237 lines
7.2 KiB
Python
237 lines
7.2 KiB
Python
from __future__ import print_function
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from __future__ import division
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import json
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import argparse
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import cv2
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from .imagereaders import VideoReader, NaoImageReader, PictureReader
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from .finders import GoalFinder, BallFinder, FieldFinder
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from .utils import read_config, imresize, hsv_mask
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class Colorpicker(object):
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WINDOW_CAPTURE_NAME = 'Object Detection (or not)'
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WINDOW_DETECTION_NAME = 'Primary Mask'
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def __init__(self, target=None):
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parameters = ['low_h', 'low_s', 'low_v', 'high_h', 'high_s', 'high_v']
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maxes = [180, 255, 255, 180, 255, 255]
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checkers = [
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lambda x: x, # LOW H
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# lambda x: min(x, self.settings['high_h'] - 1), # LOW H
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lambda x: min(x, self.settings['high_s'] - 1), # LOW S
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lambda x: min(x, self.settings['high_v'] - 1), # LOW V
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lambda x: x, # HIGH H
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# lambda x: max(x, self.settings['low_h'] + 1), # HIGH H
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lambda x: max(x, self.settings['low_s'] + 1), # HIGH S
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lambda x: max(x, self.settings['low_v'] + 1), # HIGH V
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]
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self.settings = {
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'low_h': 0,
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'low_s': 0,
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'low_v': 0,
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'high_h': 180,
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'high_s': 255,
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'high_v': 255
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}
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if target == 'goal':
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Marker = GoalFinder
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elif target == 'ball':
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Marker = BallFinder
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elif target == 'field':
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Marker = FieldFinder
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else:
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Marker = None
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if Marker is not None:
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self.marker = Marker(
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tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
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tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
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)
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else:
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self.marker = None
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cv2.namedWindow(self.WINDOW_CAPTURE_NAME)
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cv2.namedWindow(self.WINDOW_DETECTION_NAME)
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self.trackers = [
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cv2.createTrackbar(
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name, self.WINDOW_DETECTION_NAME, self.settings[name], max_v,
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lambda val, name=name, checker=checker: self._on_trackbar(
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val, name, checker
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)
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)
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for name, max_v, checker in zip(parameters, maxes, checkers)
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]
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def do_print(self):
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print(tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
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tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v'))))
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def _on_trackbar(self, val, name, checker):
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self.settings[name] = checker(val)
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self._hsv_updated(name)
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def _hsv_updated(self, param):
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cv2.setTrackbarPos(param, self.WINDOW_DETECTION_NAME,
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self.settings[param])
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self.marker.hsv_lower = tuple(
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map(self.settings.get, ('low_h', 'low_s', 'low_v'))
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)
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self.marker.hsv_upper = tuple(
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map(self.settings.get, ('high_h', 'high_s', 'high_v'))
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)
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def show_frame(self, frame, width=None, manual=False):
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frame = imresize(frame, width=width)
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if self.marker is not None:
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thr = self.marker.primary_mask(frame)
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stuff = self.marker.find(frame)
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frame = self.marker.draw(frame, stuff)
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else:
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hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
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thr = hsv_mask(
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hsv,
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tuple(map(self.settings.get, ('low_h', 'low_s', 'low_v'))),
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tuple(map(self.settings.get, ('high_h', 'high_s', 'high_v')))
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)
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cv2.imshow(self.WINDOW_CAPTURE_NAME, frame)
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cv2.imshow(self.WINDOW_DETECTION_NAME, thr)
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return cv2.waitKey(0 if manual else 1)
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def save(self, filename, color):
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try:
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with open(filename) as f:
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conf = json.load(f)
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except IOError:
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conf = {}
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conf.update(
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{color: [
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list(map(self.settings.get, ['low_h', 'low_s', 'low_v'])),
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list(map(self.settings.get, ['high_h', 'high_s', 'high_v']))
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]}
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)
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with open(filename, 'w') as f:
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json.dump(conf, f, indent=4)
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def load(self, filename, color):
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with open(filename) as f:
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jdict = json.load(f)
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self.settings = dict(
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zip(['low_h', 'low_s', 'low_v', 'high_h', 'high_s', 'high_v'],
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jdict[color][0] + jdict[color][1])
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)
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for name in self.settings:
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self._hsv_updated(name)
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if __name__ == '__main__':
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defaults = read_config()
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parser = argparse.ArgumentParser(
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epilog='When called without arguments specifying the video source, ' +
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'will try to use the webcam'
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)
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parser.add_argument(
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'-o', '--output-config',
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help='file, to which the settings will be saved (if given)'
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)
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parser.add_argument(
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'-i', '--input-config',
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help='file, from which to read the initial values'
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)
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imsource = parser.add_mutually_exclusive_group()
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imsource.add_argument(
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'--video-file',
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help='video file to use'
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)
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imsource.add_argument(
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'--image-file',
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help='image to use'
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)
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imsource.add_argument(
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'--nao-ip',
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help='ip address of the nao robot, from which to capture',
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default=False,
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const=defaults['ip'],
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nargs='?'
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)
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parser.add_argument(
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'--still',
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help='only take one image from video stream',
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action='store_true'
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)
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parser.add_argument(
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'--manual',
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help='switch frames manually',
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action='store_true',
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default=False
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)
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parser.add_argument(
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'--nao-cam',
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choices=[0, 1],
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type=int,
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help='0 for top camera, 1 for bottom camera',
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default=defaults['cam']
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)
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parser.add_argument(
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'--nao-res',
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choices=[1, 2, 3],
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help='choose a nao resolution',
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type=int,
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default=defaults['res']
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)
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parser.add_argument(
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'--width',
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help='specify width of the image output',
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type=int,
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default=640
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)
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parser.add_argument(
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'--target',
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help='specify for what target is being calibrated',
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default=None
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)
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args = parser.parse_args()
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cp = Colorpicker(args.target)
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if args.input_config:
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cp.load(args.input_config, args.target)
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if args.video_file:
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rdr = VideoReader(args.video_file, loop=True)
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elif args.image_file:
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rdr = PictureReader(args.image_file)
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elif args.nao_ip:
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rdr = NaoImageReader(
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args.nao_ip,
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cam_id=args.nao_cam,
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res=args.nao_res
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)
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else:
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rdr = VideoReader(0)
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try:
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if args.still:
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frame = rdr.get_frame()
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rdr.close()
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while True:
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if not args.still:
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try:
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frame = rdr.get_frame()
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except RuntimeError as e:
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print(e)
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continue
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key = cp.show_frame(frame, width=args.width, manual=args.manual)
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if key == ord('q') or key == 27:
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break
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finally:
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cp.do_print()
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if args.output_config:
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cp.save(args.output_config, args.target)
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if not args.still:
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rdr.close()
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