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