GameObjectDetection.py

import math
from networktables import NetworkTables
import logging
import keyboard
import cv2

# #Init NetworkTables
# logging.basicConfig(level=logging.DEBUG)
# NetworkTables.initialize()
# sd = NetworkTables.getTable("SmartDashboard")
# sd.putNumberArray("pos", {-1, -1, -1})
# sd.putNumber("rot", -1)

# create a video capture
cap = cv2.VideoCapture(1)

cap.set(cv2.CAP_PROP_EXPOSURE, -6)

bounds = 50

colorBlueUnsaturated = 125

while True:
    # read frame from the camera
    _, img = cap.read()

    #resize camera, used later with contours
    img = cv2.resize(img, (800,500))

    #image without masks
    initImg = img

    img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)

    #only show things between certain saturations
    mask = cv2.inRange(img, (0, 0, 0), (360, 255, 255))

    if keyboard.is_pressed('d'):
        colorBlueUnsaturated += 1
        print(colorBlueUnsaturated)

    if keyboard.is_pressed('a'):
        colorBlueUnsaturated -= 1
        print(colorBlueUnsaturated)

    #only show things between color range
    mask2 = cv2.inRange(img, (42 - bounds, 174 - bounds, 211 - bounds), (42 + bounds, 174 - bounds, 211 - bounds))

    #show both masks at once, only shows pixels picked up by both masks
    mask3 = cv2.bitwise_and(mask, mask2)

    #improve accuracy of the mask detection
    kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, ksize=(3,3))
    mask3 = cv2.erode(mask3, kernel)
    mask3 = cv2.dilate(mask3, kernel)

    #find contours, basically finding the edges of the game piece
    cnts = cv2.findContours(mask3.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)

    for i in cnts[0]:
        M = cv2.moments(i)

        cX = int((M["m10"] / M["m00"])) / 800
        cY = int((M["m01"] / M["m00"])) / 500

        initImg = cv2.circle(initImg, (math.floor(cX * 800), math.floor(cY * 500)), 20, (0, 0, 255), -1)
        img = cv2.circle(initImg, (math.floor(cX * 800), math.floor(cY * 500)), 20, (0, 0, 255), -1)

        break

    img = cv2.bitwise_and(img, img, mask=mask3)

    #show the capture from camera
    cv2.imshow("image with masks", img)
    cv2.imshow("initial image", initImg)

    cv2.waitKey(5)