def find_color(frame, lower, upper,
stage): ### Color detecting to find sinho_signal or jucha_sign
detector = blob_param_siljun.setting(stage)
hsv = cv2.cvtColor(frame,
cv2.COLOR_BGR2HSV) ### process rgb_image to hsv_image
mask_red = cv2.inRange(hsv, lower, upper)
reversmask = 255 - mask_red ### Detect blobs
keypoints = detector.detect(reversmask)
#print('keypoints',keypoints)
"""
if stage ==0:
cv2.imshow('sinho',reversmask)
if stage ==1:
cv2.imshow('jucha',reversmask)
if stage ==4:
cv2.imshow('obstacle',reversmask)
"""
if len(keypoints) > 0 and stage == 1:
point = []
for i in keypoints:
point.append(i.pt)
#print('points',point)
return point
if len(keypoints) > 0 and stage == 4:
point = []
for i in keypoints:
point.append(i.pt)
#print('points',point)
return point
elif stage == 0:
return keypoints
def find_color(frame,lower,upper,stage): ### 신호/주차 표지판에서 컬러 인식
detector=blob_param_siljun.setting(stage)
hsv=cv2.cvtColor(frame,cv2.COLOR_BGR2HSV) ### process rgb_image to hsv_image
mask_red=cv2.inRange(hsv,lower,upper)
reversmask=255-mask_red ### Detect blobs
keypoints = detector.detect(reversmask)
if len(keypoints)>0 and stage==1:
point=[]
cv2.imshow('zzz',reversmask)
for i in keypoints:
point.append(i.pt)
return point
else:
return keypoints