Spindle Cam

#!/usr/bin/python
from Tkinter import *
import cv2
import sys
import getopt
import Image, ImageTk
import numpy as np #Needed for HoughCircles circle detection

args, sources = getopt.getopt(sys.argv[1:], '', 'shotdir=')
args = dict(args)
if len(sources) == 0:
    sources = [ 0 ]

root = Tk()


#EDIT: mm/pixel
pixelsize = 6.6 / 184
#EDIT: offset center camera to center tool
Xoffset = 100
Yoffset = 10


width = 640
height = 480
radius = 50

scale = pixelsize * 2

AutoMode = 1
ManuMode = 0
X=width/2
Y=height/2
oldY = 0


cap = cv2.VideoCapture(0)
cap.set(cv2.cv.CV_CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.cv.CV_CAP_PROP_FRAME_HEIGHT, height)

_, frame = cap.read()

img = Image.fromarray(frame)
imgtk = ImageTk.PhotoImage(image=img) 

w=Label(root)
w.pack()

def LeftKey(event):
    global X
    X-=1
    if X<0:
	    X=0

def RightKey(event):
    global X
    X+=1
    if X>(width-1):
	    X=width-1
    
def UpKey(event):
    global Y
    Y-=1
    if Y<0:
	    Y=0
    
def DownKey(event):
    global Y
    Y+=1
    if Y>(height-1):
	    Y=height-1

def PriorKey(event):
    global radius
    radius+=1
    if radius>((height/2)-1):
	    radius=(height/2)-1

def NextKey(event):
    global radius
    radius-=1
    if radius<5:
	    radius=5

def MouseKlick(event):
    global X,Y
    X=event.x-1
    Y=event.y-1

def MouseHold(event):
    global radius,oldY
    radius+=(oldY-event.y)
    if radius<5:
	    radius=5
    if radius>((height/2)-1):
	    radius=(height/2)-1
    oldY=event.y


def ModeAuto():
	global AutoMode, ManuMode
	AutoMode = 1
        ManuMode = 0

def ModeManu():
	global AutoMode, ManuMode
	AutoMode = 0
        ManuMode = 1


root.bind("<Left>", LeftKey)
root.bind("<Right>", RightKey)
root.bind("<Up>", UpKey)
root.bind("<Down>", DownKey)
root.bind("<Prior>", PriorKey)
root.bind("<Next>", NextKey)
root.bind("<Button-3>", MouseKlick)
root.bind("<B3-Motion>", MouseHold)

root.title("CenterCam 0.1")

AutoButton = Button(root, text="Auto", command=ModeAuto)
AutoButton.pack(side=LEFT)

ManuButton = Button(root, text="Manu", command=ModeManu)
ManuButton.pack(side=LEFT)

quitButton = Button(root, text="Quit", command=root.quit)
quitButton.pack(side=RIGHT)


def show_frame():
    global frame, frameg, framet
    global cap
    global crosshair
    global X,Y,radius,width,height,pixelsize
    global AutoMode, ManuMode

    offset=3

    _, frame = cap.read()
    
    #Flip the frame
    frame = cv2.flip(frame, 0)
 
    #Circle detection needs some major work because all dots are analyzed which slows down analysis as dotted trails are made.
    frameg = cv2.GaussianBlur(frame,(7,7),2)
    ret, framet = cv2.threshold(frameg,50,255,cv2.THRESH_BINARY)
    frameg = cv2.GaussianBlur(framet,(3,3),2)
    circles = cv2.HoughCircles(frameg, cv2.cv.CV_HOUGH_GRADIENT, 2, 150,param1=70,param2=100,minRadius=45,maxRadius=300)
    if (circles is not None) and AutoMode == 1:
        circles = np.uint16(np.around(circles))
        X     =circles[0][0][0] + offset
        Y     =circles[0][0][1] + offset
        radius=circles[0][0][2] + offset

    #save frame for final display modifications
    displayframe=frame.copy()

    #Draw target circle
    cv2.circle(displayframe,(X,Y),radius, (255,0,0), 1)

    # draw vertical line
    cv2.line(displayframe,(X,0),(X,height),(255,0,0), 1)
    # draw horizontal line
    cv2.line(displayframe,(0,Y),(width,Y),(255,0,0), 1)

    cv2.putText(displayframe,'X:'+str((X-(width/2))*pixelsize),(10,(height-50)),cv2.FONT_HERSHEY_SIMPLEX,0.5,(255,0,0),1)
    cv2.putText(displayframe,'Y:'+str(((height/2)-Y)*pixelsize),(10,(height-30)),cv2.FONT_HERSHEY_SIMPLEX,0.5,(255,0,0),1)
    cv2.putText(displayframe,'D:'+str(radius*scale),(10,(height-10)),cv2.FONT_HERSHEY_SIMPLEX,0.5,(255,0,0),1)

    img = Image.fromarray(displayframe)
    imgtk = ImageTk.PhotoImage(image=img)
    w.imgtk = imgtk
    w.configure(image=imgtk)

    w.after(1, show_frame)

show_frame()

root.mainloop()

print "G21 G91 G40 G17"
print "G0 X"+str(((X-(width/2))*pixelsize)+Xoffset)+" Y"+str((((height/2)-Y)*pixelsize)+Yoffset)
print "M30"
print "M2"