ImageTest.py

#!/usr/bin/env python3

# Import video tracking library OPEN CV and python Advance array support with numpy 
import cv2
import numpy as np

# Import math for distance calculations
import math

print("Image Tracking Example Infinite Recharge:2606")

# initial video capture
img = cv2.imread('D:\Robotics\InfiniteRechargeVision\images\TopGoal\BlueGoal-132in-Center.jpg' ,cv2.IMREAD_COLOR)


# Capture frames 
frame = img

# Convert BGR video to HSV for hue selection
imgHSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

# Make Black White image of just imgHSV bright green
imgGreenBW = cv2.inRange(imgHSV, np.array([30, 150, 40]), np.array([100, 255, 255]))

# BGR Version of imgGreenBW image for contour drawing
imgGreenBGR = cv2.cvtColor(imgGreenBW, cv2.COLOR_GRAY2BGR)

# Ffind contours and place them in an array
img2, contours, hierarchy = cv2.findContours(imgGreenBW, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)

# Sort contour Array by size
contoursSorted = sorted(contours, key=lambda x: cv2.contourArea(x), reverse = True)

# Init point array and adjusted array of countours @@ NOTE @@ make change to a single largest item
#adjContours = []
points = (0,0)

# Find Largest Contour
if len(contoursSorted) >= 1:
    # Make variable of biggest contour
    bigCont = contoursSorted[0]
    
    # Draw that big contour
    cv2.drawContours(imgGreenBGR, bigCont, 0, (255, 0, 255), 3)

    # Point finding 
    moments = cv2.moments(bigCont)
    moment = moments['m00']
    if moment != 0: 
        centerX = int(moments['m10']/moment)
        centerY = int(moments['m01']/moment)

        # Store point
        pt = (centerX, centerY - (int)(cv2.contourArea(bigCont)/60))
        
        # Draw point on window
        cv2.circle(imgGreenBGR, pt, 3, (255, 0, 0), 3)
        
        # Put point in pt array
        points = pt

# write to console point where the center is
print('center of pixels = {}'.format(pt))

print(cv2.contourArea(bigCont))

# Show frame with contours and points
cv2.imshow("Frame", imgGreenBGR)

# Show Original image in HSV
cv2.imshow("OG", img)

# Wait for a key press and close all windows
cv2.waitKey(0)
cv2.destroyAllWindows()