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# Hello World Example
#
# Welcome to the OpenMV IDE! Click on the green run arrow button below to run the script!
import sensor, image, time
# Color Tracking Thresholds (Grayscale Min, Grayscale Max)
min_rgb = 128
max_rgb = 255
threshold_list = [(min_rgb, max_rgb)]# only bright grey colours will get tracked.
threshold_rgb = [(0, 100, 75, 32, 2, 127)] #only find red
#threshold_rgb = [(18, 78, -8, 127, 24, 127)]
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
#sensor.set_pixformat(sensor.GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time = 2000) # Wait for settings take effect.
clock = time.clock() # Create a clock object to track the FPS.
while(True):
clock.tick() # Update the FPS clock.
img = sensor.snapshot() # Take a picture and return the image.
ThR = 0
ThG = 255
ThB = 128
threshold_r = [(ThR,255,0,255,255,ThG)]
#Red
#if(R >= ThR and G <= thG)
#Blue
#if(B >= thB)
blobs_r = img.find_blobs([(0, 100, 25, 63, -128, 127)])
blobs_b = img.find_blobs([(0, 29, 11, -128, -31, -5)])
#blobs.count()
#print(blobs)
##kpts = img.find_keypoints()
print(f"old: { len(blobs_r) + len(blobs_b) }")
blobs_r[:] = [b for b in blobs_r if (b.convexity() < 0.7 and b.area() > 64)]
blobs_b[:] = [b for b in blobs_b if (b.convexity() < 0.7 and b.area() > 64)]
print(f"new: { len(blobs_r) + len(blobs_b) }")
#for index, b in enumerate(blobs_r):
#convex = b.convexity()
#roundn = b.roundness()
#if convex < 0.8:
#img.draw_rectangle(b.rect(),[255,int((256)*roundn),0],2)
#print(index)
#else:
#del blobs_r[index]
#img.draw_rectangle(b.rect(),[128,128,128],4)
for index, b in enumerate(blobs_r):
roundn = b.roundness()
img.draw_rectangle(b.rect(),[255,int((256)*roundn),0],2)
#print(index)
for index, b in enumerate(blobs_b):
roundn = b.roundness()
img.draw_rectangle(b.rect(),[0,int((256)*roundn),255],2)
# Note: OpenMV Cam runs about half as fast when connected
# to the IDE. The FPS should increase once disconnected.
print("EOC")
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