def apply (self, img):
result = []
labels = []
self.obstacles_stages = {}
sh = img.shape
for i in range (sh [1]):
labels.append (0)
filled = False
#save all masks, not last
for range_num in range (len (self.ranges)):
range_ = self.ranges [range_num]
self.inrange_filter.set_ths (range_ [0], range_ [1])
mask = self.inrange_filter.apply (img)
self.obstacles_stages.update ({"0" : image_processing.to_three (mask)})
mask = self.cc_filter.apply (mask)
self.obstacles_stages.update ({"1" : image_processing.to_three (mask)})
op_ker = 3
cl_ker = 3
morph = cv2.morphologyEx(mask, cv2.MORPH_OPEN, np.ones((op_ker, op_ker),np.uint8))
self.obstacles_stages.update ({"2" : image_processing.to_three (mask)})
morph = cv2.morphologyEx(morph, cv2.MORPH_CLOSE, np.ones((cl_ker,cl_ker),np.uint8))
self.obstacles_stages.update ({"3" : image_processing.to_three (mask)})
temp_result = self._get_obstacles_dists (morph)
if (filled == False):
filled = True
result = temp_result.copy ()
for i in range (len (temp_result)):
if (temp_result [i] <= result [i] and temp_result [i] != -2) or\
(result [i] == -2 and temp_result [i] > 0):
result [i] = temp_result [i]
labels [i] = range_num + 1
for i in range (len (result)):
if (result [i] != -2):
result [i] = sh [0] - result [i]
#temp_result [i] = temp_result [i]
#for i in range (sh [1]):
# result.append ((i, 200, i))
#print ("ll")
#print (labels)
return result, labels
def callback(image_msg):
frame = CvBridge().imgmsg_to_cv2(image_msg, desired_encoding="passthrough")
frame = cv2.cvtColor(frame, cv2.COLOR_YCrCb2RGB)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
print(frame.shape)
l1 = cv2.getTrackbarPos ("l1", "Colorbars")
h1 = cv2.getTrackbarPos ("h1", "Colorbars")
l2 = cv2.getTrackbarPos ("l2", "Colorbars")
h2 = cv2.getTrackbarPos ("h2", "Colorbars")
l3 = cv2.getTrackbarPos ("l3", "Colorbars")
h3 = cv2.getTrackbarPos ("h3", "Colorbars")
low_th = (l1, l2, l3)
high_th = (h1, h2, h3)
print("@")
inrange_filter.set_ths (low_th, high_th)
mask = inrange_filter.apply (frame)
print("&")
enlighted = frame.copy ()
enlighted [:, :, 0] = np.array (np.add (enlighted [:, :, 0], np.multiply (mask, 0.5)), dtype = np.uint8)
#cv2.imshow ("enlighted", enlighted)
#cv2.imshow ("mask", mask)cv2.waitKey(2)
result = np.concatenate ((enlighted, to_three (mask)), axis = 1)
cv2.waitKey(2)
#cv2.imshow ("result", result)
#os.system ('clear')
print (low_th, high_th)
frame = cv2.cvtColor(frame, cv2.COLOR_YCrCb2RGB)
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
l1 = cv2.getTrackbarPos("l1", "Colorbars")
h1 = cv2.getTrackbarPos("h1", "Colorbars")
l2 = cv2.getTrackbarPos("l2", "Colorbars")
h2 = cv2.getTrackbarPos("h2", "Colorbars")
l3 = cv2.getTrackbarPos("l3", "Colorbars")
h3 = cv2.getTrackbarPos("h3", "Colorbars")
low_th = (l1, l2, l3)
high_th = (h1, h2, h3)
print("@")
inrange_filter.set_ths(low_th, high_th)
mask = inrange_filter.apply(frame)
print("&")
enlighted = frame.copy()
enlighted[:, :, 0] = np.array(np.add(enlighted[:, :, 0],
np.multiply(mask, 0.5)),
dtype=np.uint8)
#cv2.imshow ("enlighted", enlighted)
#cv2.imshow ("mask", mask)
cv2.waitKey(2)
result = np.concatenate((enlighted, to_three(mask)), axis=1)
cv2.waitKey(2)
cv2.imshow("result", result)
os.system('clear')
print(low_th, high_th)