StudentRobotics2022/LOWCPU+POSITIONOFCANS.py at main · Muhie/StudentRobotics2022 · GitHub

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from pydoc import plainpager
import cv2
import numpy as np
#img = cv2.imread("lena.PNG")
class Collybot():
    def __init__(self):
        super().__init__()
        self.cap = cv2.VideoCapture(0)
        self.cap.set(3,640)
        self.cap.set(4,480)
        self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)
        self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)
        self.cap.set(cv2.CAP_PROP_FPS, 10)
        self.classNames = []
        self.classFile = "coco.names"
        with open(self.classFile,"rt") as f:
            self.classNames = f.read().rstrip("\n").split("\n")

        self.configPath = "ssd_mobilenet_v3_large_coco_2020_01_14.pbtxt"
        self.weightsPath = "frozen_inference_graph.pb"

        self.net = cv2.dnn_DetectionModel(self.weightsPath,self.configPath)
        self.net.setInputSize(160,160)
        self.net.setInputScale(1.0/ 127.5)
        self.net.setInputMean((127.5,127.5,127.5))
        self.net.setInputSwapRB(True)
    def can_Regonition(self):
        while True:
            success,img = self.cap.read()
            classIds,confs,bbox = self.net.detect(img,confThreshold=0.30)
            if len(classIds) != 0:
                for classId,confidence,box in zip(classIds.flatten(),confs.flatten(),bbox):
                    can = self.classNames[classId-1]
                    boxy = np.array_str(box)
                    coords = boxy.replace(' ', ',')
                    formatted = coords.replace('[','')
                    fullyformatted = formatted.replace(']','')
                    self.boxposition = box
                    if can == "bottle":
                        print("I found something useful")
                        print(can)
                        #print(fullyformatted)
                        cv2.rectangle(img,box,color=(0,255,0),thickness = 2)
                        self.where_Can()

                    elif can == "bowl":
                        print("I found something useful")
                        print(can)
                        print(box)
                        #print(fullyformatted)
                        cv2.rectangle(img,box,color=(0,255,0),thickness = 2)
                        self.where_Can()
                    elif can == "cup":
                        print("I found something useful")
                        print(can)
                        print(fullyformatted)
                        cv2.rectangle(img,box,color=(0,255,0),thickness = 2)
                        self.where_Can()
                    elif can == "cell phone":
                        print("I found something useful")
                        print(can)
                        print(fullyformatted)
                        cv2.rectangle(img,box,color=(0,255,0),thickness = 2)
                        self.where_Can()
                    else:
                        pass
            cv2.imshow("Bottle Detector",img)
            cv2.waitKey(300)
    def where_Can(self):
        if self.boxposition[0] >= 450:
            print("going left!")
        elif self.boxposition[0] >= 250 and self.boxposition[0] <= 450:
            print("in the centre")
        elif self.boxposition[0] <= 250:
            print("going right!")


def main():
    jeff = Collybot()
    jeff.can_Regonition()
if __name__ == '__main__':
    main()