Robuster colorpicker and detection demo

pykick/colorpicker.py

@@ -218,7 +218,11 @@ if __name__ == '__main__':
             rdr.close()
         while True:
             if not args.still:
-                frame = rdr.get_frame()
+                try:
+                    frame = rdr.get_frame()
+                except RuntimeError as e:
+                    print(e)
+                    continue
             key = cp.show_frame(frame, width=args.width, manual=args.manual)
             if key == ord('q') or key == 27:
                 break

pykick/detection_demo.py

@@ -96,7 +96,11 @@ if __name__ == '__main__':
             rdr.close()
         while True:
             if not args.still:
-                frame = rdr.get_frame()
+                try:
+                    frame = rdr.get_frame()
+                except RuntimeError as e:
+                    print(e)
+                    continue
             frame = imresize(frame, width=args.width)
 
             field = field_finder.find(frame)

pykick/finders.py

@@ -133,13 +133,18 @@ class GoalFinder(object):
 
 class BallFinder(object):
 
-    def __init__(self, hsv_lower, hsv_upper, min_radius):
+    def __init__(self, hsv_lower, hsv_upper, min_radius=0.02):
 
         self.hsv_lower = tuple(hsv_lower)
         self.hsv_upper = tuple(hsv_upper)
         self.min_radius = min_radius
         self.history = deque(maxlen=64)
 
+    def primary_mask(self, frame):
+        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
+        mask = cv2.inRange(hsv, self.hsv_lower, self.hsv_upper)
+        return mask
+
     def find(self, frame):
         hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)