kivicode/BottleBot-IEYI

Code for marker/object detection for the competition

Struct:

• Detection folder
• Drawing folder + arduino parser
• Other not interesting folders/files
• main.py
• BasicFunctions.py

Detection folder

There are all files which can detect anything

Drawing folder

Here is only one normal file, ParseArduino.py. Here you can set all arduino port names

main.py

It's main file for the project. Here you can set a model of an action. In the variable with name "plan" you can configure the model. Just put there a list of commands in string format and separate it with "|" Here's a list of possible commands:

• objects() --> draw all detected objects
• marker() --> draw ArUco markers
• qrcode() --> draw qrcode markers
• bottles() --> draw bottles only
• colors() --> coming soon

BasicFunctions.py

There are lots of custom function and nothing interesting.

Examples

Example #1

Task #1: You have to detect and follow an ArUco marker.

Solve:

1. Put the following code to Detection/MarkerDetection.py after the 42th line

if calibrateByMarker and ids[0][0] == goalMarker and ft: #check if detected marker looks like a goal marker; "ft" make it only one time
          cv2.drawContours(frame,[np.int0(rect)],-1,(0,0,255),3)
          mov = "gt("+str(angle) + ", " + str(dist+250) + ")" #"f(" + str(dist-200) + ")" #generate command for arduino
          evl(mov) #send command to arduino
          ft = False;

2. Set variable plane in main.py to marker()

---

Task #2: You have to detect and follow a bottle.

Solve:

1. Put the following code to Detection/ObjectDetection.py after the 42th line

  eval('gt(' + str(angle) + ', ' + str(int(dist)-350) + ')') #jast generate and send command to the Arduino (angle and dist are already calculated)

2. Set variable plane in main.py to buttle()

---

Task #3 You have to detect and follow a person.

Solve:

1. Put the following code to Detection/ObjectDetection.py after the 85th line

  eval('gt(' + str(angle) + ', ' + str(int(dist)-350) + ')') #jast generate and send command to the Arduino (angle and dist are already calculated)

2. Set variable plane in main.py to objects()
3. In main.py replace

  drawObjects(globalName, frame, filter="all", return_bottle_imgs = True)

by

 drawObjects(globalName, frame, filter="person", return_bottle_imgs = True)

4. You also can detect any kind of objects from list with name CLASSES in Detect/ObjectDetection.py. Just replace parametr filter (see section 3) to a string from CLASSES list