Allow to sort on minimal and maximal contour pixel size.

More debugging information.

oi-sensor/oi-sensor.py

@@ -17,6 +17,7 @@ import asyncio
 import logging
 from asyncua import Server
 import argparse
+import time
 
 SLEEP_DURATION = 10e-3 # 10 milliseconds
 
@@ -24,10 +25,12 @@ SLEEP_DURATION = 10e-3 # 10 milliseconds
 DEFAULT_LH = (0, 180,)
 DEFAULT_LS = (0, 255,)
 DEFAULT_LV = (0, 255,)
-DEFAULT_UH = (135, 180,)
+DEFAULT_UH = (180, 180,)
 DEFAULT_US = (190, 255,)
 DEFAULT_UV = (190, 255,)
-DEFAULT_AREA = (400, 1000,)
+# the minimal number of pixes which we consider as a shape
+# and the maximal (configurable) such
+DEFAULT_AREA = (10000, 50000,)
 
 # command line handling
 parser = argparse.ArgumentParser(description='Run optical inspection OPC UA server.')
@@ -74,7 +77,8 @@ async def main():
         cv2.createTrackbar("U-H", "Trackbars", DEFAULT_UH[0], DEFAULT_UH[1], nothing)
         cv2.createTrackbar("U-S", "Trackbars", DEFAULT_US[0], DEFAULT_US[1], nothing)
         cv2.createTrackbar("U-V", "Trackbars", DEFAULT_UV[0], DEFAULT_UV[1], nothing)
-        cv2.createTrackbar("Area", "Trackbars", DEFAULT_AREA[0], DEFAULT_AREA[1], nothing)
+        cv2.createTrackbar("Area (min)", "Trackbars", DEFAULT_AREA[0], DEFAULT_AREA[1], nothing)
+        cv2.createTrackbar("Area (max)", "Trackbars", DEFAULT_AREA[1], DEFAULT_AREA[1], nothing)
 
     _logger.info("Starting server!")
     async with server:
@@ -84,6 +88,7 @@ async def main():
             # recognition. Thus give (roughly) some CPU time so both can work together.
             await asyncio.sleep(SLEEP_DURATION)
 
+            before = time.time() * 1000
             # read and process camera 
             _, frame = cap.read()
             hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
@@ -94,7 +99,8 @@ async def main():
                 u_h = cv2.getTrackbarPos("U-H", "Trackbars")
                 u_s = cv2.getTrackbarPos("U-S", "Trackbars")
                 u_v = cv2.getTrackbarPos("U-V", "Trackbars")
-                designated_area = cv2.getTrackbarPos("Area", "Trackbars")
+                designated_area_min = cv2.getTrackbarPos("Area (min)", "Trackbars")
+                designated_area_max = cv2.getTrackbarPos("Area (max)", "Trackbars")
             else:
                 # read defaults provided
                 l_h = DEFAULT_LH[0]
@@ -103,7 +109,8 @@ async def main():
                 u_h = DEFAULT_UH[0]
                 u_s = DEFAULT_US[0]
                 u_v = DEFAULT_UV[0]
-                designated_area = DEFAULT_AREA[0]
+                designated_area_min = DEFAULT_AREA[0]
+                designated_area_max = DEFAULT_AREA[1]
 
             lower_red = np.array([l_h, l_s, l_v])
             upper_red = np.array([u_h, u_s, u_v])
@@ -114,14 +121,16 @@ async def main():
 
             # Contours detection
             contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
-
+            now = time.time() * 1000
+            diff = (now-before)
+            print("Processing time = %.2f ms, countours = %d" %(diff, len(contours)))
             for cnt in contours:
                 area = cv2.contourArea(cnt)
                 approx = cv2.approxPolyDP(cnt, 0.02*cv2.arcLength(cnt, True), True)
                 x = approx.ravel()[0]
                 y = approx.ravel()[1]
-
-                if area > designated_area:
+                if area > designated_area_min and area < designated_area_max:
+                    print("\tDetected area (px)=%.2f" %area)
                     cv2.drawContours(frame, [approx], 0, (0, 0, 0), 5)
                     number_of_points = len(approx)
                     if number_of_points == 3: