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sudo.py
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sudo.py
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# this file is for find the O and return position in 3x3 square map
import cv2
import numpy as np
from imutils.object_detection import non_max_suppression
import argparse
# construct the argument parser and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-i", "--image", required = True, help = "Path to the image") # get image path from execute.py
args = vars(ap.parse_args())
# 讀剛剛拍的照片
img = cv2.imread(args["image"])
# each range of (x,y) in the 9(3x3) frame
x_row = [[600,850], [851,1080], [1081,1350]]
y_row = [[300,450], [451,570], [571,850]]
# Define a minimum threshold
thresh = 0.4
total_box = []
# use for check different templates' frames with different colors
global color_index
color_index = 0
def circleBox(temp, color_index) :
W, H = temp.shape[:2]
# Converting them to grayscale
img_gray = cv2.cvtColor(img,
cv2.COLOR_BGR2GRAY)
temp_gray = cv2.cvtColor(temp,
cv2.COLOR_BGR2GRAY)
# Passing the image to matchTemplate method
match = cv2.matchTemplate(
image=img_gray, templ=temp_gray,
method=cv2.TM_CCOEFF_NORMED)
# Select rectangles with
# confidence greater than threshold
(y_points, x_points) = np.where(match >= thresh)
# initialize our list of rectangles
boxes = list()
# loop over the starting (x, y)-coordinates again
for (x, y) in zip(x_points, y_points):
# update our list of rectangles
boxes.append((x, y, x + W, y + H))
# apply non-maxima suppression to the rectangles
# this will create a single bounding box
boxes = non_max_suppression(np.array(boxes))
# loop over the final bounding boxes
#print(boxes)
#print(len(boxes))
index = 0
no_lap = 0
for (x1, y1, x2, y2) in boxes: # each detected object
# for debug
#cv2.rectangle(img, (x1-50, y1-50), (x2-50, y2-50),
# (255, color_index * 63, 0), 1)
#print("x = " + str((x1+x2)/2),end = '')
#print("y = " + str((y1+y2)/2))
total_box.append([x1, y1, x2, y2])
cv2.rectangle(img, (x1-50, y1-50), (x2-50, y2-50),
(255, color_index * 63, 0), 1)
#print([x1, y1, x2, y2])
#print(img)
# 檢查重疊，用多個 templates 才要用
"""if checkInclude(boxes[index], index, total_box) :
#cv2.rectangle(img, (x1-50, y1-50), (x2-50, y2-50),
# (255, color_index * 63, 0), 1)
#total_box.append([x1, y1, x2, y2])
index += 1
continue
else :
print(boxes[index])
no_lap += 1"""
# draw the bounding box on the image
index = index + 1
cv2.imwrite(args['image'], img)
#print("總共偵測到 %d 個圓形" %index)
def checkInclude(check_list, index, boxes) : # 檢查是否有重疊物件
n_index = 0
if len(boxes) == 0 :
return False
for (x1, y1, x2, y2) in boxes:
if index > n_index : # 比要檢查的還要前面，所以要檢查
if (x2 >= check_list[0] and x1 <= check_list[0]) and (y2 >= check_list[1] and y1 <= check_list[1]) : # 檢查 x0
return True
if (x2 >= check_list[2] and x1 <= check_list[2]) and (y2 >= check_list[3] and y1 <= check_list[3]) : # 檢查 x0
return True
if (x2 >= check_list[2] and x1 <= check_list[2]) and (y2 >= check_list[1] and y1 <= check_list[1]):
return True
if (x2 >= check_list[0] and x1 <= check_list[0]) and (y2 >= check_list[3] and y1 <= check_list[3]):
return True
if (x1 >= check_list[0] and x2 <= check_list[2]) and (y1 >= check_list[1] and y2 <= check_list[3]):
return True
n_index += 1
cv2.rectangle(img, (check_list[0]-50, check_list[1]-50), (check_list[2]-50, check_list[3]-50),
(255, color_index * 63, 0), 1)
return False
# 可以用不同的模板
#color_index += 1
#circleBox(cv2.imread('templates/5_5_temp_4.jpg'), color_index)
#color_index += 1
#circleBox(cv2.imread('templates/5_5_temp_7.jpg'), color_index)
#color_index += 1
#circleBox(cv2.imread('templates/5_5_temp_8.jpg'), color_index)
color_index += 1
circleBox(cv2.imread('templates/5_5_temp_9.jpg'), color_index)
nn = 0
#print("總共有 " + str(len(total_box)))
for i in total_box :
nn += 1
center_x = (i[2]+i[0])/2
center_y = (i[1]+i[3])/2
x_index = 0
#print(str(nn) + "號。範圍 " + str(i) + ", 中心 : " + str((i[2]+i[0])/2) + ", " + str((i[3] + i[1])/2))
for start_x, end_x in x_row :
y_index = 0
for start_y, end_y in y_row :
if (start_x < center_x and end_x > center_x) and (start_y < center_y and end_y > center_y) :
print(str(x_index) + "," + str(y_index) + "$", end ='')
y_index += 1
x_index += 1
#print(str(nn) + "號。範圍 " + str(i) + ", 中心 : " + str((i[2]+i[0])/2) + ", " + str((i[3] + i[1])/2))
# 當要用多個模板再用
"""new_total_box = []
index_n = 0
for i in total_box :
#cv2.rectangle(img, (x1-50, y1-50), (x2-50, y2-50),
# (255, color_index * 63, 0), 1)
if not checkInclude(i, index_n, total_box) :
#print(i)
#cv2.rectangle(img, (i[0], i[1]), (i[2], i[3]),(255, 255, 0), 1)
new_total_box.append(i)
index_n += 1"""
cv2.imwrite(args['image'], img)