Create 1.3_detect_yellow_and_move.py

5.My_project/1.3_detect_yellow_and_move.py

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+import cv2
+import spidev
+import time
+import numpy
+
+colorLower = (86, 255, 255)
+colorUpper = (239, 255, 255)
+
+#SPI
+spi = spidev.SpiDev()
+spi.open(0,0)
+spi.max_speed_hz=1000000
+first = '0011' # upper 
+second = '1011' # lower
+print ("ok2")
+
+def dac (channel, voltage):
+ voltage1=bin((voltage))
+ voltage2=voltage1[2:]
+ s = channel + (voltage2).zfill(12) 
+ part_1, part_2=s[:8],s[8:] 
+ byte1=int (part_1,2)
+ byte2=int (part_2,2)
+ to_send =  [byte1, byte2]             
+ spi.xfer2(to_send)
+
+camera = cv2.VideoCapture('nvarguscamerasrc ! video/x-raw(memory:NVMM), width=400, height=400, format=(string)NV12, framerate=(fraction)20/1 ! nvvidconv ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink', cv2.CAP_GSTREAMER)
+
+print ("ok5")
+axi_z=1330
+while 1:  
+ (grabbed, frame) = camera.read()
+ cv2.imshow("Frame", frame)
+ key = cv2.waitKey(1) & 0xFF
+
+ frame = cv2.erode(frame, None, iterations=6)
+ frame = cv2.dilate(frame, None, iterations=2)
+  #frame = cv2.cvtColor(cv2.UMat(frame), cv2.COLOR_RGB2GRAY)
+  #frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
+ frames=frame
+
+# dac (second, axi_z)
+# dac (first, 2600)
+ (grabbed, frame) = camera.read()
+ cv2.imshow("Frame", frame)
+
+ frame = cv2.inRange(frame, colorLower, colorUpper)
+ cnts = cv2.findContours(frame.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[-2]
+ radius = 0
+
+
+
+
+ for c in cnts:
+  ((x, y), radius) = cv2.minEnclosingCircle(cnts[0])
+
+ # my = 10.2665*x+246#.8017
+ # mx = 6.7691*y-68#.7463 
+
+  my = int (10*x+246)#.8017 
+  mx = int (6*y-68)#.7463 
+
+
+  dac (first,  my)
+  dac (second, mx)
+
+  cv2.imshow("Frame2", frame)
+  key = cv2.waitKey(1) & 0xFF
+#  print (radius)
+
+ if radius > 0:
+  cv2.circle(frames, (int(x), int(y)), int(2*radius),(0, 255, 255), 2)
+  print ("x,y",x,y)
+  cv2.putText(frames, 'object was found', (int(x) , int(y)), cv2.FONT_ITALIC, 0.5, 255)
+
+  cv2.imshow("Frames", frames)
+  key = cv2.waitKey(1) & 0xFF
+  if key == ord("q"):
+   break
+
+cap.release()
+cv2.destroyAllWindows()