Converts image to g-code

cnc_trace_path

import cv2
import numpy as np

# Read in image
img = cv2.imread('/home/stephen/Desktop/test.png',0)
img = 255 - img
img = cv2.resize(img, (6000,6000))
h,w = img.shape
cutter_size = 20
buffer = int(cutter_size * 1.25)
img2 = np.zeros((h+buffer*2, w+buffer*2), np.uint8)
img2[buffer:buffer+h, buffer:buffer+w] = img
img = img2.copy()

h,w = img.shape

# Define parameters
pixels_to_inch = 1000
depth_per_cut = 125 # Value in thousands
depth = 500 # Value in thousands
jog_speed = "15"
feed_speed = "9"
plunge_speed = "3"
current_depth = 0
cuts = 2

# Find the center of the part - there should only be one contour
contours, _ = cv2.findContours(img,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
contour = contours[1]

kernel = np.ones((20,20), np.uint8)
dilate = cv2.dilate(img, kernel, iterations = 4)

contours_dilate = cv2.findContours(dilate, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
contour_dilate = contours_dilate[0]

# Change the contours from arrays to lists
outter = []
for point in contour_dilate[0]:
    outter.append(tuple(point[0]))
inner = []
for point in contour:
    inner.append(tuple(point[0]))

h,w = img.shape
bg = np.zeros((h,w,3), np.uint8)
bg = img.copy()
bg = cv2.drawContours(bg, [contour], -1, (255,255,0), 2)
bg = cv2.drawContours(bg, contour_dilate, -1, (0,0,255), 2)
cv2.imshow('img', cv2.resize(bg, (987,987)))
cv2.waitKey(0)
cv2.destroyAllWindows()

bg = np.zeros((h,w,3), np.uint8)
for i in range(len(inner)-1):
    a = inner[i]
    b = inner[i-1]
    cv2.line(bg, a, b, (0,255,0), cutter_size)
for i in range(len(outter)-1):
    a = outter[i]
    b = outter[i+1]
    cv2.line(bg, a, b, (255,0,255), cutter_size)
    
bg = cv2.drawContours(bg, [contour], -1, (255,255,0), 2)
bg = cv2.drawContours(bg, contour_dilate, -1, (0,0,255), 2)
cv2.imshow('img', cv2.resize(bg, (987,987)))
cv2.waitKey()
cv2.destroyAllWindows()

# Create string for g_code
g_code = "%" + "\n"
g_code += "G64 P0.001" + "\n"
g_code += "M6 T1" + "\n"
g_code += "M3 S5000" + "\n"
g_code += "G1 F" + jog_speed + "\n"
g_code += "G1X0.0000Y0.0000Z0.1000" + "\n"
g_code += "G1 F" + jog_speed + "\n"

# Jog to the first point in the contour
dilate_origin = tuple(contour_dilate[0][0][0])
g_code += "G1 X" + str(dilate_origin[0]/1000.00) + "Y" + str(dilate_origin[1]/1000.00) + "\n"

origin = tuple(contour[0][0])

previous_point = dilate_origin

# Change the contours from arrays to lists
outter = []
for point in contour_dilate[0]:
    outter.append(tuple(point[0]))
inner = []
for point in contour:
    inner.append(tuple(point[0]))

# Make cuts
for cut in range(cuts):
    # Plunge into the material
    g_code += "G1 F" + plunge_speed + "\n"
    current_depth -= depth_per_cut
    g_code += "G1 Z" + str(current_depth/1000.00) + "\n"

    # Cut the bigger contour
    g_code += "G1 F" + feed_speed + "\n"

    # Iterate through each point in the dilated contour
    for point in outter:
        x = point[0]/1000.00
        y = point[1]/1000.00
        g_code += "X" + str(x) + "Y" + str(y) + "\n"

      
    # Go back to the origin
    g_code += "G1 X" + str(dilate_origin[0]/1000.00) + "Y" + str(dilate_origin[1]/1000.00) + "\n"
        
    # Iterate through each point in the contour
    for point in inner:
        x = point[0]/1000.00
        y = point[1]/1000.00
        g_code += "X" + str(x) + "Y" + str(y) + "\n"
        
    # Go back to the origin
    g_code += "G1 X" + str(origin[0]/1000.00) + "Y" + str(origin[1]/1000.00) + "\n"
g_code += "G0Z.1"
g_code += "M5\n"
g_code += "M02\n"
g_code += "%"

file = open("/home/stephen/Desktop/g_code.ngc", "a")
file.write(g_code)
file.close()