Ball search basics

scripts/colorpicker.py

@@ -0,0 +1,116 @@
+from __future__ import print_function
+from live_recognition import get_frame_nao
+import cv2 as cv
+import imutils
+from naoqi import ALProxy
+
+max_value = 255
+max_value_H = 360 // 2
+low_H = 0
+low_S = 0
+low_V = 0
+high_H = max_value_H
+high_S = max_value
+high_V = max_value
+window_capture_name = 'Video Capture'
+window_detection_name = 'Object Detection'
+low_H_name = 'Low H'
+low_S_name = 'Low S'
+low_V_name = 'Low V'
+high_H_name = 'High H'
+high_S_name = 'High S'
+high_V_name = 'High V'
+
+def do_print():
+    print('(%s %s %s): (%s %s %s)' %
+          (low_H, low_S, low_V, high_H, high_S, high_V))
+
+def on_low_H_thresh_trackbar(val):
+    global low_H
+    low_H = min(high_H-1, val)
+    cv.setTrackbarPos(low_H_name, window_detection_name, low_H)
+    do_print()
+
+def on_high_H_thresh_trackbar(val):
+    global high_H
+    high_H = max(val, low_H+1)
+    cv.setTrackbarPos(high_H_name, window_detection_name, high_H)
+    do_print()
+
+def on_low_S_thresh_trackbar(val):
+    global low_S
+    low_S = min(high_S-1, val)
+    cv.setTrackbarPos(low_S_name, window_detection_name, low_S)
+    do_print()
+
+def on_high_S_thresh_trackbar(val):
+    global high_S
+    high_S = max(val, low_S+1)
+    cv.setTrackbarPos(high_S_name, window_detection_name, high_S)
+    do_print()
+
+def on_low_V_thresh_trackbar(val):
+    global low_V
+    low_V = min(high_V-1, val)
+    cv.setTrackbarPos(low_V_name, window_detection_name, low_V)
+    do_print()
+
+def on_high_V_thresh_trackbar(val):
+    global high_V
+    high_V = max(val, low_V+1)
+    cv.setTrackbarPos(high_V_name, window_detection_name, high_V)
+    do_print()
+
+
+cap = cv.VideoCapture(0)
+
+cv.namedWindow(window_capture_name)
+cv.namedWindow(window_detection_name)
+
+cv.createTrackbar(
+    low_H_name, window_detection_name, low_H,
+    max_value_H, on_low_H_thresh_trackbar
+)
+cv.createTrackbar(
+    high_H_name, window_detection_name , high_H, max_value_H,
+    on_high_H_thresh_trackbar
+)
+cv.createTrackbar(
+    low_S_name, window_detection_name , low_S, max_value,
+    on_low_S_thresh_trackbar
+)
+cv.createTrackbar(
+    high_S_name, window_detection_name , high_S, max_value,
+    on_high_S_thresh_trackbar
+)
+cv.createTrackbar(
+    low_V_name, window_detection_name , low_V, max_value,
+    on_low_V_thresh_trackbar
+)
+cv.createTrackbar(
+    high_V_name, window_detection_name , high_V, max_value,
+    on_high_V_thresh_trackbar
+)
+
+vd_proxy = ALProxy('ALVideoDevice', '192.168.0.11', 9559)
+cam_subscriber = vd_proxy.subscribeCamera(
+    "ball_finder", 0, 1, 13, 20
+)
+
+try:
+    while True:
+        frame = get_frame_nao(vd_proxy, cam_subscriber, 320, 240)
+
+        frame_HSV = cv.cvtColor(frame, cv.COLOR_BGR2HSV)
+        frame_threshold = cv.inRange(
+            frame_HSV, (low_H, low_S, low_V), (high_H, high_S, high_V)
+        )
+
+        cv.imshow(window_capture_name, frame)
+        cv.imshow(window_detection_name, frame_threshold)
+
+        key = cv.waitKey(1)
+        if key == ord('q') or key == 27:
+            break
+finally:
+    vd_proxy.unsubscribe(cam_subscriber)