blackSnake.py

import numpy as np
import cv2
from picamera import PiCamera
from picamera.array import PiRGBArray
import math
import time


def ironmaiden(x, y, w, h, frame, t, color, a):
    cv2.putText(frame, color + str(t), (int(x), int(y + 20)), cv2.FONT_HERSHEY_SIMPLEX, 0.75, (0, 255, 255))
    M = cv2.moments(a)
    ax = int(M["m10"] / M["m00"])
    ay = int(M["m01"] / M["m00"])
    cv2.circle(frame, (ax, ay), 3, (255, 255, 255), -1)
    cv2.putText(frame, "center", (ax - 20, ay - 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 255, 255), 1)
    return (ax, ay)
    
def moving(ax, ay):
    if ax > 240:
        return 2
        print("saga git")
    elif ax < 240:
        return -2
        print("sola git")
    if ay > 160:
        return -1
        print("geri git")
    elif ay < 160:
        return 1
        print("ileri git")


camera = PiCamera()
camera.resolution=(480,320)
camera.framerate=32
rawCapture = PiRGBArray(camera, size=(480,320))
lower_red = np.array([130,150,150])
upper_red = np.array([200,255,255])
time.sleep(0.1)

for frame in camera.capture_continuous(rawCapture, format="bgr",use_video_port=True):
    t=0
    shot=frame.array
    cv2.circle(shot,(240,160),3,(255,255,255),-1)
    blur=cv2.GaussianBlur(shot,(11,11),0)
    hsv=cv2.cvtColor(blur,cv2.COLOR_BGR2HSV)
    j= 0
    mask = cv2.inRange(hsv,lower_red,upper_red)
    kernelOPen = np.ones((20,20))
    mask=cv2.dilate(mask,kernelOPen,iterations=5)
    
    __, countours, hierarchy = cv2.findContours(mask, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
    if  j == 0:
        for a in countours:
            peri = 0.01 * cv2.arcLength(a, True)
            approx = cv2.approxPolyDP(a, peri, True)
            if len(approx) >= 3:
                if (cv2.contourArea(a) > 100):
                    x, y, w, h = cv2.boundingRect(a)
                    color = "Fire"
                    ax, ay = ironmaiden(x, y, w, h, shot, t, color, a)
                    moving(ax, ay)
                    
            
    
    cv2.imshow('cam',shot)
    cv2.imshow('mask',mask)
    rawCapture.truncate(0)
    if cv2.waitKey(1)& 0xFF ==ord('q'):
        break