def find(img, hue_min=20, hue_max=175, sat_min=0, sat_max=255, val_min=0, val_max=255):
"""
Detect the qualification gate.
:param img: HSV image from the bottom camera
:return: tuple of location of the center of the gate in a "targeting" coordinate system: origin is at center of image, axes range [-1, 1]
"""
img = np.copy(img)
bin = vision_util.hsv_threshold(img, hue_min, hue_max, sat_min, sat_max, val_min, val_max)
canny = vision_util.canny(bin, 50)
# find contours after first processing it with Canny edge detection
contours, hierarchy = cv2.findContours(canny, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
hulls = vision_util.convex_hulls(contours)
cv2.drawContours(bin, hulls, -1, 255)
cv2.imshow('bin', bin)
hulls.sort(key=hull_score)
if len(hulls) < 2:
return ()
# get the two highest scoring candidates
left = cv2.minAreaRect(hulls[0])
right = cv2.minAreaRect(hulls[1])
# if we got left and right mixed up, switch them
if right[0][0] < left[0][0]:
left, right = right, left
confidence = score_pair(left, right)
if confidence < 80:
return 0, 0
# draw hulls in Blaze Orange
cv2.drawContours(img, hulls, -1, (0, 102, 255), -1)
# draw green outlines so we know it actually detected it
cv2.drawContours(img, hulls, -1, (0, 255, 0), 2)
cv2.imshow('img', img)
center_actual = (np.mean([left[0][0], right[0][0]]), np.mean([left[0][1], right[0][1]]))
# shape[0] is the number of rows because matrices are dumb
center = (center_actual[0] / img.shape[1], center_actual[1] / img.shape[0])
# convert to the targeting system of [-1, 1]
center = ((center[0] * 2) - 1, (center[1] * 2) - 1)
return center
def find(img, hue_min, hue_max, sat_min, sat_max, val_min, val_max, draw_output, output_images):
"""
Detect high goals in the input image
:param img: hsv input image
:param hue_min:
:param hue_max:
:param sat_min:
:param sat_max:
:param val_min:
:param val_max:
:param output_images: images that show the output of various stages of the detection process
:return: a list of the detected targets
"""
img = np.copy(img)
bin = vision_common.hsv_threshold(img, hue_min, hue_max, sat_min, sat_max, val_min, val_max)
# erode to remove bad dots
erode_kernel = np.ones((1, 1), np.uint8)
bin = cv2.erode(bin, erode_kernel, iterations=1)
# dilate bin to fill any holes
dilate_kernel = np.ones((5, 5), np.uint8)
bin = cv2.dilate(bin, dilate_kernel, iterations=1)
if draw_output:
output_images['bin'] = np.copy(bin)
if int(cv2.__version__.split('.')[0]) >= 3:
_, contours, hierarchy = cv2.findContours(bin, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
else:
contours, hierarchy = cv2.findContours(bin, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
# filter out so only left with good contours
original_count = len(contours)
filtered_contours = [x for x in contours if contour_filter(contour=x, min_score=95, binary=bin)]
# print 'contour filtered', original_count, 'to', len(filtered_contours)
if draw_output:
# convert img back to bgr so it looks good when displayed
img = cv2.cvtColor(img, cv2.COLOR_HSV2BGR)
# draw outlines so we know it actually detected it
polys = [cv2.approxPolyDP(contour, 0.01 * cv2.arcLength(contour, True), True) for contour in filtered_contours]
cv2.drawContours(img, polys, -1, (0, 0, 255), 2)
original_targets = [(target_center(contour), cv2.boundingRect(contour)) for contour in filtered_contours]
original_targets = [(center, (rect[2], rect[3])) for (center, rect) in original_targets]
# original_targets is now a list of (x, y) and (width, height)
targets = [to_targeting_coords(target, img.shape) for target in original_targets]
if draw_output:
# draw targeting coordinate system on top of the result image
imheight, imwidth, _ = img.shape
# axes
cv2.line(img, (int(imwidth / 2), 0), (int(imwidth / 2), int(imheight)), (255, 255, 255), 5)
cv2.line(img, (0, int(imheight / 2)), (int(imwidth), int(imheight / 2)), (255, 255, 255), 5)
# aiming reticle
cv2.circle(img, (int(imwidth / 2), int(imheight / 2)), 50, (255, 255, 255), 5)
# draw dots on the center of each target
for target in original_targets: # use original_targets so we don't have to recalculate image coords
x = int(target[0][0])
y = int(target[0][1])
cv2.circle(img, (x, y), 10, (0, 0, 255), -1)
if draw_output:
output_images['result'] = img
output_targets = [
{
'pos': {
'x': target[0][0],
'y': target[0][1]
},
'size': {
'width': target[1][0],
'height': target[1][1]
},
'distance': target_distance(target),
'elevation_angle': target_angle_of_elevation(target_distance(target)),
'azimuth': target_azimuth(target)
} for target in targets]
return output_targets
def find(img, hue_min, hue_max, sat_min, sat_max, val_min, val_max,
draw_output, output_images):
"""
Detect high goals in the input image
:param img: hsv input image
:param hue_min:
:param hue_max:
:param sat_min:
:param sat_max:
:param val_min:
:param val_max:
:param output_images: images that show the output of various stages of the detection process
:return: a list of the detected targets
"""
img = np.copy(img)
bin = vision_common.hsv_threshold(img, hue_min, hue_max, sat_min, sat_max,
val_min, val_max)
# erode to remove bad dots
erode_kernel = np.ones((1, 1), np.uint8)
bin = cv2.erode(bin, erode_kernel, iterations=1)
# dilate bin to fill any holes
dilate_kernel = np.ones((5, 5), np.uint8)
bin = cv2.dilate(bin, dilate_kernel, iterations=1)
if draw_output:
output_images['bin'] = np.copy(bin)
if int(cv2.__version__.split('.')[0]) >= 3:
_, contours, hierarchy = cv2.findContours(bin, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
else:
contours, hierarchy = cv2.findContours(bin, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# filter out so only left with good contours
original_count = len(contours)
filtered_contours = [
x for x in contours
if contour_filter(contour=x, min_score=95, binary=bin)
]
# print 'contour filtered', original_count, 'to', len(filtered_contours)
if draw_output:
# convert img back to bgr so it looks good when displayed
img = cv2.cvtColor(img, cv2.COLOR_HSV2BGR)
# draw outlines so we know it actually detected it
polys = [
cv2.approxPolyDP(contour, 0.01 * cv2.arcLength(contour, True),
True) for contour in filtered_contours
]
cv2.drawContours(img, polys, -1, (0, 0, 255), 2)
original_targets = [(target_center(contour), cv2.boundingRect(contour))
for contour in filtered_contours]
original_targets = [(center, (rect[2], rect[3]))
for (center, rect) in original_targets]
# original_targets is now a list of (x, y) and (width, height)
targets = [
to_targeting_coords(target, img.shape) for target in original_targets
]
if draw_output:
# draw targeting coordinate system on top of the result image
imheight, imwidth, _ = img.shape
# axes
cv2.line(img, (int(imwidth / 2), 0), (int(imwidth / 2), int(imheight)),
(255, 255, 255), 5)
cv2.line(img, (0, int(imheight / 2)),
(int(imwidth), int(imheight / 2)), (255, 255, 255), 5)
# aiming reticle
cv2.circle(img, (int(imwidth / 2), int(imheight / 2)), 50,
(255, 255, 255), 5)
# draw dots on the center of each target
for target in original_targets: # use original_targets so we don't have to recalculate image coords
x = int(target[0][0])
y = int(target[0][1])
cv2.circle(img, (x, y), 10, (0, 0, 255), -1)
if draw_output:
output_images['result'] = img
output_targets = [{
'pos': {
'x': target[0][0],
'y': target[0][1]
},
'size': {
'width': target[1][0],
'height': target[1][1]
},
'distance':
target_distance(target),
'elevation_angle':
target_angle_of_elevation(target_distance(target)),
'azimuth':
target_azimuth(target)
} for target in targets]
return output_targets
