username fix & file cleanup

catkin_ws/src/ball_tracking/src/trackernew.py

@@ -1,95 +0,0 @@
-#!/usr/bin/env python3
-
-import rospy
-from geometry_msgs.msg import Point
-import cv2
-import numpy as np
-
-def nothing(x):
-    pass
-
-# Initialize the ROS node
-rospy.init_node('ball_tracking_node', anonymous=True)
-
-# Create a ROS publisher for the ball's coordinates
-coord_pub = rospy.Publisher('/ball_coordinates', Point, queue_size=10)
-
-# Create a window for the trackbars
-cv2.namedWindow('settings')
-
-# Create trackbars for adjusting the HSV range
-cv2.createTrackbar('Lower-H', 'settings', 0, 179, nothing)
-cv2.createTrackbar('Lower-S', 'settings', 100, 255, nothing)
-cv2.createTrackbar('Lower-V', 'settings', 100, 255, nothing)
-cv2.createTrackbar('Upper-H', 'settings', 22, 179, nothing)
-cv2.createTrackbar('Upper-S', 'settings', 255, 255, nothing)
-cv2.createTrackbar('Upper-V', 'settings', 255, 255, nothing)
-
-# Attempt to open the video capture
-cap = cv2.VideoCapture(0)
-
-# Check if the camera opened successfully
-if not cap.isOpened():
-    print("Error: Could not open camera.")
-    exit()
-
-while not rospy.is_shutdown():
-    # Capture frame-by-frame
-    ret, frame = cap.read()
-    if not ret:
-        print("Can't receive frame (stream end?). Exiting ...")
-        break
-
-    # Convert the captured frame to HSV
-    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
-
-    # Get the current positions of the trackbars
-    lh = cv2.getTrackbarPos('Lower-H', 'settings')
-    ls = cv2.getTrackbarPos('Lower-S', 'settings')
-    lv = cv2.getTrackbarPos('Lower-V', 'settings')
-    uh = cv2.getTrackbarPos('Upper-H', 'settings')
-    us = cv2.getTrackbarPos('Upper-S', 'settings')
-    uv = cv2.getTrackbarPos('Upper-V', 'settings')
-
-    # Define the HSV range for the orange color
-    lower_orange = np.array([lh, ls, lv])
-    upper_orange = np.array([uh, us, uv])
-
-    # Threshold the HSV image to only get the orange colors
-    mask = cv2.inRange(hsv, lower_orange, upper_orange)
-    res = cv2.bitwise_and(frame, frame, mask=mask)
-
-    # Find contours in the mask
-    contours, _ = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
-    center = None
-
-    if contours:
-        # Find the largest contour in the mask
-        c = max(contours, key=cv2.contourArea)
-        ((x, y), radius) = cv2.minEnclosingCircle(c)
-
-        if radius > 10:  # Minimum radius threshold
-            # Draw the circle and centroid on the frame
-            cv2.circle(frame, (int(x), int(y)), int(radius), (0, 255, 255), 2)
-            center = (int(x), int(y))
-            cv2.circle(frame, center, 5, (0, 0, 255), -1)
-
-            # Publish the ball's coordinates
-            point_msg = Point()
-            point_msg.x = x
-            point_msg.y = y
-            point_msg.z = 0  # Z-coordinate is not applicable here
-            coord_pub.publish(point_msg)
-
-    # Display the original and the result
-    cv2.imshow('frame', frame)
-    cv2.imshow('mask', mask)
-    cv2.imshow('res', res)
-
-    if cv2.waitKey(1) & 0xFF == 27:  # ESC key to break
-        break
-
-# When everything done, release the capture and destroy all windows
-cap.release()
-cv2.destroyAllWindows()
-#Minabebis :3