Image_Clarification.py, clears the underwater image through histogram equilization to restore brightness and colors in the image. "Motor control.py" detects the underwater goal post through template matching and derives the motors to pass the post, it also detects the colors. "temp.py"simply detects goal post and colors. add the image clarificat…

Image_Clarification.py

# -*- coding: utf-8 -*-
"""
Created on Sun Oct 21 01:21:35 2018

@author: Gnahy
"""

import cv2
import numpy as np
from matplotlib import pyplot as plt

img = cv2.imread('img1.jpg',1)


img_yuv = cv2.cvtColor(img, cv2.COLOR_BGR2YUV)

# equalize the histogram of the Y channel
img_yuv[:,:,0] = cv2.equalizeHist(img_yuv[:,:,0])

# convert the YUV image back to RGB format
img_output = cv2.cvtColor(img_yuv, cv2.COLOR_YUV2BGR)

cv2.imshow('Color input image', img)
cv2.imshow('Histogram equalized', img_output)

cv2.waitKey(0)

""" Clarify Greyscale images
plt.hist(img.ravel(),256,[0,256]); plt.show()

equ = cv2.equalizeHist(img)
plt.hist(equ.ravel(),256,[0,256]); plt.show()

res = np.hstack((img,equ)) #stacking images side-by-side
cv2.imwrite('res.png',res)"""

Motor control.py

import cv2
import numpy as np
import matplotlib.pyplot as plt
import RPi.GPIO as GPIO   # Import the GPIO library.
import time               # Import time library

GPIO.setmode(GPIO.BOARD)

GPIO.setup(10, GPIO.OUT)
GPIO.setup(8, GPIO.OUT)
GPIO.setup(24, GPIO.OUT)
GPIO.setup(26, GPIO.OUT)
GPIO.setup(29, GPIO.OUT)
GPIO.setup(31, GPIO.OUT)
GPIO.setup(36, GPIO.OUT)
GPIO.setup(38, GPIO.OUT)


GPIO.setup(12, GPIO.OUT)  # Set GPIO pin 12 to output mode.
pwm = GPIO.PWM(12, 100)
GPIO.setup(32, GPIO.OUT)  # Set GPIO pin 12 to output mode.
pwm1 = GPIO.PWM(32, 100)
GPIO.setup(33, GPIO.OUT)  # Set GPIO pin 12 to output mode.
pwm2 = GPIO.PWM(33, 100)
GPIO.setup(35, GPIO.OUT)  # Set GPIO pin 12 to output mode.
pwm3 = GPIO.PWM(35, 100)

pwm.start(0)
pwm1.start(0)
pwm2.start(0)
pwm3.start(0)


GPIO.output(29,GPIO.HIGH)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      
GPIO.output(31,GPIO.LOW)
GPIO.output(36,GPIO.LOW)
GPIO.output(38,GPIO.HIGH)

pwm2.ChangeDutyCycle(100)
pwm3.ChangeDutyCycle(100)

time.sleep(8)

pwm2.ChangeDutyCycle(0)
pwm3.ChangeDutyCycle(0)

GPIO.output(8,GPIO.HIGH)
GPIO.output(10,GPIO.LOW)
GPIO.output(24,GPIO.HIGH)
GPIO.output(26,GPIO.LOW)

pwm.ChangeDutyCycle(0)
pwm1.ChangeDutyCycle(100)

cap = cv2.VideoCapture(0) #Webcam Capture

while(True):
    

    ret, frame = cap.read()
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

    
		
    template = cv2.imread('gate.jpg',0)
    w, h = template.shape[::-1]

    res = cv2.matchTemplate(gray,template,cv2.TM_CCOEFF_NORMED)
    threshold = 0.8
    loc = np.where(res>threshold)

    min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res)

    top_left = min_loc
    bottom_right = (top_left[0]+w,top_left[1]+h)
    cv2.rectangle(frame,top_left, bottom_right, 255, 1)
    cv2.putText(frame, 'Detected Face ID: ', (top_left[0],top_left[1]-10), 
    		cv2.FONT_HERSHEY_PLAIN, 1.0, (255,255,255))
	

    cv2.imshow('Test',frame)
    cv2.imshow('result',res)

    lower_blue = np.array([100,10,10])
    upper_blue = np.array([255,100,100])
    lower_red = np.array([10,10,100])
    upper_red = np.array([100,100,255])
    lower_green = np.array([10,100,10])
    upper_green = np.array([100,255,100])
    
    mask_blue = cv2.inRange(frame, lower_blue, upper_blue)
    mask_red = cv2.inRange(frame, lower_red, upper_red)
    mask_green = cv2.inRange(frame, lower_green, upper_green)

    # Bitwise-AND mask and original image
#    res_blue = cv2.bitwise_and(frame,frame, mask_blue= mask_blue)
#    res_red = cv2.bitwise_and(frame,frame, mask_red= mask_red)
#    res_green = cv2.bitwise_and(frame,frame, mask_green= mask_green)

    cv2.imshow('Blue',mask_blue)
    cv2.imshow('Red',mask_red)
    cv2.imshow('Green',mask_green)
    
  

    if(res.all()):
        pwm.ChangeDutyCycle(100)
        pwm1.ChangeDutyCycle(100)
        time.sleep(5)
    else:
        pwm.ChangeDutyCycle(0)
        pwm1.ChangeDutyCycle(100)
        

    if cv2.waitKey(1) & 0xFF == ord('q'):
    	break
GPIO.cleanup()
cap.release()
cv2.destroyAllWindows() 

temp.py

import cv2
import numpy as np
import matplotlib.pyplot as plt



cap = cv2.VideoCapture(0) #Webcam Capture

while(True):

    ret, frame = cap.read()
    gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)


		
    template = cv2.imread('gate.jpg',0)
    w, h = template.shape[::-1]

    res = cv2.matchTemplate(gray,template,cv2.TM_SQDIFF)

    min_val, max_val, min_loc, max_loc = cv2.minMaxLoc(res)

    top_left = min_loc
    bottom_right = (top_left[0]+w,top_left[1]+h)
    cv2.rectangle(frame,top_left, bottom_right, 255, 1)
    cv2.putText(frame, 'Detected Face ID: ', (top_left[0],top_left[1]-10), 
    		cv2.FONT_HERSHEY_PLAIN, 1.0, (255,255,255))
	

    cv2.imshow('Test',frame)

    lower_blue = np.array([100,10,10])
    upper_blue = np.array([255,100,100])
    lower_red = np.array([10,10,100])
    upper_red = np.array([100,100,255])
    lower_green = np.array([10,100,10])
    upper_green = np.array([100,255,100])
    
    mask_blue = cv2.inRange(frame, lower_blue, upper_blue)
    mask_red = cv2.inRange(frame, lower_red, upper_red)
    mask_green = cv2.inRange(frame, lower_green, upper_green)

    # Bitwise-AND mask and original image
#    res_blue = cv2.bitwise_and(frame,frame, mask_blue= mask_blue)
#    res_red = cv2.bitwise_and(frame,frame, mask_red= mask_red)
#    res_green = cv2.bitwise_and(frame,frame, mask_green= mask_green)

    cv2.imshow('Blue',mask_blue)
    cv2.imshow('Red',mask_red)
    cv2.imshow('Green',mask_green)
    
#    cv2.imshow('res',res)    


    if cv2.waitKey(1) & 0xFF == ord('q'):
    	break

cap.release()
cv2.destroyAllWindows()