ControlPanel.py

import cv2, math

from VisionUtilities import *


# Finds the balls from the masked image and displays them on original stream + network tables
def findControlPanel(frame, mask):
    # Finds contours
    if is_cv3:
        _, contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_TC89_KCOS)
    else:
        contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_TC89_KCOS)
    # Take each frame
    # Gets the shape of video
    screenHeight, screenWidth, _ = frame.shape
    # Gets center of height and width
    centerX = (screenWidth / 2) - .5
    centerY = (screenHeight / 2) - .5
    # Copies frame and stores it in image
    image = frame.copy()
    # Processes the contours, takes in (contours, output_image, (centerOfImage)
    if len(contours) != 0:
        image = findControlPanelColour(contours, image, centerX, centerY)
    # Shows the contours overlayed on the original video
    return image

# Draws Contours and finds the colour the control panel wheel is resting at
# centerX is center x coordinate of image
# centerY is center y coordinate of image
def findControlPanelColour(contours, image, centerX, centerY):
    #ToDo, Add code to publish wheel colour
    return image