105 lines
2.7 KiB
Python
105 lines
2.7 KiB
Python
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#!/usr/bin/python3
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# Crop row navigation for autonomous field robot
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import cv2
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import numpy as np
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import matplotlib.pyplot as plt
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import sys
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def rescale_frame(frame, percent): # rescale image considering aspect ratio
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width = int(frame.shape[1] * percent/ 100)
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height = int(frame.shape[0] * percent/ 100)
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dim = (width, height)
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return cv2.resize(frame, dim, interpolation =cv2.INTER_AREA)
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image = cv2.imread('/home/caroline/Pictures/first.jpg')
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image=rescale_frame(image, 20)
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### TBD: add Gaussian Blurr
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### Image Segmentation
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## RGB
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# apply mask that generates grayscale image highlighting green ROIs
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b,g,r = cv2.split(image)
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gscale = 2*g-r-b
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""" cv2.imshow("Image after ExG mask is applied", gscale)
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cv2.waitKey(0) """
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# obtain binary image by applying intensity threshold
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""" color = ('b','g','r')
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for i,col in enumerate(color):
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hist = cv2.calcHist(image,[i],None,[256], [0,256])# image histogram
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plt.plot(hist, color=col)
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plt.title('Histogram of initial image')
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plt.show()
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cv2.waitKey(0) """
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""" hist2 = cv2.calcHist(gscale,[0],None,[256], [0,256])# image histogram
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plt.plot(hist2,'k')
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plt.title('Histogram of grayscale image')
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plt.show()
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cv2.waitKey(0) """
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ret2,gscale2 = cv2.threshold(gscale,127,225,0)
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ret,gscale = cv2.threshold(gscale,180,200,0)
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""" cv2.imshow("Binary image", gscale)
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cv2.waitKey(0) """
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while True:
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Hori = np.concatenate((gscale, gscale2), axis=1) # left and right image
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cv2.imshow('Comparing Different Thresholds', Hori)
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cv2.waitKey(1)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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cv2.destroyAllWindows()
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## YUV
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# get U and V Layer
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image_yuv = cv2.cvtColor(image, cv2.COLOR_BGR2YUV)
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(Y,U,V) = cv2.split(image_yuv)
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task=2 #1: Layers; 2: histogram, 3: binary image, 4: combined layers
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if task==1:
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while True:
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cv2.imshow("U-Layer",U)
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cv2.imshow("V-Layer",V)
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cv2.waitKey(1)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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cv2.destroyAllWindows()
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elif task==2:
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for i in range(2):
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hist_yuv = cv2.calcHist(image_yuv,[i],None,[256], [0,256])
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plt.plot(hist_yuv)
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plt.legend('U' 'V')
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plt.title('Histogram of U and V Layer')
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plt.show()
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cv2.waitKey(0)
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elif task==3:
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ret_u,binary_u = cv2.threshold(U,120,130,0)
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ret_v,binary_v = cv2.threshold(V,125,135,0)
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while True:
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binary_uv = np.concatenate((binary_u, binary_v), axis=1)
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cv2.imshow('U and V layer as binary image', binary_uv)
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cv2.waitKey(1)
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if cv2.waitKey(1) & 0xFF == ord('q'):
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break
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cv2.destroyAllWindows()
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elif task==4:
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uv_combi = cv2.bitwise_and(binary_u,binary_v)
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cv2.imshow('U and V layer as binary image', uv_combi)
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cv2.waitKey(0)
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