def find_skin(self, img):
img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
mask = hsv_filter_mask(img_hsv)
back_proj = calc_back_proj(img_hsv, self.hist.hist, hsv=True)
back_proj &= mask
skin_bin = cv2.threshold(back_proj, self.skin_threshold, 255, cv2.THRESH_BINARY)
return (back_proj, skin_bin[1])
def calc_hue_hist(img, debug = False, hsv = False, user_mask = None, \
h_size = 16, h_range = (0, 180)):
if not hsv:
img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
hist_mask = hsv_filter_mask(img)
if user_mask != None:
hist_mask &= user_mask
histogr = cv2.calcHist( [img], [0], hist_mask, [h_size], h_range )
cv2.normalize(histogr, histogr, 0, 255, cv2.NORM_MINMAX)
if debug:
print 'Histogram:\n', h
h_samples_total = sum(map(lambda x: int(x[0]), h))
print 'Total samples in histogram:', h_samples_total
return make_hist(h_size, h_range, histogr)
def calc_hue_hist(img, debug = False, hsv = False, user_mask = None, \
h_size = 16, h_range = (0, 180)):
if not hsv:
img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
hist_mask = hsv_filter_mask(img)
if user_mask != None:
hist_mask &= user_mask
histogr = cv2.calcHist([img], [0], hist_mask, [h_size], h_range)
cv2.normalize(histogr, histogr, 0, 255, cv2.NORM_MINMAX)
if debug:
print 'Histogram:\n', h
h_samples_total = sum(map(lambda x: int(x[0]), h))
print 'Total samples in histogram:', h_samples_total
return make_hist(h_size, h_range, histogr)
def get_contours(self, img, req):
img_hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
#if req.color == 'yellow':
#Yellow Hue area tended to appear past the cube's area, so for Y. cubes move min. Saturation up to YELLOW_HSV_LOW[1]
#mask = hsv_filter_mask(img_hsv, hsv_range_low = YELLOW_HSV_LOW)
#else:
mask = hsv_filter_mask(img_hsv, self.hsv_range_min[req.color], self.hsv_range_max[req.color])
back = calc_back_proj(img_hsv, self.known_histograms[req.color][1].hist, True)
back &= mask
back_filt = cv2.medianBlur(back, 5)
back_filt = back.copy()
conts = cv2.findContours(back_filt, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE)
if DEBUG:
conts_img = self.img.copy()
else:
conts_img = None
return conts, conts_img, back, back_filt
