def go(img):
def preprocess(img):
U = {}
V = {}
s = {}
for i in (0, 1, 2):
res = svd(img[..., i], full_matrices=False)
U[i] = np.mat(res[0])
V[i] = np.mat(res[2])
s[i] = res[1]
return U, V, s
U, V, s = preprocess(img)
def display(_, _from, _to):
res = np.zeros_like(img)
for i in (0, 1, 2):
_s = s[i].copy()
_s[:_from] = 0
_s[_to:] = 0
S = np.mat(np.diag(_s))
res[..., i] = U[i] * S * V[i]
return res
viewer = ImageViewer(img)
plugin = Plugin(image_filter=display)
plugin.name = ""
plugin += Slider('_from', 0, len(s[0]), 0, 'int', update_on='move')
plugin += Slider('_to', 0, len(s[0]), len(s[0]), 'int', update_on='move')
viewer += plugin
viewer.show()
def go(img):
def preprocess(img):
U = {}
V = {}
s = {}
for i in (0, 1, 2):
res = svd(img[...,i], full_matrices=False)
U[i] = np.mat(res[0])
V[i] = np.mat(res[2])
s[i] = res[1]
return U, V, s
def display(_, R, G, B):
rgb = (R, G, B)
res = np.zeros_like(img)
for i in (0, 1, 2):
_s = s[i].copy()
_s[:rgb[i]] = 0
S = np.mat(np.diag(_s))
res[...,i] = U[i]*S*V[i]
return res
def _display_all(RGB):
if RGB in cache: return cache[RGB]
cache[RGB] = display(None, RGB, RGB, RGB)
return cache[RGB]
if os.path.isfile(cache_fname):
cache = pickle.load(open(cache_fname, "rb"))
n = len(cache) - 1
img = _display_all(n)
else:
U, V, s = preprocess(img)
n = len(s[0])
cache = {}
for i in range(n + 1):
print("caching", i)
_display_all(i)
with open(cache_fname, "wb") as fh:
pickle.dump(cache, fh)
print("wrote to:", cache_fname)
def display_all(_, RGB):
return _display_all(RGB)
viewer = ImageViewer(img)
plugin = Plugin(image_filter = display_all)
plugin.name = ""
plugin += Slider('RGB', 0, n, 0, 'int', update_on='move')
viewer += plugin
viewer.show()
def __init__(self, search_pattern):
bottom_px = 60
self.bottom_px = bottom_px
plugin = Plugin(image_filter=self.image_filter, dock="right")
self.setup_names = ['Bottom']
self.show_orig = CheckBox('show_orig', value=False, alignment='left')
plugin += self.show_orig
plugin += ComboBox('setup', self.setup_names)
plugin += Slider('bottom_px',
0,
500,
value=self.bottom_px,
value_type='int')
plugin += Button("Print", callback=self.on_print_click)
fnames = [path for path in glob.iglob(search_pattern, recursive=True)]
images, gray_images = read_images(fnames)
self.viewer = CollectionViewer(images)
self.viewer += plugin
def __init__(self, search_pattern):
blur_kernel_size = 1
cal_fnames = [
path for path in glob.iglob('camera_cal/*.jpg', recursive=True)
]
cal_images, cal_gray_images = read_images(cal_fnames)
self.objpoints, self.imgpoints, _ = get_chessboard_corners(
cal_images, cal_gray_images)
self.blur_kernel_size = blur_kernel_size
self.top_left_x = top_left_x
self.top_left_y = top_left_y
self.top_right_x = top_right_x
self.top_right_y = top_right_y
self.bottom_right_x = bottom_right_x
self.bottom_right_y = bottom_right_y
self.bottom_left_x = bottom_left_x
self.bottom_left_y = bottom_left_y
plugin = Plugin(image_filter=self.image_filter, dock="right")
self.setup_names = [
'ROI poly', "ROI Transformation", 'ROI Transformed',
"Final Transformation poly", 'Final Transformation',
'Final Transformed'
]
self.show_orig = CheckBox('show_orig', value=False, alignment='left')
plugin += self.show_orig
plugin += ComboBox('setup', self.setup_names)
plugin += Slider('blur_kernel_size',
0,
31,
value=self.blur_kernel_size,
value_type='int')
plugin += Slider('top_left_x', 0, 1, value=self.top_left_x)
plugin += Slider('top_left_y', 0, 1, value=self.top_left_y)
plugin += Slider('top_right_x', 0, 1, value=self.top_right_x)
plugin += Slider('top_right_y', 0, 1, value=self.top_right_y)
plugin += Slider('bottom_right_x', 0, 1, value=self.bottom_right_x)
plugin += Slider('bottom_right_y', 0, 1, value=self.bottom_right_y)
plugin += Slider('bottom_left_x', 0, 1, value=self.bottom_left_x)
plugin += Slider('bottom_left_y', 0, 1, value=self.bottom_left_y)
plugin += Button("Print", callback=self.on_print_click)
fnames = [path for path in glob.iglob(search_pattern, recursive=True)]
images, gray_images = read_images(fnames)
self.viewer = CollectionViewer(images)
self.viewer += plugin
def go(img):
def preprocess(img):
U = {}
V = {}
s = {}
for i in (0, 1, 2):
res = svd(img[..., i], full_matrices=False)
U[i] = np.mat(res[0])
V[i] = np.mat(res[2])
s[i] = res[1]
return U, V, s
U, V, s = preprocess(img)
def display(_, R, G, B):
rgb = (R, G, B)
res = np.zeros_like(img)
for i in (0, 1, 2):
_s = s[i].copy()
_s[rgb[i]:] = 0
S = np.mat(np.diag(_s))
res[..., i] = U[i] * S * V[i]
return res
def display_all(_, RGB):
return display(_, RGB, RGB, RGB)
viewer = ImageViewer(img)
plugin = Plugin(image_filter=display)
plugin.name = ""
plugin += Slider('R', 0, len(s[0]), len(s[0]), 'int')
plugin += Slider('G', 0, len(s[0]), len(s[1]), 'int')
plugin += Slider('B', 0, len(s[0]), len(s[2]), 'int')
viewer += plugin
plugin = Plugin(image_filter=display_all)
plugin.name = ""
plugin += Slider('RGB', 0, len(s[0]), len(s[0]), 'int')
viewer += plugin
viewer.show()
def __init__(self, search_pattern):
self.plugin = Plugin(image_filter=self.image_filter, dock="right")
self.setup_names = ['Yellow', 'White', 'Yellow / White']
self.color_spaces = ['LAB', 'HSV', 'HLS', 'LUV']
self.show_orig = CheckBox('show_orig', value=False, alignment='left')
self.plugin += self.show_orig
self.setup = ComboBox('setup', self.setup_names)
self.color_space = ComboBox('color_space', self.color_spaces)
self.sensity_range = Slider('sensity_range',
10,
100,
value=sensity_range,
value_type='int')
self.lower_yellow_1 = Slider('lower_yellow_1',
0,
255,
value=lower_yellow_1,
value_type='int')
self.lower_yellow_2 = Slider('lower_yellow_2',
0,
255,
value=lower_yellow_2,
value_type='int')
self.lower_yellow_3 = Slider('lower_yellow_3',
0,
255,
value=lower_yellow_3,
value_type='int')
self.upper_yellow_1 = Slider('upper_yellow_1',
0,
255,
value=upper_yellow_1,
value_type='int')
self.upper_yellow_2 = Slider('upper_yellow_2',
0,
255,
value=upper_yellow_2,
value_type='int')
self.upper_yellow_3 = Slider('upper_yellow_3',
0,
255,
value=upper_yellow_3,
value_type='int')
self.lower_white_1 = Slider('lower_white_1',
0,
255,
value=lower_white_1,
value_type='int')
self.lower_white_2 = Slider('lower_white_2',
0,
255,
value=lower_white_2,
value_type='int')
self.lower_white_3 = Slider('lower_white_3',
0,
255,
value=lower_white_3,
value_type='int')
self.upper_white_1 = Slider('upper_white_1',
0,
255,
value=upper_white_1,
value_type='int')
self.upper_white_2 = Slider('upper_white_2',
0,
255,
value=upper_white_2,
value_type='int')
self.upper_white_3 = Slider('upper_white_3',
0,
255,
value=upper_white_3,
value_type='int')
self.plugin += self.setup
self.plugin += self.color_space
# self.plugin += self.sensity_range
self.plugin += self.lower_yellow_1
self.plugin += self.lower_yellow_2
self.plugin += self.lower_yellow_3
self.plugin += self.upper_yellow_1
self.plugin += self.upper_yellow_2
self.plugin += self.upper_yellow_3
self.plugin += self.lower_white_1
self.plugin += self.lower_white_2
self.plugin += self.lower_white_3
self.plugin += self.upper_white_1
self.plugin += self.upper_white_2
self.plugin += self.upper_white_3
fnames = [path for path in glob.iglob(search_pattern, recursive=True)]
images, gray_images = read_images(fnames)
self.viewer = CollectionViewer(images)
self.viewer.connect_event('button_press_event', self.on_filter_color)
self.viewer.connect_event('key_press_event', self.on_press)
self.viewer += self.plugin
class ColorViewer:
def __init__(self, search_pattern):
self.plugin = Plugin(image_filter=self.image_filter, dock="right")
self.setup_names = ['Yellow', 'White', 'Yellow / White']
self.color_spaces = ['LAB', 'HSV', 'HLS', 'LUV']
self.show_orig = CheckBox('show_orig', value=False, alignment='left')
self.plugin += self.show_orig
self.setup = ComboBox('setup', self.setup_names)
self.color_space = ComboBox('color_space', self.color_spaces)
self.sensity_range = Slider('sensity_range',
10,
100,
value=sensity_range,
value_type='int')
self.lower_yellow_1 = Slider('lower_yellow_1',
0,
255,
value=lower_yellow_1,
value_type='int')
self.lower_yellow_2 = Slider('lower_yellow_2',
0,
255,
value=lower_yellow_2,
value_type='int')
self.lower_yellow_3 = Slider('lower_yellow_3',
0,
255,
value=lower_yellow_3,
value_type='int')
self.upper_yellow_1 = Slider('upper_yellow_1',
0,
255,
value=upper_yellow_1,
value_type='int')
self.upper_yellow_2 = Slider('upper_yellow_2',
0,
255,
value=upper_yellow_2,
value_type='int')
self.upper_yellow_3 = Slider('upper_yellow_3',
0,
255,
value=upper_yellow_3,
value_type='int')
self.lower_white_1 = Slider('lower_white_1',
0,
255,
value=lower_white_1,
value_type='int')
self.lower_white_2 = Slider('lower_white_2',
0,
255,
value=lower_white_2,
value_type='int')
self.lower_white_3 = Slider('lower_white_3',
0,
255,
value=lower_white_3,
value_type='int')
self.upper_white_1 = Slider('upper_white_1',
0,
255,
value=upper_white_1,
value_type='int')
self.upper_white_2 = Slider('upper_white_2',
0,
255,
value=upper_white_2,
value_type='int')
self.upper_white_3 = Slider('upper_white_3',
0,
255,
value=upper_white_3,
value_type='int')
self.plugin += self.setup
self.plugin += self.color_space
# self.plugin += self.sensity_range
self.plugin += self.lower_yellow_1
self.plugin += self.lower_yellow_2
self.plugin += self.lower_yellow_3
self.plugin += self.upper_yellow_1
self.plugin += self.upper_yellow_2
self.plugin += self.upper_yellow_3
self.plugin += self.lower_white_1
self.plugin += self.lower_white_2
self.plugin += self.lower_white_3
self.plugin += self.upper_white_1
self.plugin += self.upper_white_2
self.plugin += self.upper_white_3
fnames = [path for path in glob.iglob(search_pattern, recursive=True)]
images, gray_images = read_images(fnames)
self.viewer = CollectionViewer(images)
self.viewer.connect_event('button_press_event', self.on_filter_color)
self.viewer.connect_event('key_press_event', self.on_press)
self.viewer += self.plugin
def on_filter_color(self, event):
if event.inaxes and event.inaxes.get_navigate():
self.viewer.status_message(
self.format_coord(event.xdata, event.ydata))
else:
self.viewer.status_message('')
def format_coord(self, x, y):
x = int(x + 0.5)
y = int(y + 0.5)
pixel = self.viewer.image[y, x]
lower_lst = [
pixel[0] - self.sensity_range.val,
pixel[1] - self.sensity_range.val,
pixel[2] - self.sensity_range.val
]
upper_lst = [
pixel[0] + self.sensity_range.val,
pixel[1] + self.sensity_range.val,
pixel[2] + self.sensity_range.val
]
setup = self.setup.val
if setup == "Yellow":
self.update_yellow_params(*lower_lst, *upper_lst)
elif setup == "White":
self.update_white_params(*lower_lst, *upper_lst)
else:
print("Select only one color!")
def update_yellow_params(self, lower1, lower2, lower3, upper1, upper2,
upper3):
lower1 = self.update_val(self.lower_yellow_1, lower1)
lower2 = self.update_val(self.lower_yellow_2, lower2)
lower3 = self.update_val(self.lower_yellow_3, lower3)
upper1 = self.update_val(self.upper_yellow_1, upper1)
upper2 = self.update_val(self.upper_yellow_2, upper2)
upper3 = self.update_val(self.upper_yellow_3, upper3)
self.plugin.filter_image()
def update_white_params(self, lower1, lower2, lower3, upper1, upper2,
upper3):
lower1 = self.update_val(self.lower_white_1, lower1)
lower2 = self.update_val(self.lower_white_2, lower2)
lower3 = self.update_val(self.lower_white_3, lower3)
upper1 = self.update_val(self.upper_white_1, upper1)
upper2 = self.update_val(self.upper_white_2, upper2)
upper3 = self.update_val(self.upper_white_3, upper3)
self.plugin.filter_image()
def image_filter(self, image, *args, **kwargs):
print("image: ", image.shape)
image = apply_crop_bottom(image)
# print("cropped image: ", image.shape)
image, M, Minv = apply_warp(image)
# print("warped image: ", image.shape)
show_orig = kwargs["show_orig"]
setup = kwargs["setup"]
color_space = kwargs["color_space"]
lower_yellow_1 = kwargs["lower_yellow_1"]
lower_yellow_2 = kwargs["lower_yellow_2"]
lower_yellow_3 = kwargs["lower_yellow_3"]
upper_yellow_1 = kwargs["upper_yellow_1"]
upper_yellow_2 = kwargs["upper_yellow_2"]
upper_yellow_3 = kwargs["upper_yellow_3"]
lower_white_1 = kwargs["lower_white_1"]
lower_white_2 = kwargs["lower_white_2"]
lower_white_3 = kwargs["lower_white_3"]
upper_white_1 = kwargs["upper_white_1"]
upper_white_2 = kwargs["upper_white_2"]
upper_white_3 = kwargs["upper_white_3"]
if show_orig:
return image
lower_yellow = np.array(
[lower_yellow_1, lower_yellow_2, lower_yellow_3])
upper_yellow = np.array(
[upper_yellow_1, upper_yellow_2, upper_yellow_3])
lower_white = np.array([lower_white_1, lower_white_2, lower_white_3])
upper_white = np.array([upper_white_1, upper_white_2, upper_white_3])
target_color_space = cv2.COLOR_RGB2HSV
if color_space == "LAB":
target_color_space = cv2.COLOR_RGB2Lab
elif color_space == "HLS":
target_color_space = cv2.COLOR_RGB2HLS
elif color_space == "LUV":
target_color_space = cv2.COLOR_RGB2LUV
result_image = None
if setup == "Yellow":
result_image = filter_color(image,
lower_yellow,
upper_yellow,
trg_color_space=target_color_space)
elif setup == "White":
result_image = filter_color(image,
lower_white,
upper_white,
trg_color_space=target_color_space)
elif setup == "Yellow / White":
result_yellow = filter_color(image,
lower_yellow,
upper_yellow,
trg_color_space=target_color_space)
result_white = filter_color(image,
lower_white,
upper_white,
trg_color_space=target_color_space)
result_image = cv2.bitwise_or(result_yellow, result_white)
return result_image
def on_press(self, event):
if event.key == 'ctrl+r':
self.on_reset()
elif event.key == 'ctrl+p':
self.on_print()
def on_print(self, args=None):
print("""
lower_yellow_1 = {}
lower_yellow_2 = {}
lower_yellow_3 = {}
upper_yellow_1 = {}
upper_yellow_2 = {}
upper_yellow_3 = {}
lower_white_1 = {}
lower_white_2 = {}
lower_white_3 = {}
upper_white_1 = {}
upper_white_2 = {}
upper_white_3 = {}
""".format(
self.lower_yellow_1.val, self.lower_yellow_2.val,
self.lower_yellow_3.val, self.upper_yellow_1.val,
self.upper_yellow_2.val, self.upper_yellow_3.val,
self.lower_white_1.val, self.lower_white_2.val,
self.lower_white_3.val, self.upper_white_1.val,
self.upper_white_2.val, self.upper_white_3.val))
def on_reset(self, args=None):
self.update_val(self.lower_yellow_1, lower_yellow_1)
self.update_val(self.lower_yellow_2, lower_yellow_2)
self.update_val(self.lower_yellow_3, lower_yellow_3)
self.update_val(self.upper_yellow_1, upper_yellow_1)
self.update_val(self.upper_yellow_2, upper_yellow_2)
self.update_val(self.upper_yellow_3, upper_yellow_3)
self.update_val(self.lower_white_1, lower_white_1)
self.update_val(self.lower_white_2, lower_white_2)
self.update_val(self.lower_white_3, lower_white_3)
self.update_val(self.upper_white_1, upper_white_1)
self.update_val(self.upper_white_2, upper_white_2)
self.update_val(self.upper_white_3, upper_white_3)
self.plugin.filter_image()
def update_val(self, comp, newval, min_val=0, max_val=255):
newval = max(0, newval)
newval = min(255, newval)
comp.val = newval
comp.editbox.setText("%s" % newval)
return newval
def show(self):
self.viewer.show()
def __init__(self, search_pattern):
plugin = Plugin(image_filter=self.image_filter, dock="right")
self.setup_names = [
'Sobel Thresh X', 'Sobel Thresh Y', 'Sobel Thresh X / Y',
'Magnitude Thresh', 'Gradient Direction',
'Magnitude / Gradient Direction Thresh', "2 & 2", "2 | 2"
]
self.show_orig = CheckBox('show_orig', value=False, alignment='left')
plugin += self.show_orig
plugin += ComboBox('setup', self.setup_names)
plugin += Slider('grad_ksize',
0,
31,
value=grad_ksize,
value_type='int')
plugin += Slider('grad_thresh_low',
0,
255,
value=grad_thresh_low,
value_type='int')
plugin += Slider('grad_thresh_high',
0,
255,
value=grad_thresh_high,
value_type='int')
plugin += Slider('mag_binary_ksize',
0,
31,
value=mag_binary_ksize,
value_type='int')
plugin += Slider('mag_binary_thresh_low',
0,
255,
value=mag_binary_thresh_low,
value_type='int')
plugin += Slider('mag_binary_thresh_high',
0,
255,
value=mag_binary_thresh_high,
value_type='int')
plugin += Slider('dir_binary_ksize',
0,
31,
value=dir_binary_ksize,
value_type='int')
plugin += Slider('dir_binary_thresh_low',
0,
np.pi,
value=dir_binary_thresh_low)
plugin += Slider('dir_binary_thresh_high',
0,
np.pi,
value=dir_binary_thresh_high)
fnames = [path for path in glob.iglob(search_pattern, recursive=True)]
images, gray_images = read_images(fnames)
self.viewer = CollectionViewer(images)
self.viewer += plugin