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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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34
pykick/detection_demo.py
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@@ -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: