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show0k/Setup the filtering ranges for color detection.ipynb

Last active May 5, 2017 09:23
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color_primitive
Raw
color_detection.py
import cv2
import time
from pypot.primitive import Primitive, LoopPrimitive
rgb_ranges = {
'green': ((0, 80, 0), (120, 255, 120)),
'red': ((0, 0, 90), (100, 100, 255)),
}
hsv_min, hsv_max = ((0, 0, 0), (255, 255, 255))
class ColorDetection(LoopPrimitive):
def crop(self, image):
return image # [100:300, 250:450]
def mean_color(self, image):
return image.mean(axis=(0, 1))
def get_color(self):
img = self.robot.camera.frame
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
hsv_mask = cv2.inRange(hsv, hsv_min, hsv_max)
score = {}
for color, (lower, upper) in rgb_ranges.items():
mask = cv2.inRange(img, lower, upper)
mask[hsv_mask < 255] = 0
mask = cv2.erode(mask, None, iterations=4)
score[color] = mask.sum()
return max(score, key=score.get)
def update(self):
self.__centroid = self._get_centroid()
@property
def centroid(self):
return self.__centroid
def _get_centroid(self, color=None, threshold=4000):
img = self.robot.camera.frame
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
hsv_mask = cv2.inRange(hsv, hsv_min, hsv_max)
score = {}
masks = {}
if color is not None:
mask = cv2.inRange(img, rgb_ranges[color][0], rgb_ranges[color][1])
mask[hsv_mask < 255] = 0
mask = cv2.erode(mask, None, iterations=4)
else:
for _color, (lower, upper) in rgb_ranges.items():
rgb_mask = cv2.inRange(img, lower, upper)
tmp_mask = rgb_mask.copy()
tmp_mask[hsv_mask < 255] = 0
masks[_color] = tmp_mask
masks[_color] = cv2.erode(masks[_color], None, iterations=4)
score[_color] = masks[_color].sum()
color = max(score, key=score.get)
mask = masks[color]
if score[color] < threshold:
return "0;0"
else:
moments = cv2.moments(mask, True)
cx = moments['m10'] / moments['m00']
cy = moments['m01'] / moments['m00']
return "%s;%s;%s;%s" % (cx * 100 / img.shape[1], cy * 100 / img.shape[0], color, score[color])
Raw
poppy-ergo-jr.py
from numpy import sum
from functools import partial
from poppy.creatures import AbstractPoppyCreature
from poppy.creatures.ik import IKChain
from .primitives.dance import Dance
from .primitives.face_tracking import FaceTracking
from .primitives.tracking_feedback import TrackingFeedback
from .primitives.postures import (BasePosture, RestPosture,
CuriousPosture, TetrisPosture,
SafePowerUp)
from .primitives.color_detection import ColorDetection
class PoppyErgoJr(AbstractPoppyCreature):
@classmethod
def setup(cls, robot):
robot._primitive_manager._filter = partial(sum, axis=0)
c = IKChain.from_poppy_creature(robot,
motors=robot.motors,
passiv=[],
tip=[0, 0, -0.07])
robot.chain = c
robot.attach_primitive(SafePowerUp(robot), 'safe_power_up')
robot.attach_primitive(Dance(robot), 'dance')
robot.attach_primitive(BasePosture(robot, 2.), 'base_posture')
robot.attach_primitive(RestPosture(robot, 2.), 'rest_posture')
robot.attach_primitive(CuriousPosture(robot, 2.), 'curious_posture')
robot.attach_primitive(TetrisPosture(robot, 2.), 'tetris_posture')
if not robot.simulated and hasattr(robot, 'marker_detector'):
robot.attach_primitive(TrackingFeedback(robot, 25.),
'tracking_feedback')
if not robot.simulated:
robot.attach_primitive(ColorDetection(robot, 2), 'color_detection')
for m in robot.motors:
m.pid = (4, 2, 0)
m.torque_limit = 70.
m.led = 'off'
if not robot.simulated and hasattr(robot, 'face_tracking'):
robot.attach_primitive(FaceTracking(robot, 10,
robot.face_detector),
'face_tracking')
Display the source blob
Display the rendered blob
Raw
Setup the filtering ranges for color detection.ipynb
{
"cells": [
{
"cell_type": "code",
"execution_count": 1,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": [
"%matplotlib inline\n",
"\n",
"import time\n",
"import pylab\n",
"\n",
"from IPython import display\n",
"from ipywidgets import interact\n",
"import ipywidgets as widgets"
]
},
{
"cell_type": "code",
"execution_count": 2,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"SnapRobotServer is now running on: http://0.0.0.0:6969\n",
"\n",
"You can open Snap! interface with loaded blocks at \"http://snap.berkeley.edu/snapsource/snap.html#open:http://192.168.0.105:6969/snap-blocks.xml\"\n",
"\n"
]
}
],
"source": [
"from poppy.creatures import PoppyErgoJr\n",
"\n",
"jr = PoppyErgoJr(use_snap=True)"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"import cv2\n",
"\n",
"pylab.imshow(cv2.cvtColor(jr.camera.frame, cv2.COLOR_RGB2BGR))"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"hsv_min, hsv_max = ((0, 0, 0), (255, 255, 255))\n",
"\n",
"def mask(rmin, rmax, \n",
" gmin, gmax, \n",
" bmin, bmax):\n",
" \n",
" img = jr.camera.frame.copy()\n",
" hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)\n",
" hsv_mask = cv2.inRange(hsv, hsv_min, hsv_max)\n",
" rgb_mask = cv2.inRange(img, (bmin, gmin, rmin), (bmax, gmax, rmax))\n",
" \n",
" mask = rgb_mask.copy()\n",
" mask[hsv_mask < 255] = 0\n",
" mask = cv2.erode(mask, None, iterations=4)\n",
"\n",
" img[mask < 255] = (0, 0, 0)\n",
" img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)\n",
"\n",
" pylab.imshow(img, cmap='gray', clim=(0, 255))\n",
" display.clear_output(wait=True)\n",
" display.display(pylab.gcf())\n",
"\n",
"interact(mask, \n",
" rmin=widgets.IntSlider(min=0,max=255,step=5,value=0), \n",
" rmax=widgets.IntSlider(min=0,max=255,step=5,value=255),\n",
" gmin=widgets.IntSlider(min=0,max=255,step=5,value=0), \n",
" gmax=widgets.IntSlider(min=0,max=255,step=5,value=255),\n",
" bmin=widgets.IntSlider(min=0,max=255,step=5,value=0), \n",
" bmax=widgets.IntSlider(min=0,max=255,step=5,value=255),\n",
" \n",
" hmin=widgets.IntSlider(min=0,max=255,step=5,value=0), \n",
" hmax=widgets.IntSlider(min=0,max=255,step=5,value=255),\n",
" smin=widgets.IntSlider(min=0,max=255,step=5,value=0), \n",
" smax=widgets.IntSlider(min=0,max=255,step=5,value=255),\n",
" vmin=widgets.IntSlider(min=0,max=255,step=5,value=0), \n",
" vmax=widgets.IntSlider(min=0,max=255,step=5,value=255),\n",
" )"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"!fuser -k /dev/ttyAMA*\n"
]
},
{
"cell_type": "code",
"execution_count": 3,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": [
"jr.color_detection.start()"
]
},
{
"cell_type": "code",
"execution_count": 5,
"metadata": {
"collapsed": false
},
"outputs": [
{
"data": {
"text/plain": [
"'91.6701118677;87.1376459144;red;65535'"
]
},
"execution_count": 5,
"metadata": {},
"output_type": "execute_result"
}
],
"source": [
"jr.color_detection.centroid"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 2",
"language": "python",
"name": "python2"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 2
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython2",
"version": "2.7.10"
}
},
"nbformat": 4,
"nbformat_minor": 0
}
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