63 lines
1.7 KiB
Python
63 lines
1.7 KiB
Python
from __future__ import division
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import os
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import json
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import signal
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import cv2
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HERE = os.path.dirname(os.path.realpath(__file__))
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def read_config(cfg_file=os.path.join(HERE, 'nao_defaults.json')):
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with open(cfg_file) as f:
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cfg = json.load(f)
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return cfg
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def imresize(frame, width=None, height=None):
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if not width and not height:
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return frame
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if not height:
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sf = width / frame.shape[1]
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sz = (0, 0)
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if not width:
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sf = height / frame.shape[0]
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sz = (0, 0)
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if width and height:
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sf = 0
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sz = (width, height)
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return cv2.resize(frame, sz, fx=sf, fy=sf)
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def hsv_mask(hsv, hsv_lower, hsv_upper):
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if hsv_lower[0] > hsv_upper[0]:
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mask_l = cv2.inRange(hsv, tuple(hsv_lower),
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(180,) + tuple(hsv_upper[1:]))
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mask_u = cv2.inRange(hsv, (0,) + tuple(hsv_lower[1:]),
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tuple(hsv_upper))
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return cv2.add(mask_l, mask_u)
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else:
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return cv2.inRange(hsv, tuple(hsv_lower), tuple(hsv_upper))
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def contour_center(contour):
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M = cv2.moments(contour)
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return int(M['m10'] / M['m00']) - 30, int(M['m01'] / M['m00']) + 30
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class InterruptDelayed(object):
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def __enter__(self):
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self.signal_received = False
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self.old_handler = signal.signal(signal.SIGINT, self.handler)
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def handler(self, sig, frame):
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self.signal_received = (sig, frame)
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print('SIGINT received. Delaying KeyboardInterrupt.')
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def __exit__(self, type, value, traceback):
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signal.signal(signal.SIGINT, self.old_handler)
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if self.signal_received:
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self.old_handler(*self.signal_received)
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