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Pass in an image as the first argument when running Plant_Detection.py or Plant_Detection_GUI.py or use the default test iamge soil_image.jpg.
Call Plant_Detection() with the image and/or calibration_img keyword argument as an image filename or an OpenCV/Numpy image object.
Testing Tip: Try using the test images in the PD directory.
Call Plant_Detection() without providing the image and/or calibration_img keyword arguments and a photo will be taken by an attached USB camera and processed.
Required input parameters:
- Blur (odd integer) example: 5
- Morph (kernel size) example: 15
- Hue range [(0 - 179), (0 - 179)] example: [160, 20] will include 0-20 and 160-179
- Saturation range [(0 - 255), (0 - 255)] example: [50, 255]
- Value range [(0 - 255), (0 - 255)] example: [50, 255]
- Calibration object separation (in coordinate units) example: 500
- Camera offset from coordinate location (in coordinate units) example: [200, 100]
Other input parameters:
- Calibration objects axis (X or Y): Are the objects to detect parallel with the X or Y axes?
- Bot origin orientation in image (top left, top right, bottom left, bottom right): Which direction is the bot's origin?
- Calibration iterations (1 - 5): allows iterative approach to determining camera rotation
Verbose:
Processing Parameters:
-------------------------
Blur kernel size: 15
Morph kernel size: 6
Iterations: 4
Hue:
MIN: 30
MAX: 90
Saturation:
MIN: 20
MAX: 255
Value:
MIN: 20
MAX: 255
-------------------------
Processing image: /home/gabriel/plant-detection/soil_image.jpg
16 plants detected in image.
2 known plants inputted.
Plants at the following machine coordinates ( X Y ) with R = radius are to be saved:
( 200 600 ) R = 100
( 900 200 ) R = 120
14 plants marked for removal.
Plants at the following machine coordinates ( X Y ) with R = radius are to be removed:
( 1429 41 ) R = 74
( 608 43 ) R = 82
( 1260 103 ) R = 3
( 1214 153 ) R = 62
( 1374 216 ) R = 14
( 1286 232 ) R = 62
( 1369 285 ) R = 14
( 1039 412 ) R = 74
( 1532 479 ) R = 81
( 766 500 ) R = 80
( 1309 608 ) R = 149
( 59 677 ) R = 61
( 63 914 ) R = 82
( 773 84 ) R = 20
1 plants marked for safe removal.
Plants at the following machine coordinates ( X Y ) with R = radius were too close to the known plant to remove completely:
( 838 86 ) R = 81
2 detected plants are known or have escaped removal.
Plants at the following machine coordinates ( X Y ) with R = radius have been saved:
( 901 189 ) R = 65
( 236 579 ) R = 91
Condensed:
Calibration complete. (rotation:0.0, scale:1.7182)
16 plants detected in image.
known plants input: [{'y': 600, 'x': 200, 'radius': 100}, {'y': 200, 'x': 900, 'radius': 120}]
parameters input: {'morph': 6, 'H': [30, 90], 'blur': 15, 'S': [20, 255], 'iterations': 4, 'V': [20, 255]}
coordinates input: [600, 400]
Print all JSON:
Input Parameters:
{'morph': 6, 'H': [30, 90], 'blur': 15, 'S': [20, 255], 'iterations': 4, 'V': [20, 255]}
Plants (input and output):
{'known': [{'y': 600, 'x': 200, 'radius': 100}, {'y': 200, 'x': 900, 'radius': 120}], 'save': [{'y': 189.01, 'x': 901.37, 'radius': 65.32}, {'y': 579.04, 'x': 236.43, 'radius': 91.23}], 'safe_remove': [{'y': 85.91, 'x': 837.8, 'radius': 80.52}], 'remove': [{'y': 41.24, 'x': 1428.86, 'radius': 73.59}, {'y': 42.96, 'x': 607.56, 'radius': 82.26}, {'y': 103.1, 'x': 1260.48, 'radius': 3.44}, {'y': 152.92, 'x': 1214.09, 'radius': 62.0}, {'y': 216.5, 'x': 1373.88, 'radius': 13.82}, {'y': 231.96, 'x': 1286.25, 'radius': 61.8}, {'y': 285.23, 'x': 1368.72, 'radius': 14.4}, {'y': 412.37, 'x': 1038.83, 'radius': 73.97}, {'y': 479.38, 'x': 1531.95, 'radius': 80.96}, {'y': 500.0, 'x': 765.64, 'radius': 80.02}, {'y': 608.25, 'x': 1308.59, 'radius': 148.73}, {'y': 676.97, 'x': 59.46, 'radius': 60.95}, {'y': 914.09, 'x': 62.89, 'radius': 82.37}, {'y': 84.2, 'x': 772.51, 'radius': 20.06}]}
Calibration data (input and output):
{'calibration_iters': 3, 'H': [160, 20], 'total_rotation_angle': 0.0, 'center_pixel_location': [465, 290], 'S': [100, 255], 'V': [100, 255], 'calibration_circle_separation': 1000, 'morph': 15, 'coord_scale': 1.7182, 'camera_offset_coordinates': [200, 100], 'image_bot_origin_location': [0, 1], 'blur': 5, 'calibration_circles_xaxis': True}
If run as a farmware (app=True):
Database (Web App API)
Requests will be made through the FarmBot API to get a list of known plant locations and to upload detected plants to remove.
Settings (FarmBotOS)
Environment variables will be saved with input parameters and calibration data.
Clump Buster
Grey Out Background
Draw Contours
Circle Plants
Result
Debug