def haarcascade_pipeline(haarfile):
return \
PipelineSequence(
("image", camera.READ_CAMERA_PIPELINE),
camera.ConvertColorspacePipeline("grayscale"),
("cascades", camera.HaarcascadePipeline(haarfile))
)
def color_filter_pipeline(color="magenta"):
return \
PipelineSequence(
camera.READ_CAMERA_PIPELINE,
camera.ConvertColorspacePipeline(to='hsv'),
camera.ColorThresholdPipeline(color=color),
camera.ErodeDilatePipeline()
)
def box_tracking_pipeline(frame, bbox):
return \
PipelineSequence(
camera.READ_CAMERA_PIPELINE,
ConjunctiveParallelPipeline(
PipelineSequence(
camera.ConvertColorspacePipeline(to='hsv'),
camera.TrackBBOXPipeline(frame, bbox),
),
camera.GetImageDimensionsPipeline()
),
camera.FindYDeviationPipeline()
)
def fast_color_tracking_pipeline(color="magenta"):
return \
PipelineSequence(
("image", camera.READ_CAMERA_PIPELINE),
ConjunctiveParallelPipeline(
PipelineSequence(
camera.ConvertColorspacePipeline(to='hsv'),
camera.ColorThresholdPipeline(color),
("contour_bbox", camera.FastColorDetectionPipeline(color)),
),
camera.GetImageDimensionsPipeline()
),
("y_deviation", camera.FindYDeviationPipeline())
)
def color_tracking_dbscan_pipeline(color="magenta"):
return \
PipelineSequence(
("image", camera.READ_CAMERA_PIPELINE),
ConjunctiveParallelPipeline(
PipelineSequence(
camera.ConvertColorspacePipeline(to='hsv'),
camera.ColorThresholdPipeline(color=color),
camera.ErodeDilatePipeline(),
("contour_bbox", camera.DBSCANPipeline(eps=1.3, min_neighs=5))
),
camera.GetImageDimensionsPipeline()
),
("y_deviation", camera.FindYDeviationPipeline())
)
def color_tracking_pipeline(color="magenta"):
return \
PipelineSequence(
("image", camera.READ_CAMERA_PIPELINE),
ConjunctiveParallelPipeline(
PipelineSequence(
("hsv_image", camera.ConvertColorspacePipeline(to='hsv')),
("threshold", camera.ColorThresholdPipeline(color=color)),
("filtered", camera.ErodeDilatePipeline()),
("contour_bbox", camera.GetLargestContourPipeline())
),
camera.GetImageDimensionsPipeline()
),
("raw_y_deviation", camera.FindYDeviationPipeline()),
("y_deviation", camera.KalmanFilterPipeline())
)