def get_ball(self, camera):
# Creating track bar
if USE_TRACKBARS:
callback = lambda x: 0
cv.createTrackbar('hmin', 'result', 0, 179, callback)
cv.createTrackbar('hmax', 'result',179,179, callback)
cv.createTrackbar('smin', 'result',0,255, callback)
cv.createTrackbar('smax', 'result',255,255, callback)
cv.createTrackbar('vmin', 'result',0,255, callback)
cv.createTrackbar('vmax', 'result',255,255, callback)
rate = rospy.Rate(10)
#_, self.frame = self.capture.read()
frame = cv.blur(camera.get_frame(), (3,3))
#converting to HSV
hsv = cv.cvtColor(frame,cv.COLOR_BGR2HSV)
# get info from track bar and appy to result
if USE_TRACKBARS:
hmin = cv.getTrackbarPos('hmin','result')
hmax = cv.getTrackbarPos('hmax','result')
smin = cv.getTrackbarPos('smin','result')
smax = cv.getTrackbarPos('smax','result')
vmin = cv.getTrackbarPos('vmin','result')
vmax = cv.getTrackbarPos('vmax','result')
lower_hsv = np.array([hmin, smin, vmin])
upper_hsv = np.array([hmax, smax, vmax])
mask_trackbar = cv.inRange(hsv,lower_hsv, upper_hsv)
track_x, track_y, mask3, _ = vl.track_object(mask_trackbar)
cv.imshow('Thresh trackbar',mask3)
#orng_x, orng_y, mask1, current_area = vl.locate_orange_ball(frame)
pink_x, pink_y, mask2, current_area = vl.locate_pink_ball(frame)
display = frame.copy()
cv.circle(display, (320, 70), 10, 255, -1)
#cv.circle(display, (orng_x, orng_y), 10, (0,0,255), -1)
cv.circle(display, (pink_x, pink_y), 10, (0,255,0), -1)
#cv.imshow('Thresh orange',mask1)
#cv.imshow('Thresh pink',mask2)
#cv.imshow('result', display)
#ball_gripped = self.visual_servo(self.tl, camera, pink_x, pink_y, current_area)
ball_gripped = self.attack_visual_servo()
# rate.sleep()
if ball_gripped:
print 'THROW'
return True
else:
return False
def debug_with_trackbars():
cv.namedWindow('result')
callback = lambda x: 0
cv.createTrackbar('hmin', 'result', 0, 179, callback)
cv.createTrackbar('hmax', 'result',179,179, callback)
cv.createTrackbar('smin', 'result',0,255, callback)
cv.createTrackbar('smax', 'result',255,255, callback)
cv.createTrackbar('vmin', 'result',0,255, callback)
cv.createTrackbar('vmax', 'result',255,255, callback)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
#_, self.frame = self.capture.read()
frame = cv.blur(camera.get_frame(), (3,3))
#converting to HSV
hsv = cv.cvtColor(frame,cv.COLOR_BGR2HSV)
# get info from track bar and appy to result
hmin = cv.getTrackbarPos('hmin','result')
hmax = cv.getTrackbarPos('hmax','result')
smin = cv.getTrackbarPos('smin','result')
smax = cv.getTrackbarPos('smax','result')
vmin = cv.getTrackbarPos('vmin','result')
vmax = cv.getTrackbarPos('vmax','result')
lower_hsv = np.array([hmin, smin, vmin])
upper_hsv = np.array([hmax, smax, vmax])
mask_trackbar = cv.inRange(hsv,lower_hsv, upper_hsv)
track_x, track_y, mask3, area = vl.track_object(mask_trackbar)
#print area
cv.imshow('Thresh trackbar',mask3)
display = frame.copy()
cv.circle(display, (track_x, track_y), 10, (0,0,255), -1)
cv.imshow('result', display)
rate.sleep()
k = cv.waitKey(5) & 0xFF
if k == 27:
break
cv.destroyAllWindows()
