FindObj.py

import logging
import socket
import sys
import time
import traceback

import cv2 as cv
import NetworkTable
import numpy as np
from networktables import NetworkTables
from pupil_apriltags import Detector


def findObjects(img, name, index, camId):
    newValue = False
    contours, heiarchy = cv.findContours(img, cv.RETR_TREE, cv.CHAIN_APPROX_NONE)
    if len(contours) != 0:
        cnt = max(contours, key = cv.contourArea)
        if cv.contourArea(cnt) > 100:
            rows,cols = img.shape[:2]
        
            M = cv.moments(cnt)
            try:
                cx = int(M['m10']/M['m00'])
                cy = int(M['m01']/M['m00'])
                img = cv.circle(img, [cx,cy], 5, [100,90,90], 2)
                newValue = True
                if(NetworkTable.isConnected()):
                    NetworkTable.sd.putNumberArray(camId + name + "-Center", [cx,cy])

            except ZeroDivisionError:
                print('balls')

    cv.imshow(name + " " + str(index), img)
    if not newValue and NetworkTable.isConnected():
        NetworkTable.sd.delete(camId + name + "-Center")