def cal():
tres = [0, 0, 0, 0, 0, 0]
tres[0] = image.rgb_to_lab(img.get_pixel(177, 192))[0]
tres[1] = image.rgb_to_lab(img.get_pixel(177, 192))[0]
tres[2] = image.rgb_to_lab(img.get_pixel(177, 192))[1]
tres[3] = image.rgb_to_lab(img.get_pixel(177, 192))[1]
tres[4] = image.rgb_to_lab(img.get_pixel(177, 192))[2]
tres[5] = image.rgb_to_lab(img.get_pixel(177, 192))[2]
nub = tres
for x in range(140, 215, 4):
for y in range(150, 192, 4):
for i in range(6):
if i % 2:
if image.rgb_to_lab(img.get_pixel(x, y))[i // 2] > tres[i]:
tres[i] = image.rgb_to_lab(img.get_pixel(x, y))[i // 2]
else:
if image.rgb_to_lab(img.get_pixel(x, y))[i // 2] < tres[i]:
tres[i] = image.rgb_to_lab(img.get_pixel(x, y))[i // 2]
for i in range(6):
tres[i] = (tres[i] + 3 * nub[i]) // 4
print(tres)
return tres
def unittest(data_path, temp_path):
import image
lab = image.rgb_to_lab((120, 200, 120))
return (lab[0] == 76 and lab[1] == -44 and lab[2] == 34)
def unittest(data_path, temp_path):
import image
lab = image.rgb_to_lab((120, 200, 120))
return (lab[0] == 76 and lab[1] == -44 and lab[2] == 34)
sensor.reset()
sensor.set_pixformat(sensor.RGB565)
sensor.set_framesize(sensor.CIF)
sensor.skip_frames(time=2000)
sensor.set_auto_gain(False) # must be turned off for color tracking
sensor.set_auto_whitebal(False) # must be turned off for color tracking
clock = time.clock()
img = sensor.snapshot()
img.draw_circle(177, 144, 75)
img.draw_rectangle(123, 91, 106, 106)
img = sensor.snapshot()
tres[0] = image.rgb_to_lab(img.get_pixel(177, 144))[0]
tres[1] = image.rgb_to_lab(img.get_pixel(177, 144))[0]
tres[2] = image.rgb_to_lab(img.get_pixel(177, 144))[1]
tres[3] = image.rgb_to_lab(img.get_pixel(177, 144))[1]
tres[4] = image.rgb_to_lab(img.get_pixel(177, 144))[2]
tres[5] = image.rgb_to_lab(img.get_pixel(177, 144))[2]
#for blob in img.find_blobs(color, pixels_threshold=100, area_threshold=100, merge=True):
for x in range(123, 229, 4):
for y in range(91, 197, 4):
for i in range(6):
if i % 2:
if image.rgb_to_lab(img.get_pixel(x, y))[i // 2] > tres[i]:
tres[i] = image.rgb_to_lab(img.get_pixel(x, y))[i // 2]
else:
def detect(self, img):
self.blobs = self._detect(img)
self.result = []
self.check_success = []
res = []
if (self.roundness_th != -1):
res = self._filter_by_roundness(self.blobs, self.roundness_th)
else:
res = self.blobs
#print ("interm res ", res)
if (self.heigh_width_ratio_low_th != -1
or self.heigh_width_ratio_high_th != -1):
self.blobs = []
for blob in res:
height_width_ratio = float(blob.h()) / blob.w()
#print ("heiw rat ", height_width_ratio)
if (self.heigh_width_ratio_low_th != -1
and self.heigh_width_ratio_high_th != -1):
if (height_width_ratio > self.heigh_width_ratio_low_th
and height_width_ratio <
self.heigh_width_ratio_high_th):
self.blobs.append(blob)
elif (self.heigh_width_ratio_low_th != -1):
if (height_width_ratio > self.heigh_width_ratio_low_th):
self.blobs.append(blob)
elif (self.heigh_width_ratio_high_th != -1):
if (height_width_ratio < self.heigh_width_ratio_high_th):
self.blobs.append(blob)
else:
self.blobs = []
self.blobs = res
#get candidates
unchecked_result = self.get_k_first_sorted(self.blobs,
self.sorting_func,
self.objects_num)
if (self.rad_coeff < 0 and len(unchecked_result) != 0):
self.sector_rad = -blob_width(unchecked_result[0]) * self.rad_coeff
self._generate_encl_points()
#get averaged surroundings for each
for res in unchecked_result:
bbox = res.rect()
x = int(bbox[0] + bbox[2] / 2)
y = int(bbox[1] + bbox[3])
proper = 0
curr_step_success = []
for pt in self.sector_points:
pixels = []
for i in range(x + pt[0] - self.wind_sz // 2,
x + pt[0] + self.wind_sz // 2 + 1):
for j in range(y + pt[1] - self.wind_sz // 2,
y + pt[1] + self.wind_sz // 2 + 1):
pix = img.get_pixel(x + pt[0] + i, y + pt[1] + j)
if (pix is not None):
pix_lab = image.rgb_to_lab(pix)
pixels.append(pix_lab)
if (len(pixels) > 0):
#print ("sas", pixels)
r = 0 #sum (pixels [:] [0]) / len (pixels)
g = 0 #sum (pixels [:] [1]) / len (pixels)
b = 0 #sum (pixels [:] [2]) / len (pixels)
for pix in pixels:
r += pix[0]
g += pix[1]
b += pix[2]
a = (r, g, b)
#a = image.rgb_to_lab(pix)
if (all(self.surr1_th[2 * i] < a[i] < self.surr1_th[2 * i +
1]
for i in range(len(a) - 1))
or all(self.surr2_th[2 * i] < a[i] < self.surr2_th[
2 * i + 1] for i in range(len(a) - 1))):
proper += 1
curr_step_success.append(True)
else:
curr_step_success.append(False)
else:
curr_step_success.append(True)
proper += 1
self.check_success.append(curr_step_success)
#self.succ_num.append (proper)
#print (proper)
if (proper >= self.points_num * self.corr_ratio):
self.result.append(res)
#self.result = unchecked_result
return self.result