Using Poppy Camera for Image Processing with OpenCV

Technology
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1

I am trying to take a picture with the Poppy Ergo Jr camera, and process the image. I am trying to convert the image into HSV, then find all the pixels in the image that fall within that range. My code works as intended in my own Jupyter Notebook with images I have taken off of the Poppy camera.

However, when I try to run my exact code inside the Poppy Notebook, I am not getting what I expect. It seems like it has something to do with the way the Poppy camera is saving the images.

If anyone can assist it would be very much appreciated!

Here is my code:

%pylab inline
from future import print_function
from pypot.creatures import PoppyErgoJr
poppy = PoppyErgoJr()
import time
import cv2

def PercentageOfPixels():

bgr = poppy.camera.frame
cv2.imwrite('bgr.jpg', bgr)

img = cv2.imread('bgr.jpg')

hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)

lowerHSV = np.array([33, 120, 60])
upperHSV = np.array([102, 255, 255])
kernelOpen=np.ones((5,30))

mask = cv2.inRange(hsv, col_MIN, col_MAX)

maskNoiseAdjust = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernelOpen)

totalFound = cv2.countNonZero(mask)

im = hsv[:,:,0]

percentage = totalFound/im.size

return percentage

Based on my testing in my own Jupyter notebook, I should get a non-zero value returned, but within the Poppy notebook I am only getting zero.

2

Hi,
were you turn on the camera in the poppy config?, are you trying with another combination of hsv limits?

I worked with the poppyErgoJr in the summer (In Chile) and i remember some similar, I don’t remember the solution but the problem was the camera isn’t turned on when it’s executed code in jupyter.

Greets