colors.py

#python color_tracking.py --video balls.mp5
#python color_tracking.py

# import the necessary packages
from collections import deque
import numpy as np
import argparse
import imutils
import cv2
import urllib #for reading image from URL
import os
import math
import time
from picamera.array import PiRGBArray
from picamera import PiCamera
import io
#from espeak import espeak

def checkdist(x1,y1,r1,x2,y2,r2):
    d = math.sqrt(((x1-x2)**2)+((y1-y2)**2))
    if d <= r1+r2:
        return 1
    else:
        return 0
p = 0

# 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=64,
    help="max buffer size")
args = vars(ap.parse_args())

# define the lower and upper boundaries of the colors in the HSV color space (66, 122, 129)
lower = {'red':(166, 84, 141), 'green':(66, 50, 129), 'blue':(97, 100, 117)} #assign new item lower['blue'] = (93, 10, 0)
upper = {'red':(186,255,255), 'green':(86,255,255), 'blue':(117,255,255)}

# define standard colors for circle around the object
colors = {'red':(0,0,255), 'green':(0,255,0), 'blue':(255,0,0)}

#pts = deque(maxlen=args["buffer"])

# if a video path was not supplied, grab the reference
# to the webcam
#if not args.get("video", False):
    #camera = cv2.VideoCapture(0)
camera = PiCamera()
camera.resolution= (640, 480)
camera.framerate = 32
rawCapture = PiRGBArray(camera, size=(640, 480))
time.sleep(0.1)



# otherwise, grab a reference to the video file
#else:
    #camera = cv2.VideoCapture(args["video"])
# keep looping
for fr in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
    frame = np.asarray(fr.array)
    rawCapture.truncate()
    rawCapture.seek(0)

    #os.system("espeak no")
    #espeak.synth("no")

    # grab the current frame
    #(grabbed, frame) = camera.read()
    # if we are viewing a video and we did not grab a frame,
    # then we have reached the end of the video
    if args.get("video") and not grabbed:
        break

    #IP webcam image stream
    #URL = 'http://10.254.254.102:8080/shot.jpg'
    #urllib.urlretrieve(URL, 'shot1.jpg')
    #frame = cv2.imread('shot1.jpg')


    # 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)
    #for each color in dictionary check object in frame
    radiuses = []
    centers = []
    count = 0
    for key, value in upper.items():
        # construct a mask for the color from dictionary`1, then perform
        # a series of dilations and erosions to remove any small
        # blobs left in the mask
        kernel = np.ones((9,9),np.uint8)
        mask = cv2.inRange(hsv, lower[key], upper[key])
        mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
        mask = cv2.morphologyEx(mask, cv2.MORPH_CLOSE, kernel)

        # 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)[-2]
        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. Correct this value for your obect's size
            if radius > 0.3:
                # draw the circle and centroid on the frame,
                # then update the list of tracked points
                cv2.circle(frame, (int(x), int(y)), int(radius), colors[key], 2)
                cv2.putText(frame,key + " ball", (int(x-radius),int(y-radius)), cv2.FONT_HERSHEY_SIMPLEX, 0.6,colors[key],2)
                radiuses.append(radius)
                centers.append(x)
                centers.append(y)
                count += 1
                if count >= 3:
                    if checkdist(centers[0],centers[1], radiuses[0],centers[2],centers[3], radiuses[1]) and checkdist(centers[0],centers[1], radiuses[0],centers[4],centers[5], radiuses[2]):
                        p += 1
                        print(p)
                    #else:
                        #os.system("espeak no")





    # show the frame to our screen
    cv2.imshow("Frame", frame)

    key = cv2.waitKey(1) & 0xFF
    # if the 'q' key is pressed, stop the loop
    if key == ord("q"):
        break

# cleanup the camera and close any open windows
camera.release()
cv2.destroyAllWindows()