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camcode.py
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# This code is developed under the title autonomous warehouse management system
# Image Processing code of the system
import numpy as np
from pyzbar.pyzbar import decode
import pandas as pd
import cv2
import imutils
import sys
import os
import argparse
import time
from imutils.video import VideoStream
import paho.mqtt.client as mqtt
cap = cv2.VideoCapture(0)
cap1 = cv2.VideoCapture(1)
cap2 = cv2.VideoCapture(2)
message = ""
city = ""
broker= "192.168.1.101"
port = 2222
markerId = 0
ARUCO_DICT = {
"DICT_4X4_50": cv2.aruco.DICT_4X4_50,
"DICT_4X4_100": cv2.aruco.DICT_4X4_100,
"DICT_4X4_250": cv2.aruco.DICT_4X4_250,
"DICT_4X4_1000": cv2.aruco.DICT_4X4_1000,
"DICT_5X5_50": cv2.aruco.DICT_5X5_50,
"DICT_5X5_100": cv2.aruco.DICT_5X5_100,
"DICT_5X5_250": cv2.aruco.DICT_5X5_250,
"DICT_5X5_1000": cv2.aruco.DICT_5X5_1000,
"DICT_6X6_50": cv2.aruco.DICT_6X6_50,
"DICT_6X6_100": cv2.aruco.DICT_6X6_100,
"DICT_6X6_250": cv2.aruco.DICT_6X6_250,
"DICT_6X6_1000": cv2.aruco.DICT_6X6_1000,
"DICT_7X7_50": cv2.aruco.DICT_7X7_50,
"DICT_7X7_100": cv2.aruco.DICT_7X7_100,
"DICT_7X7_250": cv2.aruco.DICT_7X7_250,
"DICT_7X7_1000": cv2.aruco.DICT_7X7_1000,
"DICT_ARUCO_ORIGINAL": cv2.aruco.DICT_ARUCO_ORIGINAL,
"DICT_APRILTAG_16h5": cv2.aruco.DICT_APRILTAG_16h5,
"DICT_APRILTAG_25h9": cv2.aruco.DICT_APRILTAG_25h9,
"DICT_APRILTAG_36h10": cv2.aruco.DICT_APRILTAG_36h10,
"DICT_APRILTAG_36h11": cv2.aruco.DICT_APRILTAG_36h11
}
# arucoDict = cv2.aruco.Dictionary_get(ARUCO_DICT[args['type']])
# arucoParams = cv2.aruco.DetectorParameters_create()
CACHED_PTS = None
CACHED_IDS = None
Line_Pts = None
measure = None
arucoParams = cv2.aruco.DetectorParameters_create()
arucoDict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_5X5_100)
cx2,cy2=0,0
cx3,cy3=0,0
cx4,cy4=0,0
cx5,cy5=0,0
cx6,cy6=0,0
cx7,cy7=0,0
cx8,cy8=0,0
cx9,cy9=0,0
cx10,cy10=0,0
cx11,cy11=0,0
cx12,cy12=0,0
i=0
df = pd.read_excel('Sample Data.xlsx')
def on_connect(publisher, userdata, flags, rc): # The callback for when the client connects to the broker
print("Connected with result code {0}".format(str(rc))) # Print result of connection attempt
publisher.subscribe("PYTHON/PUBLISH") # Subscribe to the topic “digitest/test1”, receive any messages published on it
def on_message(publisher, userdata, msg): # The callback for when a PUBLISH message is received from the server.
message = str(msg.payload.decode("utf-8"))
print("Message received: ",message) # Print a received msg
if (message == "C_ABAD1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1ABD")
if (message == "C_MUMBAI1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1MUMBAI")
if (message == "C_PUNE1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1PUNE")
if (message == "C_JAIPUR1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1JAIPUR")
if (message == "C_DELHI1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1DELHI")
if (message == "C_BENG1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1BENG")
if (message == "C_HYDER1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1HYDER")
if (message == "C_KOLKATA1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1KOLKATA")
if (message == "C_CHENNAI1_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET1CHENNAI")
# INDUCT 2
if (message == "C_ABAD2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2ABD")
if (message == "C_MUMBAI2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2MUMBAI")
if (message == "C_PUNE2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2PUNE")
if (message == "C_JAIPUR2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2JAIPUR")
if (message == "C_DELHI2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2DELHI")
if (message == "C_BENG2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2BENG")
if (message == "C_HYDER2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2HYDER")
if (message == "C_KOLKATA2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2KOLKATA")
if (message == "C_CHENNAI2_AVOID"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2CHENNAI")
# RB2 ARUCO 2
if (message == "RB2XDRPABADI1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2ABD")
i=0
if (message == "RB2XDRPMUMBAII1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2MUMBAI")
if (message == "RB2XDRPPUNEI1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2PUNE")
if (message == "RB2XDRPJAIPURI1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2JAIPUR")
if (message == "RB2XDRPDELHII1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2DELHI")
if (message == "RB2XDRPBENGI1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2BENG")
if (message == "RB2XDRPHYDERI1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2HYDER")
if (message == "RB2XDRPKOLKATAI1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2KOLKATA")
if (message == "RB2XDRPCHENNAII1"):
print(message)
publisher.publish("RB2/ROBO2", "RB2XRET2CHENNAI")
publisher = mqtt.Client("PYTHON") # Create instance of client with client ID “digi_mqtt_test”
publisher.connect(broker, port)
publisher.on_connect = on_connect
publisher.on_message = on_message
publisher.loop_start()
while True:
Dist = []
# Capture frame-by-frame
ret0, frame0 = cap.read()
ret1, frame1 = cap1.read()
ret2, image = cap2.read()
if (ret0):#for induct 1
# Display the resulting frame
#cv2.imshow('Cam 0', frame0)
# Display the resulting frame
Dist = []
# Display the resulting frame
frame0 = imutils.resize(frame0, width=800)
corners, ids, rejected = cv2.aruco.detectMarkers(frame0, arucoDict, parameters=arucoParams)
if len(corners) <= 0:
if CACHED_PTS is not None:
corners = CACHED_PTS
if len(corners) > 0:
CACHED_PTS = corners
if ids is not None:
ids = ids.flatten()
CACHED_IDS = ids
else:
if CACHED_IDS is not None:
ids = CACHED_IDS
if len(corners) < 2:
if len(CACHED_PTS) >= 2:
corners = CACHED_PTS
for (markerCorner, markerId) in zip(corners, ids):
# print("[INFO] Marker detected")
corners_abcd = markerCorner.reshape((4, 2))
(topLeft, topRight, bottomRight, bottomLeft) = corners_abcd
topRightPoint = (int(topRight[0]), int(topRight[1]))
topLeftPoint = (int(topLeft[0]), int(topLeft[1]))
bottomRightPoint = (int(bottomRight[0]), int(bottomRight[1]))
bottomLeftPoint = (int(bottomLeft[0]), int(bottomLeft[1]))
cv2.line(frame0, topLeftPoint, topRightPoint, (0, 255, 0), 2)
cv2.line(frame0, topRightPoint, bottomRightPoint, (0, 255, 0), 2)
cv2.line(frame0, bottomRightPoint, bottomLeftPoint, (0, 255, 0), 2)
cv2.line(frame0, bottomLeftPoint, topLeftPoint, (0, 255, 0), 2)
cX = int((topLeft[0] + bottomRight[0]) // 2)
cY = int((topLeft[1] + bottomRight[1]) // 2)
measure = abs(3.5 / (topLeft[0] - cX))
cv2.circle(frame0, (cX, cY), 4, (255, 0, 0), -1)
cv2.putText(frame0, str(
int(markerId)), (int(topLeft[0] - 10), int(topLeft[1] - 10)), cv2.FONT_HERSHEY_COMPLEX, 1,
(0, 0, 255))
Dist.append((cX, cY))
if(markerId==2):
for barcode in decode(frame0):
# print(barcode.data)
# print(barcode.rect)
myData = barcode.data.decode('utf-8')
print(myData)
pts = np.array([barcode.polygon], np.int32)
pts = pts.reshape((-1, 1, 2))
cv2.polylines(frame0, [pts], True, (255, 0, 255), 5)
pts2 = barcode.rect
cv2.putText(frame0, myData, (pts2[0], pts2[1]), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (255, 0, 255), 2)
print(df[df['Shipment'] == myData])
comparison_values = df.values == myData
rows, cols = np.where(comparison_values == True)
city = df['Destination'][rows]
station1 = df['Induct Station'][rows]
station = str(station1)
print(station1)
if ("1.0" in station):
if ("Ahmedabad" in str(city)):
print("Ahmedabad")
city = "ABAD"
publisher.publish("RB1/ROBO1","RB1XI1ABAD")
if ("Pune" in str(city)):
print("Pune")
city = "PUNE"
publisher.publish("RB1/ROBO1", "RB1XI1PUNE")
if ("Mumbai" in str(city)):
print("Mumbai")
city = "MUMBAI"
publisher.publish("RB1/ROBO1", "RB1XI1MUMBAI")
if ("Delhi" in str(city)):
print("Delhi")
city = "DELHI"
publisher.publish("RB1/ROBO1", "RB1XI1DELHI")
if ("Kolkata" in str(city)):
print("Kolkata")
city = "KOLKATA"
publisher.publish("RB1/ROBO1", "RB1XI1KOLKATA")
if ("Chennai" in str(city)):
print("Chennai")
city = "CHENNAI"
publisher.publish("RB1/ROBO1", "RB1XI1CHENNAI")
if ("Bengaluru" in str(city)):
print("Bengaluru")
city = "BENG"
publisher.publish("RB1/ROBO1", "RB1XI1BENG")
if ("Jaipur" in str(city)):
print("Jaipur")
city = "JAIPUR"
publisher.publish("RB1/ROBO1", "RB1XI1JAIPUR")
if ("Hyderabad" in str(city)):
print("Hyderabad")
city = "HYDER"
publisher.publish("RB1/ROBO1", "RB1XI1HYDER")
else:
print("Invalid station")
if (markerId == 3):
for barcode in decode(frame0):
# print(barcode.data)
# print(barcode.rect)
myData = barcode.data.decode('utf-8')
print(myData)
pts = np.array([barcode.polygon], np.int32)
pts = pts.reshape((-1, 1, 2))
cv2.polylines(frame0, [pts], True, (255, 0, 255), 5)
pts2 = barcode.rect
cv2.putText(frame0, myData, (pts2[0], pts2[1]), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (255, 0, 255), 2)
print(df[df['Shipment'] == myData])
comparison_values = df.values == myData
rows, cols = np.where(comparison_values == True)
city = df['Destination'][rows]
station1 = df['Induct Station'][rows]
station = str(station1)
print(station1)
if ("1.0" in station):
if ("Ahmedabad" in str(city)):
print("Ahmedabad")
city = "ABAD"
publisher.publish("RB2/ROBO2", "RB2XI1ABAD")
if ("Pune" in str(city)):
print("Pune")
city = "PUNE"
publisher.publish("RB2/ROBO2", "RB2XI1PUNE")
if ("Mumbai" in str(city)):
print("Mumbai")
city = "MUMBAI"
publisher.publish("RB2/ROBO2", "RB2XI1MUMBAI")
if ("Delhi" in str(city)):
print("Delhi")
city = "DELHI"
publisher.publish("RB2/ROBO2", "RB2XI1DELHI")
if ("Kolkata" in str(city)):
print("Kolkata")
city = "KOLKATA"
publisher.publish("RB2/ROBO2", "RB2XI1KOLKATA")
if ("Chennai" in str(city)):
print("Chennai")
city = "CHENNAI"
publisher.publish("RB2/ROBO2", "RB2XI1CHENNAI")
if ("Bengaluru" in str(city)):
print("Bengaluru")
city = "BENG"
publisher.publish("RB2/ROBO2", "RB2XI1BENG")
if ("Jaipur" in str(city)):
print("Jaipur")
city = "JAIPUR"
publisher.publish("RB2/ROBO2", "RB2XI1JAIPUR")
if ("Hyderabad" in str(city)):
print("Hyderabad")
city = "HYDER"
publisher.publish("RB2/ROBO2", "RB2XI1HYDER")
else:
print("Invalid station")
cv2.imshow('INDUCT 1', frame0)
cv2.waitKey(1)
if (ret1):#for induct 2
# Display the resulting frame
# cv2.imshow('Cam 0', frame0)
# Display the resulting frame
Dist = []
# Display the resulting frame
frame1 = imutils.resize(frame1, width=800)
corners, ids, rejected = cv2.aruco.detectMarkers(frame1, arucoDict, parameters=arucoParams)
if len(corners) <= 0:
if CACHED_PTS is not None:
corners = CACHED_PTS
if len(corners) > 0:
CACHED_PTS = corners
if ids is not None:
ids = ids.flatten()
CACHED_IDS = ids
else:
if CACHED_IDS is not None:
ids = CACHED_IDS
if len(corners) < 2:
if len(CACHED_PTS) >= 2:
corners = CACHED_PTS
for (markerCorner, markerId) in zip(corners, ids):
# print("[INFO] Marker detected")
corners_abcd = markerCorner.reshape((4, 2))
(topLeft, topRight, bottomRight, bottomLeft) = corners_abcd
topRightPoint = (int(topRight[0]), int(topRight[1]))
topLeftPoint = (int(topLeft[0]), int(topLeft[1]))
bottomRightPoint = (int(bottomRight[0]), int(bottomRight[1]))
bottomLeftPoint = (int(bottomLeft[0]), int(bottomLeft[1]))
cv2.line(frame1, topLeftPoint, topRightPoint, (0, 255, 0), 2)
cv2.line(frame1, topRightPoint, bottomRightPoint, (0, 255, 0), 2)
cv2.line(frame1, bottomRightPoint, bottomLeftPoint, (0, 255, 0), 2)
cv2.line(frame1, bottomLeftPoint, topLeftPoint, (0, 255, 0), 2)
cX = int((topLeft[0] + bottomRight[0]) // 2)
cY = int((topLeft[1] + bottomRight[1]) // 2)
measure = abs(3.5 / (topLeft[0] - cX))
cv2.circle(frame1, (cX, cY), 4, (255, 0, 0), -1)
cv2.putText(frame1, str(
int(markerId)), (int(topLeft[0] - 10), int(topLeft[1] - 10)), cv2.FONT_HERSHEY_COMPLEX, 1,
(0, 0, 255))
Dist.append((cX, cY))
if (markerId == 2):
for barcode in decode(frame1):
# print(barcode.data)
# print(barcode.rect)
myData = barcode.data.decode('utf-8')
print(myData)
pts = np.array([barcode.polygon], np.int32)
pts = pts.reshape((-1, 1, 2))
cv2.polylines(frame1, [pts], True, (255, 0, 255), 5)
pts2 = barcode.rect
cv2.putText(frame1, myData, (pts2[0], pts2[1]), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (255, 0, 255), 2)
print(df[df['Shipment'] == myData])
comparison_values = df.values == myData
rows, cols = np.where(comparison_values == True)
city = df['Destination'][rows]
station1 = df['Induct Station'][rows]
station = str(station1)
print(station1)
if ("2.0" in station):
if ("Ahmedabad" in str(city)):
print("Ahmedabad")
city = "ABAD"
publisher.publish("RB1/ROBO1", "RB1XI2ABAD")
if ("Pune" in str(city)):
print("Pune")
city = "PUNE"
publisher.publish("RB1/ROBO1", "RB1XI2PUNE")
if ("Mumbai" in str(city)):
print("Mumbai")
city = "MUMBAI"
publisher.publish("RB1/ROBO1", "RB1XI2MUMBAI")
if ("Delhi" in str(city)):
print("Delhi")
city = "DELHI"
publisher.publish("RB1/ROBO1", "RB1XI2DELHI")
if ("Kolkata" in str(city)):
print("Kolkata")
city = "KOLKATA"
publisher.publish("RB1/ROBO1", "RB1XI2KOLKATA")
if ("Chennai" in str(city)):
print("Chennai")
city = "CHENNAI"
publisher.publish("RB1/ROBO1", "RB1XI2CHENNAI")
if ("Bengaluru" in str(city)):
print("Bengaluru")
city = "BENG"
publisher.publish("RB1/ROBO1", "RB1XI2BENG")
if ("Jaipur" in str(city)):
print("Jaipur")
city = "JAIPUR"
publisher.publish("RB1/ROBO1", "RB1XI2JAIPUR")
if ("Hyderabad" in str(city)):
print("Hyderabad")
city = "HYDER"
publisher.publish("RB1/ROBO1", "RB1XI2HYDER")
else:
print("Invalid station")
if (markerId == 3):
for barcode in decode(frame1):
# print(barcode.data)
# print(barcode.rect)
myData = barcode.data.decode('utf-8')
print(myData)
pts = np.array([barcode.polygon], np.int32)
pts = pts.reshape((-1, 1, 2))
cv2.polylines(frame1, [pts], True, (255, 0, 255), 5)
pts2 = barcode.rect
cv2.putText(frame1, myData, (pts2[0], pts2[1]), cv2.FONT_HERSHEY_SIMPLEX, 0.9, (255, 0, 255), 2)
print(df[df['Shipment'] == myData])
comparison_values = df.values == myData
rows, cols = np.where(comparison_values == True)
city = df['Destination'][rows]
station1 = df['Induct Station'][rows]
station = str(station1)
print(station1)
if ("2.0" in station):
if ("Ahmedabad" in str(city)):
print("Ahmedabad")
city = "ABAD"
publisher.publish("RB2/ROBO2", "RB2XI2ABAD")
if ("Pune" in str(city)):
print("Pune")
city = "PUNE"
publisher.publish("RB2/ROBO2", "RB2XI2PUNE")
if ("Mumbai" in str(city)):
print("Mumbai")
city = "MUMBAI"
publisher.publish("RB2/ROBO2", "RB2XI2MUMBAI")
if ("Delhi" in str(city)):
print("Delhi")
city = "DELHI"
publisher.publish("RB2/ROBO2", "RB2XI2DELHI")
if ("Kolkata" in str(city)):
print("Kolkata")
city = "KOLKATA"
publisher.publish("RB2/ROBO2", "RB2XI2KOLKATA")
if ("Chennai" in str(city)):
print("Chennai")
city = "CHENNAI"
publisher.publish("RB2/ROBO2", "RB2XI2CHENNAI")
if ("Bengaluru" in str(city)):
print("Bengaluru")
city = "BENG"
publisher.publish("RB2/ROBO2", "RB2XI2BENG")
if ("Jaipur" in str(city)):
print("Jaipur")
city = "JAIPUR"
publisher.publish("RB2/ROBO2", "RB2XI2JAIPUR")
if ("Hyderabad" in str(city)):
print("Hyderabad")
city = "HYDER"
publisher.publish("RB2/ROBO2", "RB2XI2HYDER")
else:
print("Invalid station")
cv2.imshow('INDUCT 2 ', frame1)
cv2.waitKey(1)
if (ret2):#for arena cam 1
Dist = []
markerId_array = []
# publisher.loop_start()
image = imutils.resize(image, width=800)
corners, ids, rejected = cv2.aruco.detectMarkers(image, arucoDict, parameters=arucoParams)
if len(corners) <= 0:
if CACHED_PTS is not None:
corners = CACHED_PTS
if len(corners) > 0:
CACHED_PTS = corners
if ids is not None:
ids = ids.flatten()
CACHED_IDS = ids
else:
if CACHED_IDS is not None:
ids = CACHED_IDS
if len(corners) < 2:
if len(CACHED_PTS) >= 2:
corners = CACHED_PTS
for (markerCorner, markerId) in zip(corners, ids):
# print("[INFO] Marker detected")
corners_abcd = markerCorner.reshape((4, 2))
(topLeft, topRight, bottomRight, bottomLeft) = corners_abcd
topRightPoint = (int(topRight[0]), int(topRight[1]))
topLeftPoint = (int(topLeft[0]), int(topLeft[1]))
bottomRightPoint = (int(bottomRight[0]), int(bottomRight[1]))
bottomLeftPoint = (int(bottomLeft[0]), int(bottomLeft[1]))
cv2.line(image, topLeftPoint, topRightPoint, (0, 255, 0), 2)
cv2.line(image, topRightPoint, bottomRightPoint, (0, 255, 0), 2)
cv2.line(image, bottomRightPoint, bottomLeftPoint, (0, 255, 0), 2)
cv2.line(image, bottomLeftPoint, topLeftPoint, (0, 255, 0), 2)
cX = int((topLeft[0] + bottomRight[0]) // 2)
cY = int((topLeft[1] + bottomRight[1]) // 2)
measure = abs(3.5 / (topLeft[0] - cX))
cv2.circle(image, (cX, cY), 4, (255, 0, 0), -1)
cv2.putText(image, str(
int(markerId)), (int(topLeft[0] - 10), int(topLeft[1] - 10)), cv2.FONT_HERSHEY_COMPLEX, 1,
(0, 0, 255))
Dist.append((cX, cY))
markerId_array.append(markerId)
aruco_centroid = (cX, cY)
# static coordinate aruco
if 2 in markerId_array:
ind_2 = markerId_array.index(2)
cx2, cy2 = Dist[ind_2]
# print("CX2,CY2: ", cx2, cy2)
if 3 in markerId_array:
ind_3 = markerId_array.index(3)
cx3, cy3 = Dist[ind_3]
# print("CX3,CY3: ", cx3, cy3)
if 4 in markerId_array:
ind_4 = markerId_array.index(4)
cx4, cy4 = Dist[ind_4]
# print("CX4,CY4: ", cx4, cy4)
if 5 in markerId_array:
ind_5 = markerId_array.index(5)
cx5, cy5 = Dist[ind_5]
# print("CX5,CY5: ", cx5, cy5)
if 6 in markerId_array:
ind_6 = markerId_array.index(6)
cx6, cy6 = Dist[ind_6]
# print("CX6,CY6: ", cx6, cy6)
if 7 in markerId_array:
ind_7 = markerId_array.index(7)
cx7, cy7 = Dist[ind_7]
# print("CX7,CY7: ", cx7, cy7)
if 8 in markerId_array:
ind_8 = markerId_array.index(8)
cx8, cy8 = Dist[ind_8]
# print("CX8,CY8: ", cx8, cy8)
if 9 in markerId_array:
ind_9 = markerId_array.index(9)
cx9, cy9 = Dist[ind_9]
# print("CX9,CY9: ", cx9, cy9)
if 10 in markerId_array:
ind_10 = markerId_array.index(11)
cx10, cy10 = Dist[ind_10]
# print("CX10,CY10: ", cx10, cy10)
if 11 in markerId_array:
ind_11 = markerId_array.index(11)
cx11, cy11 = Dist[ind_11]
# print("CX11,CY11: ", cx11, cy11)
dist_4_2 = abs((((cx2 - cx4) ** 2) - ((cy2 - cy4) ** 2)) ** 0.5)
dist_4_2 = dist_4_2 * measure
# print("Dist 4_2:", dist_4_2)
dist_4_3 = abs((((cx3 - cx4) ** 2) - ((cy3 - cy4) ** 2)) ** 0.5)
dist_4_3 = dist_4_3 * measure
# print("Dist 4_3:", dist_4_3)
dist_5_2 = abs((((cx2 - cx5) ** 2) - ((cy2 - cy5) ** 2)) ** 0.5)
dist_5_2 = dist_5_2 * measure
# print("Dist 5_2:", dist_5_2)
dist_5_3 = abs((((cx3 - cx5) ** 2) - ((cy3 - cy5) ** 2)) ** 0.5)
dist_5_3 = dist_5_3 * measure
# print("Dist 5_3:", dist_5_3)
dist_6_2 = abs((((cx2 - cx6) ** 2) - ((cy2 - cy6) ** 2)) ** 0.5)
dist_6_2 = dist_6_2 * measure
# print("Dist 6_2:", dist_6_2)
dist_6_3 = abs((((cx3 - cx6) ** 2) - ((cy3 - cy6) ** 2)) ** 0.5)
dist_6_3 = dist_6_3 * measure
# print("Dist 6_3:", dist_6_3)
dist_7_2 = abs((((cx2 - cx7) ** 2) - ((cy2 - cy7) ** 2)) ** 0.5)
dist_7_2 = dist_7_2 * measure
# print("Dist 6_2:", dist_6_2)
dist_7_3 = abs((((cx3 - cx7) ** 2) - ((cy3 - cy7) ** 2)) ** 0.5)
dist_7_3 = dist_7_3 * measure
# print("Dist 7_3:", dist_7_3)
dist_8_2 = abs((((cx2 - cx8) ** 2) - ((cy2 - cy8) ** 2)) ** 0.5)
dist_8_2 = dist_8_2 * measure
# print("Dist 8_2:", dist_8_2)
dist_8_3 = abs((((cx3 - cx8) ** 2) - ((cy3 - cy8) ** 2)) ** 0.5)
dist_8_3 = dist_8_3 * measure
# print("Dist 8_3:", dist_8_3)
dist_9_2 = abs((((cx2 - cx9) ** 2) - ((cy2 - cy9) ** 2)) ** 0.5)
dist_9_2 = dist_9_2 * measure
# print("Dist 9_2:", dist_9_2)
dist_9_3 = abs((((cx3 - cx9) ** 2) - ((cy3 - cy9) ** 2)) ** 0.5)
dist_9_3 = dist_9_3 * measure
# print("Dist 9_3:", dist_9_3)
dist_10_3 = abs((((cx3 - cx10 ** 2) - ((cy3 - cy10) ** 2)) ** 0.5))
dist_10_3 = dist_10_3 * measure
# print("Dist 10_3:", dist_10_3)
dist_10_2 = abs((((cx2 - cx10) ** 2) - ((cy2 - cy10) ** 2)) ** 0.5)
dist_10_2 = dist_10_2 * measure
# print("Dist 10_2:", dist_10_2)
dist_11_3 = abs((((cx3 - cx11) ** 2) - ((cy3 - cy11) ** 2)) ** 0.5)
dist_11_3 = dist_11_3 * measure
# print("Dist 11_3:", dist_11_3)
dist_11_2 = abs((((cx2 - cx11) ** 2) - ((cy2 - cy11) ** 2)) ** 0.5)
dist_11_2 = dist_11_2 * measure
# print("Dist 11_2:", dist_11_2)
# INDUCT 1
# if ((dist_4_2 < 15) and (dist_4_3 < 15)):
# print("Collision_4")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_5_2 < 15) and (dist_5_3 < 15)):
# print("Collision_5")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_6_2 < 15) and (dist_6_3 < 15)):
# print("Collision_6")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_7_2 < 15) and (dist_7_3 < 15)):
# print("Collision_7")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_8_2 < 15) and (dist_8_3 < 15)):
# print("Collision_8")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_9_2 < 15) and (dist_9_3 < 15)):
# print("Collision_9")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_10_2 < 15) and (dist_10_3 < 15)):
# print("Collision_10")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
#
# if ((dist_11_2 < 15) and (dist_11_3 < 15)):
# print("Collision_11")
# publisher.publish("RB2/ROBO2", "RB2XSTOP")
# DROPPING CENTROIDS
# cv2.putText(image, 'DROP', (185, 43), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
imgray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(imgray, 150, 255, 0)
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
# print('Number of contours = ' + str(len(contours)))
for c in contours:
area = cv2.contourArea(c)
if area > 100:
cv2.drawContours(image, [c], -1, (255, 0, 0), 1)
M = cv2.moments(c)
if M["m00"] != 0:
cx = int(M["m10"] / M["m00"])
cy = int(M["m01"] / M["m00"])
else:
cx, cy = 0, 0
centroid = (cx, cy)
cv2.circle(image, (cx, cy), 2, (0, 0, 255), 2)
cv2.putText(image, str(centroid), (cx - 2, cy - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.15, (255, 255, 255))
# INDUCT 1
if (markerId == 2):
if (city == "ABAD") and (cx2 < 177 and cy2 < 133) and (cx2 > 174 and cy2 > 158):
print("stop")
# publisher.publish("RB3/ROBO3", "RB3XFWOFF")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
print("Start_Servo_Abad")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOABADI1")
cv2.putText(image, 'DROP', cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
if (city == "PUNE") and (cx2 < 417 and cy2 < 88) and (cx2 > 407 and cy2 > 78):
print("stop")
print("Start_Servo_Pune")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOPUNEI1")
cv2.putText(image, 'DROP', cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Pune")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOPUNEI1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "MUMBAI") and (cx2 < 177 and cy2 < 133) and (cx2 > 174 and cy2 > 158):
print("stop")
print("Start_Servo_Mumbai")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOMUMBAII1")
cv2.putText(image, 'DROP', cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Mumbai")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOMUMBAII1")
# print("Stop_Servo_Mumbai")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOMUMBAII1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "DELHI ") and (cx2 < 178 and cy2 < 135) and (cx2 > 176 and cy2 > 130):
print("stop")
print("Start_Servo_Delhi")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVODELHII1")
cv2.putText(image, 'DROP',(cx2-2,cy2-5) ,cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Delhi")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOPUNEI1")
# print("Stop_Servo_Delhi")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVODELHII1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "KOLKATA") and (cx2 < 178 and cy2 < 135) and (cx2 > 176 and cy2 > 130):
print("stop")
print("Start_Servo_Kolkata")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOKOLKATAI1")
cv2.putText(image, 'DROP',(cx2-2,cy2-5) , cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Kolkata")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOKOLKATAI1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "CHENNAI") and (cx2 < 178 and cy2 < 135) and (cx2 > 176 and cy2 > 130):
print("stop")
print("Start_Servo_Chennai")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOCHENNAII1")
cv2.putText(image, 'DROP',(cx2-2,cy2-5) , cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Chennai")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOCHENNAII1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "HYDERABABAD ") and (cx2 < 178 and cy2 < 135) and (cx2 > 176 and cy2 > 130):
print("stop")
print("Start_Servo_HYDER")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOHYDERI1")
cv2.putText(image, 'DROP',(cx2-2,cy2-5) , cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Hyder")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOHYDERI1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "BENG") and (cx2 < 178 and cy2 < 135) and (cx2 > 176 and cy2 > 130):
print("stop")
print("Start_Servo_Beng")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOBENGI1")
cv2.putText(image, 'DROP',(cx2-2,cy2-5) , cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# print("Stop_Servo_Beng")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOBENGI1")
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
if (city == "JAIPUR") and (cx2 < 185 and cy2 < 50) and (cx2 > 178 and cy2 > 37):
print("stop")
print("Start_Servo_Jaipur")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOJAIPURI1")
cv2.putText(image, 'DROP', (cx2 - 2, cy2 - 5), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 150), 2)
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Abad")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOABADI1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Pune")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOPUNEI1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Mumbai")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOMUMBAII1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Delhi")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVODELHII1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Kolkata")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOKOLKATAI1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Chennai")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOCHENNAII1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Hyder")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOHYDERI1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Beng")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOBENGI1")
#
# if (cx2 < 590 and cy2 < 70) and (cx2 > 500 and cy2 > 30):
# print("Stop_Servo_Jaipur")
# publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOJAIPURI1")
# INDUCT 2
if (markerId == 3):
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Abad")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOABADI2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Pune")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOPUNEI2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Mumbai")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOMUMBAII2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Delhi")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVODELHII2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Kolkata")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOKOLKATAI2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Chennai")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOCHENNAII2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Hyder")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOHYDERI2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Beng")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOBENGI2")
if (cx3 < 590 and cy3 < 70) and (cx3 > 500 and cy3 > 30):
print("Stop_Servo_Jaipur")
publisher.publish("RB2/ROBO2", "RB2XSTOPSERVOJAIPURI2")
cv2.imshow('ARENA CAM 1', image)
if cv2.waitKey(1) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
# When everything is done, release the capture
cap.release()
cap1.release()
cap2.release()
cv2.destroyAllWindows()
publisher.loop_stop()