Final fixes

src/color_segmenter.py

@@ -0,0 +1,210 @@
+#!/usr/bin/env python3
+import argparse
+import cv2
+import numpy as np
+from functools import partial
+import json
+
+
+# Can't use a dictionary on onTrackbar since I can't assing default values to a input dictionary.
+
+def onTrackbar(x , dict ,red_min = False,red_max = False,green_min = False,green_max = False, blue_min = False,blue_max = False):
+    # ------ BLUE ----
+    if blue_min == True:
+        dict['limits']['B']['min'] = x
+
+    if blue_max == True:
+        dict['limits']['B']['max'] = x
+
+    #------ GREEN ----
+    if green_min == True:
+        dict['limits']['G']['min'] = x
+
+    if green_max == True:
+        dict['limits']['G']['max'] = x
+
+    #------ Red ----
+    if red_min == True:
+        dict['limits']['R']['min'] = x
+
+    if red_max == True:
+        dict['limits']['R']['max'] = x
+
+#-----------------------------
+# mousecall to get color 
+#-----------------------------
+def mouse_BGR(event, x, y, flags, params,source_image):
+    if event == cv2.EVENT_LBUTTONDOWN:
+
+        colorsB = source_image[y,x,0]
+        colorsG = source_image[y,x,1]
+        colorsR = source_image[y,x,2]
+        color =  [colorsB,colorsG,colorsR]
+
+        #-----------------------------
+        # Blue
+        #-----------------------------
+        try:
+            cv2.setTrackbarPos("Blue_Min","Segmentation",color[0]-15)
+        except:
+            cv2.setTrackbarPos("Blue_Min","Segmentation",0)
+
+        try:        
+            cv2.setTrackbarPos("Blue_Max","Segmentation",color[0]+15)
+        except:
+            cv2.setTrackbarPos("Blue_Max","Segmentation",255)
+
+        #-----------------------------
+        # Green
+        #-----------------------------
+        try:
+            cv2.setTrackbarPos("Green_Min","Segmentation",color[1]-15)
+        except:
+            cv2.setTrackbarPos("Green_Min","Segmentation",0)
+
+        try:        
+            cv2.setTrackbarPos("Green_Max","Segmentation",color[1]+15)
+        except:
+            cv2.setTrackbarPos("Green_Max","Segmentation",255)
+
+        #-----------------------------
+        # Red
+        #-----------------------------
+        try:
+            cv2.setTrackbarPos("Red_Min","Segmentation",color[2]-15)
+        except:
+            cv2.setTrackbarPos("Red_Min","Segmentation",0)
+
+        try:        
+            cv2.setTrackbarPos("Red_Max","Segmentation",color[2]+15)
+        except:
+            cv2.setTrackbarPos("Red_Max","Segmentation",255)
+
+
+
+
+        print("BGR Format: ", color)
+        print("coordinate of pixel: X: ",x, "Y: ",y)
+
+def main():
+#-----------------------------
+# Initialization
+#-----------------------------
+    parser = argparse.ArgumentParser(description='Video color segmenting') 
+    parser.add_argument('-j','--json',type=str,required=True,help='Absolute path for json file with color thresholds') 
+    args = parser.parse_args()
+
+    try:
+        json_object = open(args.json)
+        limitsDict = json.load(json_object)
+    except:
+        print("No json file found to read, starting calibration with default values")
+        limitsDict ={'limits' : { 'B':{ 'max' : 100 , 'min' : 70 },
+                                  'G':{ 'max' : 120 , 'min' : 90 },
+                                  'R':{ 'max' : 150 , 'min' : 100 } } }
+    else:
+        print("Json file read successfuly, reading starting values for calibration")
+
+
+    upper_bound_bgr = np.array([limitsDict['limits']['B']['max'], limitsDict['limits']['G']['max'], limitsDict['limits']['R']['max']] )
+    lower_bound_bgr = np.array([limitsDict['limits']['B']['min'], limitsDict['limits']['G']['min'], limitsDict['limits']['R']['min']] )
+
+
+    capture_object = cv2.VideoCapture(0)
+    # capture_object.set(cv2.CAP_PROP_EXPOSURE, 0) My camera doesn't support this feature
+    #-----------------------------
+    # Processing
+    #-----------------------------
+
+
+    _,source_image_bgr = capture_object.read()
+    image_mask_bgr = cv2.inRange(source_image_bgr, lower_bound_bgr, upper_bound_bgr)
+
+
+    #-----------------------------
+    # Visualization
+    #-----------------------------
+    cv2.namedWindow("Source",cv2.WINDOW_AUTOSIZE);
+    cv2.imshow("Source",source_image_bgr)
+
+
+    cv2.namedWindow("Segmentation",cv2.WINDOW_AUTOSIZE);
+    cv2.moveWindow('Segmentation', source_image_bgr.shape[1] + 90, 0 )
+
+    cv2.imshow("Segmentation",image_mask_bgr)
+
+
+    cv2.createTrackbar("Blue_Min","Segmentation",limitsDict['limits']['B']['min'],255,partial(onTrackbar, blue_min = True, dict = limitsDict))
+    cv2.createTrackbar("Blue_Max","Segmentation",limitsDict['limits']['B']['max'],255,partial(onTrackbar, blue_max = True, dict = limitsDict) )
+
+    cv2.createTrackbar("Green_Min","Segmentation",limitsDict['limits']['G']['min'],255,partial(onTrackbar, green_min = True, dict = limitsDict) )
+    cv2.createTrackbar("Green_Max","Segmentation",limitsDict['limits']['G']['max'],255,partial(onTrackbar, green_max = True, dict = limitsDict) )
+
+    cv2.createTrackbar("Red_Min","Segmentation",limitsDict['limits']['R']['min'],255,partial(onTrackbar, red_min = True, dict = limitsDict) )
+    cv2.createTrackbar("Red_Max","Segmentation",limitsDict['limits']['R']['max'],255,partial(onTrackbar, red_max = True, dict = limitsDict) )
+
+
+    while(1):
+
+        _,source_image_bgr = capture_object.read()
+        source_image_bgr = cv2.flip(source_image_bgr,1)
+
+        cv2.setMouseCallback("Source", partial(mouse_BGR, source_image = source_image_bgr))
+
+        cv2.imshow('Source',source_image_bgr)
+
+        # Since list assigns as copies, we need to update the bounds
+        upper_bound_bgr = np.array([limitsDict['limits']['B']['max'], limitsDict['limits']['G']['max'], limitsDict['limits']['R']['max']] )
+        lower_bound_bgr = np.array([limitsDict['limits']['B']['min'], limitsDict['limits']['G']['min'], limitsDict['limits']['R']['min']] )
+
+
+        image_mask = cv2.inRange(source_image_bgr, lower_bound_bgr, upper_bound_bgr)
+        cv2.imshow('Segmentation',image_mask)
+
+
+        pressed_key = cv2.waitKey(1) & 0xFF
+
+        if pressed_key  == ord('w'): #NUMLOCK ISSUE ms delay
+            file_name = 'limits.json'
+            with open(file_name, 'w') as file_handle:
+                print('Writing dictionary limits to file ' + file_name)
+                json.dump(limitsDict, file_handle)
+
+        elif pressed_key == ord('q'): 
+            print("Quiting program.")
+            exit(0)
+
+
+
+    cv2.namedWindow("Source",cv2.WINDOW_AUTOSIZE);
+    cv2.imshow("Source",source_image_bgr)
+
+    #cv2.namedWindow('mouseBGR')
+
+    #cv2.imshow('mouseBGR', source_image_bgr_flipped)
+
+
+
+    while(True):
+
+        _, source_image_bgr = capture_object.read()
+
+        cv2.imshow('mouseRGB', source_image_bgr)
+
+        if cv2.waitKey(1) == 27:
+            break
+
+    capture_object.release()
+    cv2.destroyAllWindows()
+
+
+
+
+    #-----------------------------
+    # Termination
+    #-----------------------------
+
+
+if __name__=="__main__":
+    main()
+

src/limits.json

@@ -0,0 +1 @@
+{"limits": {"B": {"max": 212, "min": 182}, "G": {"max": 230, "min": 200}, "R": {"max": 245, "min": 215}}}