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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
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@@ -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)