148 lines
3.9 KiB
Python
148 lines
3.9 KiB
Python
import cv2
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import numpy as np
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import time
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ymin=400
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ymax=401
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xmin1=20
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xmax1=120
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xmin2=550
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xmax2=620
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def point(capteur):
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s1=len(capteur)-1
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s2=len(capteur)-1
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for i in range(len(capteur)):
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if capteur[i]!=0:
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s1=i
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break
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if s1!=len(capteur)-1:
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for i in range(len(capteur)-1, s1-1, -1):
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if capteur[i]!=0:
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s2=i
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break
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return int((s1+s2)/2)
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return -1
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s1_old=0
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s2_old=0
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s1=0
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s2=0
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s1_time=0
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s2_time=0
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th1=75
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th2=150
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stop=0
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k=3
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url = "http://192.168.74.194:8081"
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cap=cv2.VideoCapture(url)
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while True:
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if not stop:
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ret, frame=cap.read()
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if ret is False:
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quit()
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image=frame.copy()
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gray1=cv2.cvtColor(frame[ymin:ymax, xmin1:xmax1], cv2.COLOR_BGR2GRAY)
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if k!=1:
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gray1=cv2.blur(gray1, (k, k))
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capteur1=cv2.Canny(gray1, th1, th2)
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gray2=cv2.cvtColor(frame[ymin:ymax, xmin1:xmax1], cv2.COLOR_BGR2GRAY)
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if k!=1:
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gray2=cv2.blur(gray2, (k, k))
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capteur2=cv2.Canny(gray2, th1, th2)
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cv2.rectangle(image, (xmin1, ymin), (xmax1, ymax), (0, 0, 255), 1)
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cv2.rectangle(image, (xmin2, ymin), (xmax2, ymax), (0, 0, 255), 1)
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s1=point(capteur1[0])
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if s1!=-1:
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cv2.circle(image, (s1+xmin1, ymin), 3, (0, 255, 0), 3)
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s1_old=s1
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s1_time=time.time()
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else:
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if time.time()-s1_time<1:
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cv2.circle(image, (s1_old+xmin1, ymin), 3, (100, 255, 255), 3)
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s1=s1_old
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else:
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s1=-1
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s2=point(capteur2[0])
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if s2!=-1:
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cv2.circle(image, (s2+xmin2, ymin), 3, (0, 255, 0), 3)
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s2_old=s2
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s2_time=time.time()
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else:
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if time.time()-s2_time<1:
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cv2.circle(image, (s2_old+xmin2, ymin), 3, (100, 255, 255), 3)
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s2=s2_old
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else:
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s2=-1
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if s1!=-1 and s2!=-1:
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s2_=abs(xmax2-xmin2-s2)
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if abs(s2_-s1)>20:
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c=(0, max(0, 255-10*int(abs(s1-s2_)/2)), min(255, 10*int(abs(s1-s2_)/2)))
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cv2.circle(image, (int((xmax2-xmin1)/2)+xmin1, ymax-25), 5, c, 7)
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cv2.arrowedLine(image, (int((xmax2-xmin1)/2)+xmin1, ymax-25), (int((xmax2-xmin1)/2)+xmin1+2*int((s1-s2_)/2), ymax-25), c, 3, tipLength=0.4)
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else:
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cv2.putText(image, "OK", (int((xmax2-xmin1)/2)+xmin1-15, ymax-16), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 255, 0), 1)
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cv2.putText(image, "[u|j]th1: {:d} [i|k]th2: {:d} [y|h]blur: {:d}".format(th1, th2, k), (10, 40), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 255, 255), 1)
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cv2.putText(image, "[a]>> [s]stop [q]quit", (10, 70), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (0, 255, 255), 1)
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cv2.imshow("image", image)
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gray=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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if k!=1:
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gray=cv2.blur(gray, (k, k))
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cv2.imshow("blur", gray)
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gray_canny=cv2.Canny(gray, th1, th2)
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cv2.imshow("canny", gray_canny)
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if not stop:
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key=cv2.waitKey(20)&0xFF
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else:
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key=cv2.waitKey()
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image=frame.copy()
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if key==ord('q'):
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break
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if key==ord('m'):
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ymin+=1
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ymax+=1
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if key==ord('p'):
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ymin-=1
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ymax-=1
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if key==ord('o'):
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xmin1+=1
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xmax1+=1
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xmin2+=1
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xmax2+=1
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if key==ord('l'):
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xmin1-=1
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xmax1-=1
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xmin2-=1
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xmax2-=1
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if key==ord('y'):
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k=min(255, k+2)
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if key==ord('h'):
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k=max(1, k-2)
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if key==ord('u'):
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th1=min(255, th1+1)
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if key==ord('j'):
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th1=max(0, th1-1)
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if key==ord('i'):
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th2=min(255, th2+1)
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if key==ord('k'):
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th2=max(0, th2-1)
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if key==ord('s'):
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stop=not stop
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if key==ord('a'):
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for cpt in range(200):
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ret, frame=cap.read()
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image=frame.copy()
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cap.release()
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cv2.destroyAllWindows()
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