Rayberk Python kodları:
# import the necessary packages
from collections import deque
from imutils.video import VideoStream
import numpy as np
import argparse
import cv2
import imutils
import time
import serial
ard=serial.Serial()
ard.port = "COM3"
ard.baudrate = 9600
ard.open()
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
#ap.add_argument("-v", "--video",help="path to the (optional) video file")
ap.add_argument("-b", "--buffer", type=int, default=50,help="max buffer size")
args = vars(ap.parse_args())
font = cv2.FONT_HERSHEY_SIMPLEX
# define the lower and upper boundaries of the "red"
# ball in the HSV color space, then initialize the
# list of tracked points
redLower = (0, 107, 204)#Lower boundary of red color
redUpper = (255, 255, 255)#Upper boundary of red color
pts = deque(maxlen=args["buffer"])
def mapObjectPosition (x, y):
print ("[INFO] Object Center coordenates at X0 = {0} and Y0 = {1}".format(x, y))
def servomotor(x,y):# Arduino function
if x > 360:
ard.write('L'.encode())
time.sleep(0.01)
elif x < 230:
ard.write('R'.encode())
time.sleep(0.01)
else:
ard.write('S'.encode())
time.sleep(0.01)
if y > 320:
ard.write('D'.encode())
time.sleep(0.01)
elif y < 150:
ard.write('U'.encode())
time.sleep(0.01)
else:
ard.write('S'.encode())
time.sleep(0.01)
# if a video path was not supplied, grab the reference
# to the webcam
if not args.get("video", False):
vs = VideoStream(src=1).start()
# otherwise, grab a reference to the video file
else:
vs = cv2.VideoCapture(args["video"])
# allow the camera or video file to warm up
time.sleep(2.0)
# keep looping
servoPosition = 90
servoPosition1 = 90
servoOrientation = 0
while True:
# grab the current frame
frame = vs.read()
frame = cv2.flip(frame, -1)
# handle the frame from VideoCapture or VideoStream
frame = frame[1] if args.get("video", False) else frame
# if we are viewing a video and we did not grab a frame,
# then we have reached the end of the video
if frame is None:
break
# resize the frame, blur it, and convert it to the HSV
# color space
frame = imutils.resize(frame, width=600)
blurred = cv2.GaussianBlur(frame, (11, 11), 0)
hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
# construct a mask for the color "red", then perform
# a series of dilations and erosions to remove any small
# blobs left in the mask
mask = cv2.inRange(hsv, redLower, redUpper)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
# find contours in the mask and initialize the current
# (x, y) center of the ball
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
center = None
# only proceed if at least one contour was found
if len(cnts) > 0:
# find the largest contour in the mask, then use
# it to compute the minimum enclosing circle and
# centroid
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
# only proceed if the radius meets a minimum size
if radius > 10:
# draw the circle and centroid on the frame,
# then update the list of tracked points
#cv2.circle(frame,(320,240), 80, (255,0,0), 2)
cv2.circle(frame, (int(x), int(y)), int(radius),(255, 255, 0), 2)
cv2.circle(frame, center, 5, (0, 0, 255), -1)
cv2.putText(frame,'Ball',(int(x)-50,int(y)+50),font,1,(255,0,0),2)
#mapObjectPosition (int(x), int(y))
servomotor(int (x),int (y))
else:#This part aims to find the ball
ard.write('F'.encode())
#time.sleep(0.01)
#print("f")
if (servoOrientation == 0):
if (servoPosition >= 90):
servoOrientation = 1
else:
servoOrientation = -1
if (servoOrientation == 1):
ard.write('L'.encode())
time.sleep(0.01)
servoPosition+=1
if (servoPosition > 140):
servoPosition = 140
ard.write('U'.encode())
time.sleep(0.01)
servoPosition1+=1
if(servoPosition1 > 80):
servoPosition1 = 80
servoOrientation = -1
else:
ard.write('R'.encode())
time.sleep(0.01)
servoPosition-=1
if (servoPosition < 70):
servoPosition = 70
ard.write('D'.encode())
time.sleep(0.01)
servoPosition1-=1
if(servoPosition1 < 60):
servoPosition=60
servoOrientation = 1
# update the points queue
pts.appendleft(center)
cv2.imshow("Frame", frame)
cv2.imshow("mask",mask)
key = cv2.waitKey(1) & 0xFF
# if the 'q' key is pressed, stop the loop
if key == ord("q"):
ard.write('r'.encode())
time.sleep(0.01)
break
# if we are not using a video file, stop the camera video stream
if not args.get("video", False):
vs.stop()
# otherwise, release the camera
else:
vs.release()
# close all windows
cv2.destroyAllWindows()
