started work on correcting HSV values

pykick/colorpicker.py

@@ -8,7 +8,7 @@ import cv2
 
 from .imagereaders import VideoReader, NaoImageReader, PictureReader
 from .finders import GoalFinder, BallFinder, FieldFinder
-from .utils import read_config, imresize
+from .utils import read_config, imresize, hsv_mask
 
 class Colorpicker(object):
 
@@ -19,10 +19,12 @@ class Colorpicker(object):
         parameters = ['low_h', 'low_s', 'low_v', 'high_h', 'high_s', 'high_v']
         maxes = [180, 255, 255, 180, 255, 255]
         checkers = [
-            lambda x: min(x, self.settings['high_h'] - 1),  # LOW H
+            lambda x: x,  # LOW H
+            # lambda x: min(x, self.settings['high_h'] - 1),  # LOW H
             lambda x: min(x, self.settings['high_s'] - 1),  # LOW S
             lambda x: min(x, self.settings['high_v'] - 1),  # LOW V
-            lambda x: max(x, self.settings['low_h'] + 1),  # HIGH H
+            lambda x: x,  # HIGH H
+            # lambda x: max(x, self.settings['low_h'] + 1),  # HIGH H
             lambda x: max(x, self.settings['low_s'] + 1),  # HIGH S
             lambda x: max(x, self.settings['low_v'] + 1),  # HIGH V
         ]
@@ -89,7 +91,7 @@ class Colorpicker(object):
             frame = self.marker.draw(frame, stuff)
         else:
             hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
-            thr = cv2.inRange(
+            thr = hsv_mask(
                 hsv,
                 tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
                 tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
@@ -191,7 +193,7 @@ if __name__ == '__main__':
     parser.add_argument(
         '--target',
         help='specify for what target is being calibrated',
-        default='field'
+        default=None
     )
     args = parser.parse_args()
 

pykick/hsv_render.py

@@ -17,16 +17,16 @@ print('u, i, o: increase h, s, v respectively\n',
 while True:
     image[:] = h, s, v
     im2show = cv2.cvtColor(image, cv2.COLOR_HSV2BGR)
-    print('HSV:', h, s, v, '      ', end='\r')
+    print(' HSV:', h, s, v, '      ', end='\r')
     sys.stdout.flush()
     cv2.imshow(window, im2show)
     key = cv2.waitKey(0)
     if key == ord('q'):
         break
     elif key == ord('u'):
-        h = min(h + 1, 180)
+        h = (h + 1) % 180
     elif key == ord('j'):
-        h = max(h - 1, 0)
+        h = (h - 1) % 180
     elif key == ord('i'):
         s = min(s + 1, 255)
     elif key == ord('k'):

pykick/utils.py

@@ -29,3 +29,14 @@ def imresize(frame, width=None, height=None):
         sf = 0
         sz = (width, height)
     return cv2.resize(frame, sz, fx=sf, fy=sf)
+
+
+def hsv_mask(hsv, hsv_lower, hsv_upper):
+    if hsv_lower[0] > hsv_upper[0]:
+        mask_l = cv2.inRange(hsv, tuple(hsv_lower),
+                             tuple([180] + hsv_upper[1:]))
+        mask_u = cv2.inRange(hsv, tuple([0] + hsv_lower[1:]),
+                             tuple(hsv_upper))
+        return cv2.add(mask_l, mask_u)
+    else:
+        return cv2.inRange(hsv, tuple(hsv_lower), tuple(hsv_upper))