def get_shared_options(is_forward):
# (Downward, Forward)
return [
# Global
options.BoolOption('in_simulator', False),
options.BoolOption('preprocess_debug', False),
options.BoolOption('thresh_debug', True),
options.BoolOption('contour_debug', False),
options.BoolOption('bins_debug', True),
options.BoolOption('funnels_debug', False),
# Preprocess
options.IntOption('gaussian_kernel', (5, 5)[is_forward], 1, 40),
options.IntOption('gaussian_stdev', 20, 0, 40),
# Threshing
options.IntOption('erode_size', (3, 5)[is_forward], 1, 40),
options.IntOption('thresh_size', (15, 15)[is_forward], 1, 100),
options.IntOption("lab_b_min_red_bin", 140, 0, 255),
options.IntOption("lab_b_max_red_bin", 250, 0, 255),
options.IntOption("color_dist_min_red_funnel", (137, 0)[is_forward], 0,
255),
options.IntOption("color_dist_max_red_funnel", (250, 35)[is_forward],
0, 255),
options.IntOption("color_dist_min_yellow_funnel", (0, -1)[is_forward],
0, 255),
options.IntOption("color_dist_max_yellow_funnel", (25, -1)[is_forward],
0, 255),
# Contouring
options.IntOption('min_area', (50, 100)[is_forward], 1, 2000),
options.IntOption('min_y', (0, 200)[is_forward], 0, 2000),
options.DoubleOption('min_circularity', (0.8, 0.1)[is_forward], 0, 1),
options.DoubleOption('max_rectangularity', 0.9, 0, 1),
# Binning
options.DoubleOption('max_joining_dist', 120, 0, 500),
]
options.IntOption('blur_kernel', 3, 0, 255),
options.IntOption('blur_std', 10, 0, 500),
options.DoubleOption('resize_width_scale', 0.5, 0, 1),
options.DoubleOption('resize_height_scale', 0.5, 0, 1),
options.IntOption('dilate_kernel', 1, 0, 255),
options.IntOption('erode_kernel', 1, 0, 255),
options.IntOption('min_contour_area', 30, 0, 500),
options.DoubleOption('min_contour_rect', 0.4, 0, 1),
options.DoubleOption('min_contour_ratio', 4.5, 0, 10),
options.DoubleOption('max_angle_from_vertical', 15, 0, 90),
options.DoubleOption('min_length', 15, 0, 500),
options.IntOption('auto_distance_percentile', 25, 0, 100),
options.IntOption('nonblack_thresh', 900, 0, 10000),
options.IntOption('water_a_thresh', 20, 0, 255),
options.IntOption('water_b_thresh', 25, 0, 255),
options.BoolOption('debug', True),
]
OPTS_AJAX = [
options.IntOption('lab_l_ref', 255, 0, 255),
options.IntOption('lab_a_ref', 175, 0, 255),
options.IntOption('lab_b_ref', 169, 0, 255),
options.IntOption('color_dist_thresh', 40, 0, 255),
options.IntOption('blur_kernel', 3, 0, 255),
options.IntOption('blur_std', 10, 0, 500),
options.DoubleOption('resize_width_scale', 0.25, 0, 1),
options.DoubleOption('resize_height_scale', 0.25, 0, 1),
options.IntOption('dilate_kernel', 1, 0, 255),
options.IntOption('erode_kernel', 1, 0, 255),
options.IntOption('min_contour_area', 30, 0, 500),
options.DoubleOption('min_contour_ratio', 4.5, 0, 10),
#!/usr/bin/env python3
import cv2
import shm
import numpy
import time
import ctypes
from auv_python_helpers import load_library
from vision.modules.base import ModuleBase
from vision import options
options = [options.BoolOption('verbose', False)]
_lib_color_balance = load_library('libauv-color-balance.so')
"""
Convert from RGB color space to HSI color space
"""
def conv_rgb_to_hsi(r_channel, g_channel, b_channel):
#start_time = time.time()
i_channel = (r_channel + g_channel + b_channel) / 3
rgb_min_channel = numpy.minimum(r_channel, g_channel)
rgb_min_channel = numpy.minimum(rgb_min_channel, b_channel)
s_channel = 1 - (rgb_min_channel / i_channel)
g_gte_b_channel = g_channel >= b_channel
h_channel1 = numpy.arccos(
(r_channel - (g_channel / 2) - (b_channel / 2)) /
(numpy.sqrt(r_channel**2 + g_channel**2 + b_channel**2 -
(r_channel * g_channel) - (r_channel * b_channel) -
(g_channel * b_channel))))
h_channel2 = (2 * numpy.pi) - h_channel1
# gui_options.DoubleOption('min_angle_diff', np.pi/8, 0, np.pi*2),
# # gui_options.DoubleOption('min_line_dist', 100, 0, 1000),
# # A circle with radius 1 inscribed in a square has
# # 'rectangularity' pi/4 ~ 0.78.
# gui_options.DoubleOption('min_line_hough_length',45, 0, 500),
# gui_options.IntOption('color_dist_min', 0, 255),
# gui_options.IntOption('color_dist_max', 20, 0, 255),
# # Preprocess
# # gui_options.IntOption('gaussian_kernel', 5, 1, 40),
# # gui_options.IntOption('gaussian_stdev', 20, 0, 40),
# ],
# }
vision_options = [
gui_options.BoolOption('debugging', False),
gui_options.IntOption('canny1', 50, 0, 200),
gui_options.IntOption('canny2', 150, 0, 200),
gui_options.DoubleOption('min_angle_diff', np.pi / 8, 0, np.pi * 2),
gui_options.DoubleOption('min_line_hough_length', 45, 0, 500),
gui_options.IntOption('color_dist_min', 0, 0, 255),
gui_options.IntOption('color_dist_max', 20, 0, 255),
gui_options.IntOption('min_angle_range', 35, 0, 180),
gui_options.IntOption('max_angle_range', 55, 0, 180),
]
segment_info = namedtuple("segment_info",
["x1", "y1", "x2", "y2", "angle", "id", "updated"])
line_info = namedtuple("line_info",
["x1", "y1", "x2", "y2", "angle", "length", "id"])
from vision.vision_common import draw_angled_arrow, \
get_angle_from_rotated_rect
from vision.modules.base import ModuleBase
from vision import options as gui_options
log = auvlog.client.log.vision.pipes
vision_options = [
gui_options.DoubleOption('block_size', .061, 0, .1),
gui_options.IntOption('c_thresh', -13, -100, 100),
gui_options.DoubleOption('erode_size', .018, 0, .1),
gui_options.DoubleOption('dilate_size', .038, 0, .1),
gui_options.DoubleOption('min_percent_frame', .02, 0, 1),
gui_options.DoubleOption('min_rectangularity', 1000),
gui_options.DoubleOption('heuristic_power', 5),
gui_options.BoolOption('debugging', True)
]
def get_zero_pipe_group():
pipe_group = shm.pipe_results.get()
pipe_group.angle = 0
pipe_group.center_x = 0
pipe_group.center_y = 0
pipe_group.heuristic_score = 0
pipe_group.rectangularity = 0
return pipe_group
class Pipes(ModuleBase):
def process(self, mat):
options.IntOption('adaptive_thresh_block_size', constants.block_size, 1,
2500),
options.IntOption('adaptive_thresh_c', constants.thresh_c, 0, 20),
# options.IntOption('cmyk_y_min', 20, 0, 255),
# options.IntOption('cmyk_y_max', 255, 0, 255),
# options.IntOption('hsv_h_min', 18, 0, 255),
# options.IntOption('hsv_h_max', 59, 0, 255),
# options.IntOption('hsv_s_min', 0, 0, 255),
# options.IntOption('hsv_s_max', 255, 0, 255),
# options.IntOption('hsv_v_min', 0, 0, 255),
# options.IntOption('hsv_v_max', 255, 0, 255),
options.DoubleOption('min_area', constants.min_area, 0, 1000),
options.IntOption('kernel_size', constants.kernel_size, 1, 255),
options.DoubleOption('min_aspect_ratio', 6, 1, 40),
options.BoolOption('debugging', constants.debugging),
options.BoolOption('lab a', True),
options.BoolOption('lab b', False),
options.BoolOption('ycrcb cb', False),
options.BoolOption('yellow_debug', False),
options.IntOption('yellow_hls_h_min', 58, 0, 255),
options.IntOption('yellow_hls_h_max', 100, 0, 255),
options.IntOption('yellow_ycrcb_cb_min', 111, 0, 255),
options.IntOption('yellow_ycrcb_cb_max', 145, 0, 255),
options.IntOption('yellow_lab_a_min', 0, 0, 255),
options.IntOption('yellow_lab_a_max', 101, 0, 255),
options.IntOption('yellow_lab_b_min', 95, 0, 255),
options.IntOption('yellow_lab_b_max', 152, 0, 255)
]
DOWNSCALE_RATIO = .33
from vision.framework.helpers import to_umat # , from_umat
from vision.framework.transform import resize, simple_gaussian_blur
import cv2
import shm
opts = [
options.DoubleOption('camera_scale', 0.35, 0, 1),
options.IntOption('lid_l_trg', 198, 0, 255),
options.IntOption('lid_a_trg', 119, 0, 255),
options.IntOption('lid_b_trg', 196, 0, 255),
options.IntOption('lid_d_thresh', 40, 0, 255), # 128
options.IntOption('canny1', 459, 0, 1000), # 25
options.IntOption('canny2', 496, 0, 1000), # 93
options.IntOption('houghness', 51, 0, 1000),
options.DoubleOption('min_cross_score', .15, 0, 1),
options.BoolOption('debug', False)
]
def make_poly(d1, d2):
#print(d1, d2)
return np.complex64([0, d1, (d1 + d2), d2])[:, np.newaxis]
class BinsCover(ModuleBase):
def process(self, mat):
camera_scale = self.options['camera_scale']
debug = self.options['debug']
if camera_scale != 0:
mat = resize(mat, int(mat.shape[1] * camera_scale),
int(mat.shape[0] * camera_scale))
from vision.framework.color import bgr_to_lab, range_threshold
from vision.modules.gate import thresh_color_distance
from mission.missions.stake import MOVE_DIRECTION
from vision import options
opts = [
options.DoubleOption('rectangular_thresh', 0.8, 0, 1),
options.DoubleOption('source_x_scale_board', 0.1, 0, 1),
options.DoubleOption('source_y_scale_board', 0.1, 0, 1),
options.DoubleOption('downsize_camera', 0.5, 0, 1),
options.IntOption('min_match_count', 3, 0, 255),
options.DoubleOption('good_ratio', 0.8, 0, 1),
options.BoolOption('show_keypoints', False),
options.IntOption('board_separation', 450, 0, 4000),
options.IntOption('board_horizontal_offset', 70, -1000, 1000),
options.IntOption('lever_position_x',
-500 if MOVE_DIRECTION == 1 else 2700, -3000, 3000),
options.IntOption('lever_position_y', 2500, 0, 6000),
options.IntOption('heart_offset_x', -307, -3000, 3000),
options.IntOption('heart_offset_y', 0, -3000, 3000),
options.IntOption('belt_offset_x', 0, -3000, 3000),
options.IntOption('belt_offset_y', 0, -3000, 3000),
options.IntOption('left_circle_offset_x', -284, -3000, 3000),
options.IntOption('left_circle_offset_y', 565, -3000, 3000),
options.IntOption('right_circle_offset_x', -519, -3000, 3000),
options.IntOption('right_circle_offset_y', 565, -3000, 3000),
options.IntOption('lever_l', 129, 0, 255),
options.IntOption('lever_a', 201, 0, 255),
from vision import options
from vision.vision_common import (
draw_angled_arrow,
get_angle_from_rotated_rect,
Hierarchy,
is_clipping,
)
from vision.modules.base import ModuleBase
from mission.constants.config import bins as constants
CONTOUR_HEURISTIC_LIMIT = 5
CONTOUR_SCALED_HEURISTIC_LIMIT = 2
options = [
options.BoolOption('clipping_guard', constants.clipping_guard),
options.BoolOption('debug', False),
options.IntOption('max_fps', 30, 0, 30),
options.IntOption('border_bgr_compon', constants.border_bgr_compon, 0, 2),
options.IntOption('block_size', 401, 0, 4000, lambda x: x % 2 == 1),
# options.IntOption('border_thresh', constants.border_thresh, 0, 255),
options.IntOption('morph_size', 25, 1, 30, lambda x: x % 2 == 1),
options.DoubleOption('min_size', 0.1, 0,
2), # Min length of min length side
options.DoubleOption('min_rectangularity', 0.7, 0, 1),
options.DoubleOption('min_inner_outer_ratio', 0.3, 0, 1),
options.DoubleOption('min_cover_diff', 25, 0, 255),
options.IntOption('blur', 27, 0, 100, lambda x: x % 2 == 1),
]
from collections import namedtuple
from functools import reduce
from itertools import permutations
import cv2
import numpy as np
import shm
from vision.modules.base import ModuleBase
from vision.vision_common import green, red, white, yellow
from vision import options
from color_balance import balance
options = [
options.BoolOption('debug', False),
options.BoolOption('red_debug', False),
options.BoolOption('green_debug', False),
options.BoolOption('yellow_debug', True),
options.BoolOption('rescale_image', True),
options.BoolOption('use_color_correction', False),
options.IntOption('hls_l_min', 0, 0, 255),
options.IntOption('hls_l_max', 255, 0, 255),
options.IntOption('red_hls_h_min', 0, 0, 255),
options.IntOption('red_hls_h_max', 23, 0, 255),
options.IntOption('red_ycrcb_cb_min', 0, 0, 255),
options.IntOption('red_ycrcb_cb_max', 120, 0, 255),
options.IntOption('red_lab_a_min', 130, 0, 255),
options.IntOption('red_lab_a_max', 183, 0, 255),
options.IntOption('red_lab_b_min', 132, 0, 255),
options.IntOption('red_lab_b_max', 230, 0, 255),
from functools import reduce
from itertools import permutations, starmap
import numpy as np
import shm
from mission.constants.config import buoys as constants
from mission.constants.config import buoysVision as bv
from vision.modules.base import ModuleBase
from vision.vision_common import green, red, white, yellow
from vision import options
from vision.modules.color_balance import balance
options = [
options.BoolOption('debug', False),
options.BoolOption('red_debug', False),
options.BoolOption('green_debug', False),
options.BoolOption('yellow_debug', False),
options.BoolOption('use_color_correction', False),
options.IntOption('hls_l_min', bv.hls_l_min, 0, 255),
options.IntOption('hls_l_max', bv.hls_l_max, 0, 255),
options.IntOption('red_hls_h_min', bv.red_hls_h_min, 0, 255),
options.IntOption('red_hls_h_max', bv.red_hls_h_max, 0, 255),
options.IntOption('red_ycrcb_cb_min', bv.red_ycrcb_cb_min, 0, 255),
options.IntOption('red_ycrcb_cb_max', bv.red_ycrcb_cb_max, 0, 255),
options.IntOption('red_lab_a_min', bv.red_lab_a_min, 0, 255),
options.IntOption('red_lab_a_max', bv.red_lab_a_max, 0, 255),
options.IntOption('red_lab_b_min', bv.red_lab_b_min, 0, 255),
options.IntOption('red_lab_b_max', bv.red_lab_b_max, 0, 255),
options.IntOption('red_erode_kernel_size', bv.red_erode_kernel_size, 1,
from vision.framework.helpers import to_umat # , from_umat
from vision.framework.draw import draw_circle
from vision.framework.color import bgr_to_lab, range_threshold
from vision import options
opts = [
options.DoubleOption('rectangular_thresh', 0.8, 0, 1),
options.DoubleOption('source_x_scale_bat', 0.1, 0, 1),
options.DoubleOption('source_y_scale_bat', 0.1, 0, 1),
options.DoubleOption('source_x_scale_wolf', 0.1, 0, 1),
options.DoubleOption('source_y_scale_wolf', 0.1, 0, 1),
options.DoubleOption('camera_scale', 0.35, 0, 1),
options.IntOption('min_match_count', 10, 0, 255),
options.DoubleOption('good_ratio', 0.8, 0, 1),
options.BoolOption('show_keypoints', True),
options.IntOption('min_gray', 83, 0, 255),
#options.IntOption('img_l_trg', 71, 0, 255),
#options.IntOption('img_a_trg', 94, 0, 255),
#options.IntOption('img_b_trg', 164, 0, 255),
#options.IntOption('img_d_thresh', 96, 0, 255), # 128
]
def make_poly(d1, d2):
#print(d1, d2)
return np.complex64([0, d1, (d1 + d2), d2])[:, np.newaxis]
PADDING = 50
GUTTER_PAD = 500
def __init__(self, module):
self.module = module
self.options = [
options.BoolOption('PPX_grayscale', False),
options.BoolOption('PPX_rgb_split', False),
options.BoolOption('PPX_lab_split', False),
options.BoolOption('PPX_hsv_split', False),
options.BoolOption('PPX_hls_split', False),
options.BoolOption('PPX_ycrcb_split', False),
options.BoolOption('PPX_luv_split', False),
options.BoolOption('PPX_color_correction', False),
options.IntOption('PPX_r_bias', 0, -255, 255),
options.IntOption('PPX_g_bias', 0, -255, 255),
options.IntOption('PPX_b_bias', 0, -255, 255),
options.DoubleOption('PPX_contrast', 1, 0, 255),
options.IntOption('PPX_brightness', 0, -255, 255),
options.BoolOption('PPX_gaussian_blur', False),
options.IntOption('PPX_gaussian_blur_kernel', 1, 1, 100),
options.IntOption('PPX_gaussian_noise', 0, 0, 255),
options.BoolOption('PPX_erode', False),
options.IntOption('PPX_erode_kernel', 1, 1, 50),
options.BoolOption('PPX_dilate', False),
options.IntOption('PPX_dilate_kernel', 1, 1, 50),
options.IntOption('PPX_rotate', 0, 0, 359),
options.BoolOption('PPX_resize', False),
options.IntOption(
'PPX_resize_width', 512, 1, 2048,
lambda x: x * self.options_dict['PPX_resize_height'].value * 3
<= self.module.max_buffer_size),
options.IntOption(
'PPX_resize_height', 512, 1, 2048,
lambda x: x * self.options_dict['PPX_resize_width'].value * 3
<= self.module.max_buffer_size),
options.DoubleOption('PPX_resize_ratio', 1, 0.01, 1),
options.IntOption('PPX_translate_x', 0, -2048, 2048),
options.IntOption('PPX_translate_y', 0, -2048, 2048),
]
self.options_dict = {option.name: option for option in self.options}
for option in self.options:
self.module.options_dict[option.name] = option
gui_options.IntOption('dark_hsv_v_max', 255, 0, 255),
gui_options.IntOption('dark_rgb_r_min', 85, 0, 255),
gui_options.IntOption('dark_rgb_r_max', 255, 0, 255),
gui_options.IntOption('dark_ycrcb_y_min', 32, 0, 255),
gui_options.IntOption('dark_ycrcb_y_max', 255, 0, 255),
gui_options.IntOption('light_lab_l_min', 200, 0, 255),
gui_options.IntOption('light_lab_l_max', 255, 0, 255),
gui_options.IntOption('light_hsv_v_min', 172, 0, 255),
gui_options.IntOption('light_hsv_v_max', 255, 0, 255),
gui_options.IntOption('light_rgb_r_min', 250, 0, 255),
gui_options.IntOption('light_rgb_r_max', 255, 0, 255),
gui_options.IntOption('light_ycrcb_y_min', 207, 0, 255),
gui_options.IntOption('light_ycrcb_y_max', 255, 0, 255),
gui_options.IntOption('max_redness', 254, 0, 255),
gui_options.IntOption('min_redness', 0, 0, 255),
gui_options.BoolOption('debugging', False),
gui_options.BoolOption('orange_debug', False),
gui_options.BoolOption('dark_debug', False),
gui_options.BoolOption('light_debug', False)
]
def get_zero_pipe_group():
pipe_group = shm.pipe_results.get()
pipe_group.angle = 0
pipe_group.center_x = 0
pipe_group.center_y = 0
pipe_group.heuristic_score = 0
pipe_group.rectangularity = 0
return pipe_group
