ShapeDTC.py

import time

# import from parent directory
import sys
import os.path
sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), os.path.pardir)))

import DynamicObjectV2
Obj = DynamicObjectV2.Class

import numpy as np
import cv2
from picamera import PiCamera
import os
from picamera.array import PiRGBArray

def init(self):
  # put your self.registerOutput here
  self.registerOutput("shape", Obj("found", False, "type", "none"))

def run (self):
  try:
    # put your init and global variables here
    width = 440
    height = 280
    Square = 0
    Circle = 0
    Triangle = 0
    detect = 0
    shape = " "
    pShape = " "
    Found = False
      
    camera = PiCamera()
    camera.resolution = (width, height)
    camera.framerate = 32
    camera.hflip = True
    rawCapture = PiRGBArray(camera, size=(width,height))
    while 1:
      for image in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
          frame = image.array
          size = 20
          x = (width/2)- size
          y = (height/2) - size
          w = (width/2) + size
          h = (height/2) + size
          
          gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)                                             #Converts image to greyscale
          blur = cv2.GaussianBlur(gray,(5,5),0)
          thresh = cv2.adaptiveThreshold(blur,255,1,1,11,2)
      
          image,contours,hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE) # Identify shape sides
          
          for cnt in contours:
            approx = cv2.approxPolyDP(cnt,0.01*cv2.arcLength(cnt,True),True);                       # Counting sides of shapes

            if len(approx)==4:
              Square = Square + 1;
              detect = detect+1;
            elif len(approx) > 8:
              Circle = Circle + 1;
              detect = detect+1;
            else:
              pass;
            rawCapture.truncate(0)
          pShape=shape
          if (Circle > Square):
            Circle = 0
            Square = 0
            if shape != "Circle":
              self.output("shape", Obj("found", False, "type", "  "))
              
            self.output("shape", Obj("found", True, "type", "Circle"))
            shape = "Circle"
              
          elif (Square > Circle):
            Square = 0
            Circle = 0
            Triangle = 0
            if shape != "Square":
              self.output("shape", Obj("found", False, "type", "  "))
              
            self.output("shape", Obj("found", True, "type", "Square"))
            shape = "Square"
            
          
          if detect == 30:
              break;
          
  except:
    pass;