diddyborg joyball

Showing the image on a monitor attached directly to the Pi is not too difficult, it just needs a few extra lines to create the screen and display it.

First you need to create a display where the image can be shown:

# Startup sequence
print 'Setup camera'
camera = picamera.PiCamera()
camera.resolution = (imageWidth, imageHeight)
camera.framerate = frameRate
imageCentreX = imageWidth / 2.0
imageCentreY = imageHeight / 2.0

print 'Setup the stream processing threads'
processingPool = [StreamProcessor() for i in range(threadCount)]

print 'Wait ...'
time.sleep(2)
captureThread = ImageCapture()

print 'Create a window to show images'
cv2.namedWindow('preview', cv2.WINDOW_NORMAL)

Second you will want to grab the original image and draw the contours onto it:

    # Image processing function
    def ProcessImage(self, image):
        global autoMode
        # Get the red section of the image
        previewImage = image.copy()
        image = cv2.medianBlur(image, 5)
        image = cv2.cvtColor(image, cv2.COLOR_RGB2HSV) # Swaps the red and blue channels!
        red = cv2.inRange(image, numpy.array((115, 127, 64)), numpy.array((125, 255, 255)))
        # Find the contours
        contours,hierarchy = cv2.findContours(red, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
        # Draw the contours
        cv2.drawContours(previewImage, contours, -1, (0,0,255), 1)
        # Go through each contour
        foundArea = -1
        foundX = -1
        foundY = -1

Third you need to send the image to the window:

    # Image processing function
    def ProcessImage(self, image):
        global autoMode
        # Get the red section of the image
        previewImage = image.copy()
        image = cv2.medianBlur(image, 5)
        image = cv2.cvtColor(image, cv2.COLOR_RGB2HSV) # Swaps the red and blue channels!
        red = cv2.inRange(image, numpy.array((115, 127, 64)), numpy.array((125, 255, 255)))
        # Find the contours
        contours,hierarchy = cv2.findContours(red, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
        # Draw the contours
        cv2.drawContours(previewImage, contours, -1, (0,0,255), 1)
        # Display the image
        cv2.imshow('preview', previewImage)
        cv2.waitKey(1)
        # Go through each contour
        foundArea = -1
        foundX = -1
        foundY = -1

You may also have to comment out this line to make the display work correctly:

os.environ["SDL_VIDEODRIVER"] = "dummy" # Removes the need to have a GUI window

If you want your DiddyBorg to stay put when running the script just change the output voltage to 0:

# Power settings
voltageIn = 12.0                        # Total battery voltage to the PicoBorg Reverse
voltageOut = 0.0                        # Maximum motor voltage