# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()
stop_threads=True
x.join()