# Multi Color Blob Tracking Example
#
# This example shows off multi color blob tracking using the OpenMV Cam.

import sensor, image, time

# Color Tracking Thresholds (L Min, L Max, A Min, A Max, B Min, B Max)
# The below thresholds track in general red/green things. You may wish to tune them...
thresholds = [(30, 100, 15, 127, 15, 127), # generic_red_thresholds
              (30, 100, -64, -8, -32, 32), # generic_green_thresholds
              (0, 15, 0, 40, -80, -20)] # generic_blue_thresholds
# You may pass up to 16 thresholds above. However, it's not really possible to segment any
# scene with 16 thresholds before color thresholds start to overlap heavily.

sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.QVGA)
sensor.skip_frames(time = 2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
list1=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]
list2=[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]

# Only blobs that with more pixels than "pixel_threshold" and more area than "area_threshold" are
# returned by "find_blobs" below. Change "pixels_threshold" and "area_threshold" if you change the
# camera resolution. Don't set "merge=True" becuase that will merge blobs which we don't want here.

while(True):
    clock.tick()
    img = sensor.snapshot()
   # for blob in img.find_blobs(thresholds, pixels_threshold=200, area_threshold=200):
   #     img.draw_rectangle(blob.rect())
    #    img.draw_cross(blob.cx(), blob.cy())
    #    print(blob.code())
    blobs = img.find_blobs([thresholds[0], thresholds[1], thresholds[2]], merge=True)
    i=0
    for blob in img.find_blobs(thresholds, pixels_threshold=200, area_threshold=200):

        if i!=0:
            continue
        img.draw_cross(blob.cx(), blob.cy())
        img.draw_rectangle(blob.rect())
        print(blob[8])
        print(blob.cx(), blob.cy())
        list1[i]=blob[8]
        list1[i+1]=blob.cx()
        i=i+1
        print(list1)
        print(i)