140 lines
4.3 KiB
Python
140 lines
4.3 KiB
Python
from __future__ import print_function
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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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# import imutils
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class Colorpicker(object):
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WINDOW_CAPTURE_NAME = 'Video Capture'
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WINDOW_DETECTION_NAME = 'Object Detection'
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def __init__(self):
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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: 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 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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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(self.settings)
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def _on_trackbar(self, val, name, checker):
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self.settings[name] = checker(val)
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cv2.setTrackbarPos(name, self.WINDOW_DETECTION_NAME,
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self.settings[name])
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def show_frame(self, frame):
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frame_HSV = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
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frame_threshold = cv2.inRange(
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frame_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, frame_threshold)
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return cv2.waitKey(1)
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def save(self, filename):
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with open(filename, 'w') as f:
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json.dump(self.settings, f, indent=4)
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def load(self, filename):
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with open(filename) as f:
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self.settings = json.load(f)
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for name in self.settings:
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cv2.setTrackbarPos(name, self.WINDOW_DETECTION_NAME,
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self.settings[name])
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if __name__ == '__main__':
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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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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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parser.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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parser.add_argument(
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'--image-file',
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help='image to use'
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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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'--nao-ip',
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help='ip address of the nao robot, from which to capture'
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)
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parser.add_argument(
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'--nao-cam',
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choices=['upper', 'lower'],
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help='choose a camera from nao'
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)
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args = parser.parse_args()
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cp = Colorpicker()
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if args.input_config:
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cp.load(args.input_config)
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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 if args.nao_cam else 0
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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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while True:
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if not args.still:
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frame = rdr.get_frame()
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key = cp.show_frame(frame)
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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)
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rdr.close()
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