Underwater_Line_Following/Final_Line_Follow at master · aditya1746/Underwater_Line_Following · GitHub

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import cv2
import numpy as np

def linefollow():
    cap = cv2.VideoCapture(0)

    while(cap.isOpened()):
      # Capture frame-by-frame
        ret, img = cap.read()
        if ret == True:
            width = int(img.shape[1] * 40/ 100)
            height = int(img.shape[0] * 40 / 100)
            dim = (width, height)
            img = cv2.resize(img, dim, interpolation = cv2.INTER_AREA)
            im = np.zeros((img.shape[0],img.shape[1]),dtype = int)
            im = 0.6*img[:,:,0] + 0.2*img[:,:,1] + 0.2*img[:,:,2]
            im = cv2.normalize(im.astype(int), None, 255,0, cv2.NORM_MINMAX, cv2.CV_8UC1)
        #applying sharpnening
            kernel_sharpening =  np.array([[-1,-1,-1],
                                           [-1, 9,-1],
                                           [-1,-1,-1]])

            sharpened = cv2.filter2D(im, -1, kernel_sharpening)
        #applying blur
            img3 = cv2.medianBlur(sharpened,5)
            ret, threshed_img = cv2.threshold(img3,40, 255, cv2.THRESH_BINARY)
            width = threshed_img.shape[0]
            height = threshed_img.shape[1]

            img5 = threshed_img[5:width-5,5:height-5]
            img5 = cv2.dilate(img5,(9,9),iterations=2)
            img5 = 255-img5
            #cv2.imshow("contours",img5)

            image, contours, hierarchy = cv2.findContours(img5,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
            areas = [cv2.contourArea(c) for c in contours]
            if len(areas) >= 0 :
                max_index= np.argmax(areas)
                contours1 = contours[max_index]


            if len(contours1) > 0 :
                x1,y1,w1,h1 = cv2.boundingRect(contours1)
         #print(x1,y1,w1,h1)
                if (x1 >= 0 and y1>=0 and w1 >=0 and h1>=0 ):
             #frame =cv2.line(frame, (x1+int(w1/2), 200), (x1+int(w1/2), 250),(255,0,0),3)
                    frame =cv2.rectangle(img,(int(x1),int(y1)),(int(x1+w1), int(y1+h1)),(0,255,255),5)
     # compute the center of the contour
            M = cv2.moments(contours1)
            cX = int(M["m10"] / M["m00"])
            cY = int(M["m01"] / M["m00"])
            cv2.drawContours(frame,contours1, -1, (0,255,0), 2)
            frame = cv2.circle(frame, (cX,cY), 10, (255,255,255),3)
            cv2.imshow("contours1",frame)
            err=cX-(width/2)
            print(err)
            if cv2.waitKey(1) & 0xFF == ord('q'):
                break
        else:
            break
    cv2.destroyAllWindows()
    #return(cX)
linefollow()