Update#5 UR Robot Control Position by Detected Object Shape and Color

UR Robot Control Position by Detected Object Shape and Color 

by View (Mr.Pasit  Jittangboonya)

Python code:

# import the necessary packagesimport cv2

class ShapeDetector:   def __init__(self):      pass
   def detect(self, c):      # initialize the shape name and approximate the contour      shape = "unidentified"      peri = cv2.arcLength(c, True)
      approx = cv2.approxPolyDP(c, 0.04 * peri, True)

      # if the shape is a triangle, it will have 3 vertices      if len(approx) == 3:         shape = "triangle"
      # if the shape has 4 vertices, it is either a square or      # a rectangle      elif len(approx) == 4:         # compute the bounding box of the contour and use the         # bounding box to compute the aspect ratio         (x, y, w, h) = cv2.boundingRect(approx)
         ar = w / float(h)

         # a square will have an aspect ratio that is approximately         # equal to one, otherwise, the shape is a rectangle         shape = "square" if ar >= 0.95 and ar <= 1.05 else "rectangle"
      # if the shape is a pentagon, it will have 5 vertices      elif len(approx) == 5:         shape = "pentagon"
      # otherwise, we assume the shape is a circle      else:         shape = "circle"
      # return the name of the shape      return shape