Color-Sorter-Using-OpenCV/colour sorter.py at main · dankcoder10/Color-Sorter-Using-OpenCV · GitHub

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# Python code for Multiple Color Detection

import serial
import numpy as np
import cv2

# Capturing video through webcam
webcam = cv2.VideoCapture(0)

# replace 'COM_' with the name of your serial port
arduinoData = serial.Serial('com5', 9600)

# Start a while loop
while (1):

    # Reading the video from the
    # webcam in image frames
    _, imageFrame = webcam.read()

    # Convert the imageFrame in
    # BGR(RGB color space) to
    # HSV(hue-saturation-value)
    # color space
    hsvFrame = cv2.cvtColor(imageFrame, cv2.COLOR_BGR2HSV)

    # Set range for red color and
    # define mask
    red_lower = np.array([136, 87, 111], np.uint8)
    red_upper = np.array([180, 255, 255], np.uint8)
    red_mask = cv2.inRange(hsvFrame, red_lower, red_upper)

    # Set range for green color and
    # define mask
    green_lower = np.array([25, 52, 72], np.uint8)
    green_upper = np.array([102, 255, 255], np.uint8)
    green_mask = cv2.inRange(hsvFrame, green_lower, green_upper)

    # Set range for blue color and
    # define mask
    blue_lower = np.array([94, 80, 2], np.uint8)
    blue_upper = np.array([120, 255, 255], np.uint8)
    blue_mask = cv2.inRange(hsvFrame, blue_lower, blue_upper)

    # Morphological Transform, Dilation
    # for each color and bitwise_and operator
    # between imageFrame and mask determines
    # to detect only that particular color
    kernal = np.ones((5, 5), "uint8")

    # For red color
    red_mask = cv2.dilate(red_mask, kernal)
    res_red = cv2.bitwise_and(imageFrame, imageFrame,
                              mask=red_mask)

    # For green color
    green_mask = cv2.dilate(green_mask, kernal)
    res_green = cv2.bitwise_and(imageFrame, imageFrame,
                                mask=green_mask)

    # For blue color
    blue_mask = cv2.dilate(blue_mask, kernal)
    res_blue = cv2.bitwise_and(imageFrame, imageFrame,
                               mask=blue_mask)

    # Creating contour to track red color
    contours, hierarchy = cv2.findContours(red_mask,
                                           cv2.RETR_TREE,
                                           cv2.CHAIN_APPROX_SIMPLE)

    for pic, contour in enumerate(contours):
        area = cv2.contourArea(contour)
        if (area > 1000):
            x, y, w, h = cv2.boundingRect(contour)
            imageFrame = cv2.rectangle(imageFrame, (x, y),
                                       (x + w, y + h),
                                       (0, 0, 255), 2)

            cv2.putText(imageFrame, "Red Colour", (x, y),
                        cv2.FONT_HERSHEY_SIMPLEX, 1.0,
                        (0, 0, 255))

            cmd = 'red'
            cmd = cmd + '\r'
            arduinoData.write(cmd.encode())

    # Creating contour to track green color
    contours, hierarchy = cv2.findContours(green_mask,
                                           cv2.RETR_TREE,
                                           cv2.CHAIN_APPROX_SIMPLE)

    for pic, contour in enumerate(contours):
        area = cv2.contourArea(contour)
        if (area > 1000):
            x, y, w, h = cv2.boundingRect(contour)
            imageFrame = cv2.rectangle(imageFrame, (x, y),
                                       (x + w, y + h),
                                       (0, 255, 0), 2)

            cv2.putText(imageFrame, "Green Colour", (x, y),
                        cv2.FONT_HERSHEY_SIMPLEX,
                        1.0, (0, 255, 0))

            cmd = 'green'
            cmd = cmd + '\r'
            arduinoData.write(cmd.encode())

    # Creating contour to track blue color
    contours, hierarchy = cv2.findContours(blue_mask,
                                           cv2.RETR_TREE,
                                           cv2.CHAIN_APPROX_SIMPLE)
    for pic, contour in enumerate(contours):
        area = cv2.contourArea(contour)
        if (area > 1000):
            x, y, w, h = cv2.boundingRect(contour)
            imageFrame = cv2.rectangle(imageFrame, (x, y),
                                       (x + w, y + h),
                                       (255, 0, 0), 2)

            cv2.putText(imageFrame, "Blue Colour", (x, y),
                        cv2.FONT_HERSHEY_SIMPLEX,
                        1.0, (255, 0, 0))

            cmd = 'blue'
            cmd = cmd + '\r'
            arduinoData.write(cmd.encode())


    # Program Termination
    cv2.imshow("Multiple Color Detection in Real-TIme", imageFrame)
    if cv2.waitKey(10) & 0xFF == ord('q'):
        cap.release()
        cv2.destroyAllWindows()
        break