EEEE4008: Alternative 'Recon-Scout' Platform Raspberry Pi (Master) Code

import cv2
import numpy as np
from picamera.array import PiRGBArray
from picamera import PiCamera
from smbus import SMBus
import time
import dropbox

#Dropbox setup
token = "" #add dropbox API token here
DBX = dropbox.Dropbox(token)

#I2C setup
addr = 0x8
bus = SMBus(1)

#red RGB colour values
lower_range1 = np.array([0,50,50])
upper_range1 = np.array([7,255,255])
lower_range2 = np.array([173,50,50])
upper_range2 = np.array([180,255,255])

#reference images
ref1 = cv2.imread("Grab.png")
ref2 = cv2.imread("Fire.png")

#convert from RGB to HSV
ref1 = cv2.cvtColor(ref1, cv2.COLOR_BGR2HSV)
mask1 = cv2.inRange(ref1, lower_range1, upper_range1)
mask2 = cv2.inRange(ref1, lower_range2, upper_range2)
ref1 = mask1|mask2

ref2 = cv2.cvtColor(ref2, cv2.COLOR_BGR2HSV)
mask1 = cv2.inRange(ref2, lower_range1, upper_range1)
mask2 = cv2.inRange(ref2, lower_range2, upper_range2)
ref2 = mask1|mask2

#setup camera
camera = PiCamera()
camera.rotation = 270
camera.resolution = (640, 480)
camera.framerate = 10
rawCapture = PiRGBArray(camera, size=(640,480))

def routeProcess():
    route = bus.read(address)

    #write route to text file
    f = open("maze.txt", "w")
    f.write(route)
    f.close()

    #upload text file to Dropbox
    DBX.files_upload(stream.read(), "/maze.txt", mode=dropbox.files.WriteMode.overwrite)

    while True:
        #latch


for frame in camera.capture_continuous(rawCapture, format = "bgr", use_video_port = True):
    img = frame.array

    #convert to HSV
    hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)

    mask1 = cv2.inRange(hsv, lower_range1, upper_range1)
    mask2 = cv2.inRange(hsv, lower_range2, upper_range2)
    mask = mask1|mask2

    #cv2.imshow("Image", img)
    #cv2.imshow("Mask", mask)

    #find contours
    contours, hierarchy = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
    approx = []
    approxcontour = []
    maxcontour = -1
    if len(contours) > 0:
        a = 0

        #store the largest contour
        for i in range(len(contours)):
            approxTemp = cv2.approxPolyDP(contours[i], 30, True)
            approx.insert(i, approxTemp)
            area = cv2.contourArea(contours[i])
            if area > a :
                a = area
                maxcontour = i

        #print(approx[maxcontour])
        approxcontour = approx[maxcontour]
    if len(approxcontour) != 4:
        maxcontour = -1

    #imgContour = img
    #imgContour = cv2.drawContours(imgContour, [maxcontour], 0, (255,255,0), 3)

    #cv2.imshow("Contour", imgContour)

    match1 = 0
    match2 = 0

    #transform the largest contour to the window size
    if (maxcontour != -1):

        pts1 = np.float32([approxcontour[0],approxcontour[1],approxcontour[2],approxcontour[3]])
        pts2 = np.float32([[439,0],[0,0],[0,439],[439,439]])

        matrix = cv2.getPerspectiveTransform(pts1,pts2)

        transformed = cv2.warpPerspective(img, matrix, (439, 439))
        #cv2.imshow("Transformed", transformed)

        transformed = cv2.cvtColor(transformed, cv2.COLOR_BGR2HSV)

        mask1 = cv2.inRange(transformed, lower_range1, upper_range1)
        mask2 = cv2.inRange(transformed, lower_range2, upper_range2)
        transformed = mask1|mask2

        #compare the frame against the reference images
        comp1 = transformed|ref1
        match1 = 100-((cv2.countNonZero(comp1)/(439*439))*100)
        comp2 = transformed|ref2
        match2 = 100-((cv2.countNonZero(comp2)/(439*439))*100)

    if match1 > 75:
        print("Grab Symbol")
        bus.write_byte(addr, 0x1)
        routeProcess()
    else if match2 > 75:
        print("Fire Symbol")
        bus.write_byte(addr, 0x1)
        routeProcess()
    else:
        print("No Symbol")
        bus.write_byte(addr, 0x0)

    rawCapture.truncate(0)
    time.sleep(0.1)