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guess what? - refactoring! also masking out field

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This commit is contained in:
Pavel Lutskov
2018-06-20 20:38:11 +02:00
parent a5e6059d3c
commit 0b53d11861
6 changed files with 217 additions and 89 deletions
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48
pykick/colorpicker.py
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@@ -8,7 +8,7 @@ import cv2
from .imagereaders import VideoReader, NaoImageReader, PictureReader
from .finders import GoalFinder
from .utils import read_config, imresize
from .utils import read_config, imresize, field_mask
class Colorpicker(object):
@@ -72,25 +72,28 @@ class Colorpicker(object):
map(self.settings.get, ('high_h', 'high_s', 'high_v'))
)
def show_frame(self, frame, width=None):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
frame_threshold = cv2.inRange(
hsv,
def show_frame(self, frame, width=None, manual=False):
# hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# frame_threshold = cv2.inRange(
# hsv,
# tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
# tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
# )
frame = imresize(frame, width=width)
# frame_threshold = imresize(frame_threshold, width=width)
frame_threshold = field_mask(
frame,
tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
)
frame = imresize(frame, width=width)
frame_threshold = imresize(frame_threshold, width=width)
if 'goal' in self.markers:
self.markers['goal'].draw(frame)
if 'ball' in self.markers:
self.markers['ball'].draw(frame)
for marker in self.markers:
self.markers[marker].draw(frame)
cv2.imshow(self.WINDOW_CAPTURE_NAME, frame)
cv2.imshow(self.WINDOW_DETECTION_NAME, frame_threshold)
return cv2.waitKey(1)
return cv2.waitKey(0 if manual else 1)
def save(self, filename, color):
try:
@@ -154,6 +157,13 @@ if __name__ == '__main__':
help='only take one image from video stream',
action='store_true'
)
parser.add_argument(
'--manual',
help='switch frames manually',
action='store_true',
default=False
)
parser.add_argument(
'--nao-cam',
choices=[0, 1],
@@ -175,15 +185,15 @@ if __name__ == '__main__':
default=640
)
parser.add_argument(
'--color',
help='specify which color is being calibrated',
default='white'
'--target',
help='specify for what target is being calibrated',
default='field'
)
args = parser.parse_args()
cp = Colorpicker()
if args.input_config:
cp.load(args.input_config, args.color)
cp.load(args.input_config, args.target)
if args.video_file:
rdr = VideoReader(args.video_file, loop=True)
@@ -205,12 +215,12 @@ if __name__ == '__main__':
while True:
if not args.still:
frame = rdr.get_frame()
key = cp.show_frame(frame, width=args.width)
key = cp.show_frame(frame, width=args.width, manual=args.manual)
if key == ord('q') or key == 27:
break
finally:
cp.do_print()
if args.output_config:
cp.save(args.output_config, args.color)
cp.save(args.output_config, args.target)
if not args.still:
rdr.close()