Hello Sir/Mam
Please help me...
I want to control ball on the square plate pivoted at its center. For that I want real time co-ordinates of ball. I am calling python program in Matlab function block of Simulink. I am getting co-ordinates in Diagonosis section but unable to get cordinates out from Matlab Function Block.
Here is my python code
import cv2
import numpy as np
import serial
def Detection(frame):
frame = frame[0:480, 80:560]
frame = cv2.GaussianBlur(frame, (15,15), 0)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_orange = np.array([0,0,192])
upper_orange = np.array([360,32,255])
mask = cv2.inRange(hsv, lower_orange, upper_orange)
kernel = np.ones((3,3), np.uint8)
opening = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
closing = cv2.morphologyEx(opening, cv2.MORPH_CLOSE, kernel)
contours= cv2.findContours(closing, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[1]
if len(contours)>0:
max_contour = max(contours, key=cv2.contourArea)
rectangle = cv2.boundingRect(max_contour)
x,y,w,h = rectangle
rectangle_pts = np.array([[x,y],[x+w,y],[x+w,y+h],[x,y+h]], np.int32)
cv2.polylines(frame, [rectangle_pts], True, (0,255,0), 3)
X = x+w//2
Y = y+h//2
center_pt=(X,Y)
cv2.circle(frame, center_pt, 8, (0,0,255), -1)
else:
X = 10000
Y = 10000
x = 0;
y = 0;
w = 240;
h = 240;
rectangle_pts = np.array([[x,y],[x+w,y],[x+w,y+h],[x,y+h]], np.int32)
cv2.polylines(frame, [rectangle_pts], True, (0,255,0), 2)
x2 = 240;
y2 = 240;
rectangle_pts2 = np.array([[x2,y2],[x2+w,y2],[x2+w,y2+h],[x2,y2+h]], np.int32)
cv2.polylines(frame, [rectangle_pts2], True, (0,255,0), 2)
cv2.imshow('frame',frame)
cv2.imshow('mask', mask)
return X,Y
def camCapture(url):
ser = serial.Serial()
ser.baudrate = 115200
ser.port = 'COM3'
ser.open()
data = '#'+str('240')+'$'+str('240')+'\r\n'
ser.write(data.encode())
url="http://192.168.43.1:8080/video"
cap = cv2.VideoCapture(url)
while(cap.isOpened()):
_, frame = cap.read()
X, Y = Detection(frame)
if(X<10000):
P = str(X)
Q = str(Y)
print('P= ')
print(P)
print('Q =')
print(Q)
print(data)
ser.write(P.encode())
ser.write(Q.encode())
k = cv2.waitKey(5) & 0xFF
if k==27:
break
ser.close()
cv2.destroyAllWindows()
cap.release()
camCapture("")
And Matlab fuction block code is :
function [P,Q]= RunPython(url)
P=0;
Q=0;
coder.extrinsic('py.camera_Virag.camCapture')
P,Q= py.camera_Virag.camCapture(url);
end
Here is my Simulink Block Diagram
Thank You
