Skip to content

Commit

Permalink
Update and rename ROS/tw_tennis/src/tw_tennis/cameraTuner.py to ROS/t…
Browse files Browse the repository at this point in the history 
…w_tennis/nodes/cameraTuner.py

Adding the changes to the cameraTuner.py file and updating its location. 
It was left out of the last major file commit.
  • Loading branch information
@tjdwill
tjdwill authored Jul 14, 2023
1 parent d981a7e commit 335cbfa
Showing 1 changed file with 85 additions and 43 deletions.
128 changes: 85 additions & 43 deletions ROS/tw_tennis/src/tw_tennis/cameraTuner.py → ROS/tw_tennis/nodes/cameraTuner.py
View file
Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Wed Jun 28 12:11:52 2023
Expand All @@ -14,30 +15,19 @@
from sys import exit
import numpy as np
import cv2 as cv
import rospy

# ==========
# Variables
# ==========
CAMERA = 0

# 'H' value in HSV (ranges 0, 179)
HUE_LOWER, HUE_MAX = 0, 179
# 'S' value in HSV [0, 255]
SATURATION_LOWER, SATURATION_MAX = 0, 255
# 'V' Value in HSV [0, 255]
BRIGHTNESS_LOWER, BRIGHTNESS_MAX = 0, 255
# Hough Circle Params (define minDist later)
CIRCLE_RADIUS_MIN = 10
CIRCLE_RADIUS_MAX = 70
PARAM_1 = 105
PARAM_2 = 35
# Contrast Params (alpha is gain, beta is brightness)
# Use new_image = cv.convertScaleAbs(image, alpha=alpha, beta=beta)
ALPHA = 1 # ranges from 1-3
BETA = 0 # Ranges from 0-100 (may be redundant with the use of HSV)
alpha_slider_max = 300
max_blurs = 100
BLUR_IT = 2

# ==========
# Functions
Expand All @@ -51,7 +41,7 @@ def img_mask(image) -> np.ndarray:

# Generate HSV Threshold (yellow to light blue)
color_thresh = np.array([[HUE_LOWER, SATURATION_LOWER, BRIGHTNESS_LOWER],
[HUE_MAX, SATURATION_MAX, BRIGHTNESS_MAX]])
[HUE_UPPER, SATURATION_UPPER, BRIGHTNESS_UPPER]])
# Generate Mask
color_mask = cv.inRange(img_hsv, color_thresh[0], color_thresh[1])

Expand All @@ -61,9 +51,10 @@ def img_mask(image) -> np.ndarray:


def Hough(image: np.ndarray) -> np.ndarray:

imgray = cv.cvtColor(image, cv.COLOR_BGR2GRAY)
img = imgray.copy()
for i in range(BLUR_IT):
for i in range(NUM_BLURS):
img = cv.medianBlur(img, ksize=5)
img = cv.GaussianBlur(img, ksize=(5, 5), sigmaX=0)

Expand All @@ -72,64 +63,97 @@ def Hough(image: np.ndarray) -> np.ndarray:
rows, cols = img.shape[0:2]
cv.moveWindow("Blurred", cols+5, 0)
DIST = min(rows / 6, cols/6)


# print(f'DIST:{DIST}\nRADIUS_MAX: {RADIUS_MAX}')
# print(PARAM_1, PARAM_2, RADIUS_MIN)
circles = cv.HoughCircles(img, cv.HOUGH_GRADIENT, dp=1,
minDist=DIST,
param1=PARAM_1, param2=PARAM_2,
minRadius=CIRCLE_RADIUS_MIN,
maxRadius=CIRCLE_RADIUS_MAX)
minRadius=RADIUS_MIN,
maxRadius=RADIUS_MAX)
return circles


def track_callback(val):
global HUE_LOWER
global HUE_UPPER
global SATURATION_LOWER
global SATURATION_MAX
global SATURATION_UPPER
global BRIGHTNESS_LOWER
global BRIGHTNESS_MAX
global CIRCLE_RADIUS_MIN
global CIRCLE_RADIUS_MAX
global BRIGHTNESS_UPPER
global RADIUS_MIN
global RADIUS_MAX
global PARAM_1
global PARAM_2
global ALPHA
global BLUR_IT
global NUM_BLURS

# Update Variables
HUE_LOWER = cv.getTrackbarPos('Hmin', windowName)
HUE_UPPER = cv.getTrackbarPos('Hmax', windowName)
SATURATION_LOWER = cv.getTrackbarPos('Smin', windowName)
SATURATION_MAX = cv.getTrackbarPos('Smax', windowName)
SATURATION_UPPER = cv.getTrackbarPos('Smax', windowName)
BRIGHTNESS_LOWER = cv.getTrackbarPos('Vmin', windowName)
BRIGHTNESS_MAX = cv.getTrackbarPos('Vmax', windowName)
CIRCLE_RADIUS_MIN = cv.getTrackbarPos('Rmin', windowName)
CIRCLE_RADIUS_MAX = cv.getTrackbarPos('Rmax', windowName)
BRIGHTNESS_UPPER = cv.getTrackbarPos('Vmax', windowName)
RADIUS_MIN = cv.getTrackbarPos('Rmin', windowName)
RADIUS_MAX = cv.getTrackbarPos('Rmax', windowName)
PARAM_1 = cv.getTrackbarPos('Param 1', windowName)
PARAM_2 = cv.getTrackbarPos('Param 2', windowName)
ALPHA = cv.getTrackbarPos("Contrast", windowName)/100
BLUR_IT = cv.getTrackbarPos('Num Blurs', windowName)
NUM_BLURS = cv.getTrackbarPos('Num Blurs', windowName)



if __name__ == '__main__':

if __name__ == '__main__':
# Setup ROS Node

rospy.init_node("cameraTuner", anonymous=False)
# Get Parameters from RPS
img_params = rospy.get_param("img_params")
rospy.sleep(1)

print(img_params)
HUE_LOWER = img_params["HUE_LOWER"]
HUE_UPPER = img_params["HUE_UPPER"]
SATURATION_LOWER = img_params["SATURATION_LOWER"]
SATURATION_UPPER = img_params["SATURATION_UPPER"]
BRIGHTNESS_LOWER = img_params["BRIGHTNESS_LOWER"]
BRIGHTNESS_UPPER = img_params["BRIGHTNESS_UPPER"]
NUM_BLURS = img_params["NUM_BLURS"]
RADIUS_MIN = img_params["RADIUS_MIN"]
RADIUS_MAX = img_params["RADIUS_MAX"]
PARAM_1 = img_params["PARAM_1"]
PARAM_2 = img_params["PARAM_2"]
ALPHA = img_params["ALPHA"]
'''
print(HUE_LOWER, HUE_UPPER, SATURATION_LOWER, SATURATION_UPPER,
BRIGHTNESS_LOWER, BRIGHTNESS_UPPER, NUM_BLURS,
RADIUS_MIN, RADIUS_MAX, PARAM_1, PARAM_2, ALPHA)
'''
# Construct Trackbars
# I set the default value of each trackbar to the value on the ROS
# Parameter Server. I do it by dictionary reference because
# for some reason each trackbar initialization calls
# track_callback, overwriting the global variables.
# This way, the program initializes correctly.
param_config = cv.namedWindow("Parameter Configuration")
windowName = "Parameter Configuration"

cv.createTrackbar('Hmin', windowName, 20, 180, track_callback)
cv.createTrackbar('Hmax', windowName, 70, 180, track_callback)
cv.createTrackbar('Smin', windowName, 16, 255, track_callback)
cv.createTrackbar('Smax', windowName, 255, 255, track_callback)
cv.createTrackbar('Vmin', windowName, 108, 255, track_callback)
cv.createTrackbar('Vmax', windowName, 255, 255, track_callback)
cv.createTrackbar('Rmin', windowName, 10, 200, track_callback)
cv.createTrackbar('Rmax', windowName, 80, 200, track_callback)
cv.createTrackbar('Param 1', windowName, 100, 250, track_callback)
cv.createTrackbar('Param 2', windowName, 32, 100, track_callback)
cv.createTrackbar('Contrast', windowName, 85,
cv.createTrackbar('Hmin', windowName, img_params["HUE_LOWER"], 180, track_callback)
cv.createTrackbar('Hmax', windowName, img_params['HUE_UPPER'], 180, track_callback)
cv.createTrackbar('Smin', windowName, img_params['SATURATION_LOWER'], 255, track_callback)
cv.createTrackbar('Smax', windowName, img_params['SATURATION_UPPER'], 255, track_callback)
cv.createTrackbar('Vmin', windowName, img_params['BRIGHTNESS_LOWER'], 255, track_callback)
cv.createTrackbar('Vmax', windowName, img_params['BRIGHTNESS_UPPER'], 255, track_callback)
cv.createTrackbar('Rmin', windowName, img_params['RADIUS_MIN'], 200, track_callback)
cv.createTrackbar('Rmax', windowName, img_params['RADIUS_MAX'], 200, track_callback)
cv.createTrackbar('Param 1', windowName, img_params['PARAM_1'], 250, track_callback)
cv.createTrackbar('Param 2', windowName, img_params['PARAM_2'], 100, track_callback)
cv.createTrackbar('Contrast', windowName, int(100 * img_params["ALPHA"]),
alpha_slider_max, track_callback)
cv.createTrackbar('Num Blurs', windowName, 0, max_blurs, track_callback)

cv.createTrackbar('Num Blurs', windowName, img_params['NUM_BLURS'], max_blurs, track_callback)
# Get camera image
cap = cv.VideoCapture(CAMERA)
if not cap.isOpened():
Expand Down Expand Up @@ -164,14 +188,32 @@ def track_callback(val):
# Draw circle outline
cv.circle(image, center, radius, (255, 0, 255), 3)
row, col, _ = frame.shape

# Display:
cv.imshow("Circles", image)
# cv.imshow("Masked", masked)
cv.moveWindow("Circles", 0, 0)
# cv.moveWindow("Masked", col + 1, 0)
cv.moveWindow(windowName, col + 1, row)
key = cv.waitKey(1)
if key == 27 or key == ord('q'):
break

# Update ROS Parameter Server
img_params["HUE_LOWER"] = HUE_LOWER
img_params["HUE_UPPER"] = HUE_UPPER
img_params["SATURATION_LOWER"] = SATURATION_LOWER
img_params["SATURATION_UPPER"] = SATURATION_UPPER
img_params["BRIGHTNESS_LOWER"] = BRIGHTNESS_LOWER
img_params["BRIGHTNESS_UPPER"] = BRIGHTNESS_UPPER
img_params["NUM_BLURS"] = NUM_BLURS
img_params["RADIUS_MIN"] = RADIUS_MIN
img_params["RADIUS_MAX"] = RADIUS_MAX
img_params["PARAM_1"] = PARAM_1
img_params["PARAM_2"] = PARAM_2
img_params["ALPHA"] = ALPHA

rospy.set_param("img_params", img_params)

# Cleanup
cap.release()
cv.destroyAllWindows()

0 comments on commit 335cbfa

Please sign in to comment.