컨베이어 움직임 DETECT

 

# conveyor 벨트 이미지 변경

import cv2

import numpy as np

import matplotlib.pyplot as plt

import glob

import os

from PIL import Image, ImageDraw, ImageFont

import pygame

def detect_lines(img, rho_a, theta_a):

    dst = img.copy()

    gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

    canny = cv2.Canny(gray, 50, 150, apertureSize=3, L2gradient=True)

    lines = cv2.HoughLines(canny, 1, np.pi / 180, 150, srn=100, stn=200, min_theta=0, max_theta=np.pi/2)

   

    f1_x1 = 300;f1_y1 = 1.4;f1_x2 = 340;f1_y2 = 1.54

    f1_ax = (f1_y2 - f1_y1) / (f1_x2 - f1_x1)

    f1_by = f1_y2 - (f1_ax * f1_x2)

   

    f2_x1 = 280;f2_y1 = 1.532;f2_x2 = 253;f2_y2 = 1.386

    f2_ax = (f2_y2 - f2_y1) / (f2_x2 - f2_x1)

    f2_by = f2_y2 - (f2_ax * f2_x2)

    #print('slope : ', a, 'y-axis : ', b)

    f1_x = np.linspace(200, 400, 100)

    f1_y = f1_ax * f1_x + f1_by

    f2_y = f2_ax * f1_x + f2_by

   

    for i in lines:

        rho, theta = i[0][0], i[0][1]

       

        f1_ans = f1_ax*rho + f1_by

        f2_ans = f2_ax*rho + f2_by

        #print(ans, theta)

        if f1_ans < theta and f2_ans > theta and rho > 280:

        #if 190 < rho and 1.38 < theta and ans <= theta:

        #if 0.8 < theta < 1.5:

            #print(rho, theta)

            rho_a = np.append(rho_a, rho)

            theta_a = np.append(theta_a, theta)

           

            a1, b1 = np.cos(theta), np.sin(theta)

            x0, y0 = a1*rho, b1*rho

            scale = img.shape[0] + img.shape[1]

            x1 = int(x0 + scale * -b1)

            y1 = int(y0 + scale * a1)

            x2 = int(x0 - scale * -b1)

            y2 = int(y0 - scale * a1)

            cv2.line(dst, (x1, y1), (x2, y2), (0, 255, 0), 2)

            print(x1, y1, x2, y2)

            break

        #cv2.circle(dst, (x0, y0), 3, (255, 0, 0), 5, cv2.FILLED)

    return dst, rho_a, theta_a, f1_x, f1_y, f2_y, rho, theta

cap = cv2.VideoCapture('PVC-conveyor-1.mp4')

fps = cap.get(cv2.CAP_PROP_FPS)

rho_a = []

theta_a = []

while cap.isOpened():

    ret, img = cap.read()

    img = cv2.resize(img, dsize=(640, 480))

    if ret:

        dst, rho_a, theta_a, f1_x, f1_y, f2_y, rho, theta = detect_lines(img, rho_a, theta_a)

        cv2.imshow('img', img)

       

        cv2.namedWindow('dst', cv2.WINDOW_GUI_NORMAL)

        cv2.imshow('dst', dst)

        cv2.waitKey(int(100/fps))

       

        plt.plot(rho_a, theta_a,'r.')

        plt.plot(rho, theta, 'b*')

        plt.plot(f1_x, f1_y)

        plt.plot(f1_x, f2_y)

        plt.xlim([275, 350])

        plt.ylim([1.3, 1.6])

        plt.pause(0.5)

        plt.clf()

    plt.savefig('result.png')

cap.release()

cv2.destroyAllWindows()