updated find_color block

Author: elsw

camera.py

@@ -18,7 +18,7 @@
 import colorsys
 import numpy as np
 
-CAMERA_REFRESH_INTERVAL=0.1
+CAMERA_REFRESH_INTERVAL=0.01
 MAX_IMAGE_AGE = 0.0
 PHOTO_PATH = "./photos"
 DEFAULT_IMAGE = "./photos/broken.jpg"
@@ -494,15 +494,21 @@ def find_color(self, s_color):
     upper_color = np.array([h+10, 255, 255])
     logging.debug("lower: " + str(lower_color) + " upper: " + str(upper_color))
     bw = cv2.inRange(img_hsv, lower_color, upper_color)
-    #contours, hierarchy = bw.find_contours()
-    contours, hierarchy = cv2.findContours(bw, cv2.cv.CV_RETR_TREE, cv2.cv.CV_CHAIN_APPROX_SIMPLE)
-    for contour in contours:
-      (x,y),radius = cv2.minEnclosingCircle(contour) 
+    # get unordered list of contours in filtered image
+    contours, _ = cv2.findContours(bw, cv2.cv.CV_RETR_LIST, cv2.cv.CV_CHAIN_APPROX_SIMPLE)
+    center = (0,0)
+    radius = 0
+    if not contours is None and len(contours) > 0:
+      # get the contour with the largest area
+      largest = sorted(contours, key = cv2.contourArea, reverse=True)[0]
+      (x,y),radius = cv2.minEnclosingCircle(largest) 
       center = (int(x), int(y))
       radius = int(radius)
+      # draw a circle around the largest
       cv2.circle(img, center, radius, (0,255,0), 2)
-    self._image_cache = img
-    self._image_cache_updated = True
+      # copy to image cache for jpegging and streaming [see run()]
+      self._image_cache = img
+      self._image_cache_updated = True
     #self.save_image(bw.to_jpeg())
     #objects = bw.find_blobs(minsize=5, maxsize=100)
     #logging.debug("objects: " + str(objects))
@@ -523,7 +529,7 @@ def find_color(self, s_color):
     #self.save_image(img.to_jpeg())
     #print "object: " + str(time.time() - ts)
     #return [dist, angle]
-    return [0,0]
+    return [center[0],center[1],radius*2]
 
 
   def sleep(self, elapse):

static/js/blockly/blocks.js

@@ -706,7 +706,7 @@ Blockly.Blocks['coderbot_adv_findColor'] = {
     this.setColour(290);
     this.appendDummyInput()
         .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_FIND)
-        .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIST, 'DIST'], [Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ANGLE, 'ANGLE'],[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_BOTH,'BOTH']]), 'RETVAL')
+        .appendField(new Blockly.FieldDropdown([[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_X, 'X'], [Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_Y, 'Y'],[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIAMETER,'DIAMETER'],[Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ALL,'ALL']]), 'RETVAL')
         .appendField(Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_COLOR);
     this.appendValueInput('COLOR')
         .setCheck('Colour');
@@ -720,7 +720,7 @@ Blockly.JavaScript['coderbot_adv_findColor'] = function(block) {
   // Boolean values true and false.
   var color = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
   var retval = block.getFieldValue('RETVAL');
-  var ret_code = {'DIST': '[0]', 'ANGLE': '[1]', 'BOTH': ''}[retval];
+  var ret_code = {'X': '[0]', 'Y': '[1]', 'DIAMETER': '[2]', 'ALL': ''}[retval];
   var code = 'get_cam().find_color(' + color + ')' + ret_code + ';';
   return [code, Blockly.Python.ORDER_ATOMIC];
 };
@@ -729,7 +729,7 @@ Blockly.Python['coderbot_adv_findColor'] = function(block) {
   // Boolean values true and false.
   var color = Blockly.Python.valueToCode(block, 'COLOR', Blockly.Python.ORDER_NONE);
   var retval = block.getFieldValue('RETVAL');
-  var ret_code = {'DIST': '[0]', 'ANGLE': '[1]', 'BOTH': ''}[retval];
+  var ret_code = {'X': '[0]', 'Y': '[1]', 'DIAMETER': '[2]', 'ALL': ''}[retval];
   var code = 'get_cam().find_color(' + color + ')' + ret_code;
   return [code, Blockly.Python.ORDER_ATOMIC];
 };

static/js/blockly/bot_en.js

@@ -40,9 +40,10 @@ Blockly.Msg.CODERBOT_SENSOR_FINDSIGNAL = "find signal";
 Blockly.Msg.CODERBOT_SENSOR_FINDCODE = "find code";
 Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_FIND = "find";
 Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_COLOR = "from color";
-Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIST = "distance";
-Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ANGLE = "angle";
-Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_BOTH = "both";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_X = "x coord";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_Y = "ycoord";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_DIAMETER = "diameter";
+Blockly.Msg.CODERBOT_SENSOR_FINDCOLOR_ALL = "x, y, diameter (as list)";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_X = "x coord";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_Y = "y coord";
 Blockly.Msg.CODERBOT_SENSOR_FINDFACE_SIZE = "size";