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Saner color calibration. Finder API changed

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This commit is contained in:
Pavel Lutskov
2018-06-23 13:08:12 +02:00
parent 2fff7d19a2
commit 126329bafd
6 changed files with 129 additions and 104 deletions
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80
pykick/colorpicker.py
View File

@@ -7,15 +7,15 @@ import argparse
import cv2
from .imagereaders import VideoReader, NaoImageReader, PictureReader
from .finders import GoalFinder
from .utils import read_config, imresize, field_mask
from .finders import GoalFinder, BallFinder, FieldFinder
from .utils import read_config, imresize
class Colorpicker(object):
WINDOW_CAPTURE_NAME = 'Video Capture'
WINDOW_DETECTION_NAME = 'Object Detection'
WINDOW_CAPTURE_NAME = 'Object Detection (or not)'
WINDOW_DETECTION_NAME = 'Primary Mask'
def __init__(self, markers=()):
def __init__(self, target=None):
parameters = ['low_h', 'low_s', 'low_v', 'high_h', 'high_s', 'high_v']
maxes = [180, 255, 255, 180, 255, 255]
checkers = [
@@ -34,12 +34,22 @@ class Colorpicker(object):
'high_s': 255,
'high_v': 255
}
self.markers = {}
if 'goal' in markers:
self.markers['goal'] = GoalFinder(
if target == 'goal':
Marker = GoalFinder
elif target == 'ball':
Marker = BallFinder
elif target == 'field':
Marker = FieldFinder
else:
Marker = None
if Marker is not None:
self.marker = Marker(
tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
)
else:
self.marker = None
cv2.namedWindow(self.WINDOW_CAPTURE_NAME)
cv2.namedWindow(self.WINDOW_DETECTION_NAME)
@@ -64,35 +74,29 @@ class Colorpicker(object):
def _hsv_updated(self, param):
cv2.setTrackbarPos(param, self.WINDOW_DETECTION_NAME,
self.settings[param])
for marker in self.markers:
self.markers[marker].hsv_lower = tuple(
map(self.settings.get, ('low_h', 'low_s', 'low_v'))
)
self.markers[marker].hsv_upper = tuple(
map(self.settings.get, ('high_h', 'high_s', 'high_v'))
)
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')))
self.marker.hsv_lower = tuple(
map(self.settings.get, ('low_h', 'low_s', 'low_v'))
)
self.marker.hsv_upper = tuple(
map(self.settings.get, ('high_h', 'high_s', 'high_v'))
)
for marker in self.markers:
self.markers[marker].draw(frame)
def show_frame(self, frame, width=None, manual=False):
frame = imresize(frame, width=width)
if self.marker is not None:
thr = self.marker.primary_mask(frame)
stuff = self.marker.find(frame)
frame = self.marker.draw(frame, stuff)
else:
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
thr = 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')))
)
cv2.imshow(self.WINDOW_CAPTURE_NAME, frame)
cv2.imshow(self.WINDOW_DETECTION_NAME, frame_threshold)
cv2.imshow(self.WINDOW_DETECTION_NAME, thr)
return cv2.waitKey(0 if manual else 1)
def save(self, filename, color):
@@ -102,10 +106,10 @@ class Colorpicker(object):
except IOError:
conf = {}
conf.update(
{color:
[list(map(self.settings.get, ['low_h', 'low_s', 'low_v'])),
list(map(self.settings.get, ['high_h', 'high_s', 'high_v']))]
}
{color: [
list(map(self.settings.get, ['low_h', 'low_s', 'low_v'])),
list(map(self.settings.get, ['high_h', 'high_s', 'high_v']))
]}
)
with open(filename, 'w') as f:
json.dump(conf, f, indent=4)
@@ -191,7 +195,7 @@ if __name__ == '__main__':
)
args = parser.parse_args()
cp = Colorpicker()
cp = Colorpicker(args.target)
if args.input_config:
cp.load(args.input_config, args.target)

34
pykick/detection_demo.py
View File

@@ -7,7 +7,7 @@ import cv2
from .utils import read_config, imresize, field_mask
from .imagereaders import NaoImageReader, VideoReader, PictureReader
from .finders import BallFinder, GoalFinder
from .finders import BallFinder, GoalFinder, FieldFinder
if __name__ == '__main__':
@@ -83,9 +83,12 @@ if __name__ == '__main__':
goal_finder = GoalFinder(defaults['goal'][0], defaults['goal'][1])
ball_finder = BallFinder(defaults['ball'][0], defaults['ball'][1],
defaults['min_radius'])
window_name = 'Live detection'
cv2.namedWindow(window_name)
defaults['ball_min_radius'])
field_finder = FieldFinder(defaults['field'][0], defaults['field'][1])
ball_window = 'Ball detection'
goal_window = 'Goal detection'
cv2.namedWindow(ball_window)
cv2.namedWindow(goal_window)
try:
if args.still:
@@ -95,16 +98,21 @@ if __name__ == '__main__':
if not args.still:
frame = rdr.get_frame()
frame = imresize(frame, width=args.width)
field_hsv = defaults['field']
field = field_mask(frame, field_hsv[0], field_hsv[1])
field = field_finder.find(frame)
not_field = cv2.bitwise_not(field)
goal = goal_finder.find_goal_contour(
cv2.bitwise_and(frame, frame, mask=not_field))
ball = ball_finder.find_colored_ball(
cv2.bitwise_and(frame, frame, mask=field))
goal_finder.draw(frame, goal)
ball_finder.draw(frame, ball)
cv2.imshow(window_name, frame)
ball_frame = field_finder.draw(frame, field)
goal_frame = field_finder.draw(frame, not_field)
ball = ball_finder.find(ball_frame)
goal = goal_finder.find(goal_frame)
ball_frame = ball_finder.draw(ball_frame, ball)
goal_frame = goal_finder.draw(goal_frame, goal)
cv2.imshow(ball_window, ball_frame)
cv2.imshow(goal_window, goal_frame)
key = cv2.waitKey(0 if args.manual else 1)
if key == ord('q') or key == 27:

57
pykick/finders.py
View File

@@ -7,13 +7,51 @@ import cv2
import numpy as np
class FieldFinder(object):
def __init__(self, hsv_lower, hsv_upper):
self.hsv_lower = tuple(hsv_lower)
self.hsv_upper = tuple(hsv_upper)
def primary_mask(self, frame):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
blurred = cv2.GaussianBlur(hsv, (25, 25), 20)
thr = cv2.inRange(blurred, tuple(self.hsv_lower), tuple(self.hsv_upper))
thr = cv2.erode(thr, None, iterations=6)
thr = cv2.dilate(thr, None, iterations=10)
return thr
def find(self, frame):
thr = self.primary_mask(frame)
cnts, _ = cv2.findContours(thr.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
if not cnts:
return None
field = max(cnts, key=cv2.contourArea)
field = cv2.convexHull(field)
mask = np.zeros(thr.shape, dtype=np.uint8)
cv2.drawContours(mask, (field,), -1, 255, -1)
return mask
def draw(self, frame, field):
if field is not None:
frame = cv2.bitwise_and(frame, frame, mask=field)
return frame
class GoalFinder(object):
def __init__(self, hsv_lower, hsv_upper):
self.hsv_lower = tuple(hsv_lower)
self.hsv_upper = tuple(hsv_upper)
def primary_mask(self, frame):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
thr = cv2.inRange(hsv, self.hsv_lower, self.hsv_upper)
thr = cv2.erode(thr, None, iterations=2)
thr = cv2.dilate(thr, None, iterations=2)
return thr
def goal_similarity(self, contour):
contour = contour.squeeze(axis=1)
hull = cv2.convexHull(contour).squeeze(axis=1)
@@ -36,13 +74,8 @@ class GoalFinder(object):
print('Goal candidate:', shape_sim, area_sim, final_score)
return final_score
def find_goal_contour(self, frame):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
thr = cv2.inRange(hsv, self.hsv_lower, self.hsv_upper)
# The ususal
thr = cv2.erode(thr, None, iterations=2)
thr = cv2.dilate(thr, None, iterations=2)
def find(self, frame):
thr = self.primary_mask(frame)
cnts, _ = cv2.findContours(thr, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
areas = np.array([cv2.contourArea(cnt) for cnt in cnts])
@@ -70,7 +103,7 @@ class GoalFinder(object):
best = min(similarities)
print('Final goal score:', best)
print()
if best > 0.35:
if best > 0.45:
return None
# Find the contour with the shape closest to that of the goal
goal = good_cnts[similarities.index(best)]
@@ -85,7 +118,9 @@ class GoalFinder(object):
def draw(self, frame, goal):
if goal is not None:
frame = frame.copy()
cv2.drawContours(frame, (goal,), -1, (0, 255, 0), 2)
return frame
class BallFinder(object):
@@ -97,7 +132,7 @@ class BallFinder(object):
self.min_radius = min_radius
self.history = deque(maxlen=64)
def find_colored_ball(self, frame):
def find(self, frame):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# construct a mask for the color, then perform a series of
@@ -139,8 +174,10 @@ class BallFinder(object):
def draw(self, frame, ball):
if ball is not None:
frame = frame.copy()
center, radius = ball
cv2.circle(frame, center, radius, (255, 255, 0), 1)
return frame
# cv2.circle(frame, center, 5, (0, 255, 0), -1)
# loop over the set of tracked points

34
pykick/nao_defaults.json
View File

@@ -11,34 +11,34 @@
255
]
],
"res": 1,
"cam": 1,
"goal": [
[
0,
0,
159
114
],
[
180,
62,
49,
255
]
],
"res": 1,
"ball_min_radius": 0.01,
"field": [
[
19,
57,
84
],
[
65,
255,
255
]
],
"fps": 30,
"ip": "192.168.0.11",
"field": [
[
11,
74,
28
],
[
69,
255,
255
]
],
"cam": 1,
"ball_min_radius": 0.01,
"port": 9559
}

8
pykick/striker.py
View File

@@ -68,9 +68,7 @@ class Striker(object):
def get_ball_angles_from_camera(self, cam):
"""Detect the ball and return its angles in camera coordinates."""
ball = self.ball_finder.find_colored_ball(
cam.get_frame()
)
ball = self.ball_finder.find(cam.get_frame())
if ball is None:
return None
@@ -194,9 +192,7 @@ class Striker(object):
self.mover.wait()
return False
goal_contour = self.goal_finder.find_goal_contour(
self.upper_camera.get_frame()
)
goal_contour = self.goal_finder.find(self.upper_camera.get_frame())
if goal_contour is not None:
goal_center_x = self.goal_finder.goal_center(goal_contour)
gcx_rel, _ = self.upper_camera.to_relative(goal_center_x, 0)

20
pykick/utils.py
View File

@@ -29,23 +29,3 @@ def imresize(frame, width=None, height=None):
sf = 0
sz = (width, height)
return cv2.resize(frame, sz, fx=sf, fy=sf)
def field_mask(frame, hsv_lower, hsv_upper):
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
blurred = cv2.GaussianBlur(hsv, (25, 25), 20)
thr = cv2.inRange(blurred, tuple(hsv_lower), tuple(hsv_upper))
thr = cv2.erode(thr, None, iterations=4)
thr = cv2.dilate(thr, None, iterations=8)
cnts, _ = cv2.findContours(thr.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
field = max(cnts, key=cv2.contourArea)
field = cv2.convexHull(field)
# print(field)
mask = np.zeros(thr.shape, dtype=np.uint8)
print(mask.dtype)
thr = cv2.cvtColor(thr, cv2.COLOR_GRAY2BGR)
cv2.drawContours(mask, (field,), -1, 255, -1)
# The ususal
return mask