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https://github.com/elephantrobotics/mycobot_ros.git
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fix color
This commit is contained in:
wangWking
parent
8a8032e93a
commit
a60a94aea0
3 changed files with 25 additions and 88 deletions
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@ -77,7 +77,7 @@ class Object_detect(Movement):
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self.HSV = {
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"yellow": [np.array([11, 115, 70]), np.array([40, 255, 245])],
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"red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
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"green": [np.array([35, 43, 46]), np.array([77, 255, 255])],
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"green": [np.array([35, 43, 35]), np.array([90, 255, 255])],
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"blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
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"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
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}
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@ -321,15 +321,15 @@ class Object_detect(Movement):
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def color_detect(self, img):
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# set the arrangement of color'HSV
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x = y = 0
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gs_img = cv2.GaussianBlur(img, (3, 3), 0) # 高斯模糊
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# transfrom the img to model of gray
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hsv = cv2.cvtColor(gs_img, cv2.COLOR_BGR2HSV)
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for mycolor, item in self.HSV.items():
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# print("mycolor:",mycolor)
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redLower = np.array(item[0])
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redUpper = np.array(item[1])
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# transfrom the img to model of gray
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hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
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# print("hsv",hsv)
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# wipe off all color expect color in range
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mask = cv2.inRange(hsv, item[0], item[1])
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@ -376,7 +376,7 @@ class Object_detect(Movement):
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self.color = 0
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elif mycolor == "green":
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self.color = 1
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elif mycolor == "cyan":
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elif mycolor == "cyan" or mycolor == "blue":
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self.color = 2
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else:
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self.color = 3
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@ -316,11 +316,13 @@ class Object_detect(Movement):
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def color_detect(self, img):
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# set the arrangement of color'HSV
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x = y = 0
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gs_img = cv2.GaussianBlur(img, (3, 3), 0) # 高斯模糊
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# transfrom the img to model of gray
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hsv = cv2.cvtColor(gs_img, cv2.COLOR_BGR2HSV)
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for mycolor, item in self.HSV.items():
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redLower = np.array(item[0])
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redUpper = np.array(item[1])
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# transfrom the img to model of gray
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hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
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# wipe off all color expect color in range
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mask = cv2.inRange(hsv, item[0], item[1])
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# a etching operation on a picture to remove edge roughness
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@ -365,7 +367,7 @@ class Object_detect(Movement):
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elif mycolor == "green":
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self.color = 1
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elif mycolor == "cyan":
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elif mycolor == "cyan" or mycolor == "blue":
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self.color = 2
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else:
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@ -400,7 +402,6 @@ if __name__ == "__main__":
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_, frame = cap.read()
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# deal img
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frame = detect.transform_frame(frame)
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if _init_ > 0:
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_init_ -= 1
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continue
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@ -73,33 +73,15 @@ class Object_detect(Movement):
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# set cache of real coord
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self.cache_x = self.cache_y = 0
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# set color HSV
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self.HSV = {
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"yellow": [np.array([11, 115, 70]), np.array([40, 255, 245])],
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"red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
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"green": [np.array([70, 100, 100]), np.array([90, 255, 255])], # [77, 255, 255]
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"green": [np.array([35, 43, 35]), np.array([90, 255, 255])], # [77, 255, 255]
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"blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
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"cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])], # np.array([78, 43, 46]), np.array([99, 255, 255])
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}
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# set color HSV
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# self.HSV = {
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# # "yellow": [np.array([11, 115, 70]), np.array([40, 255, 245])],
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# "yellow": [np.array([22, 93, 70]), np.array([45, 255, 245])],
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# "red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
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# # "green": [np.array([35, 43, 46]), np.array([77, 255, 255])],
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# "green": [np.array([35, 55, 30]), np.array([88, 255, 255])],
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# "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
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# # "blue": [np.array([-10, 100, 100]), np.array([10, 255, 255])],
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# "cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
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# }
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# self.HSV = {
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# # "yellow": [np.array([11, 85, 70]), np.array([59, 255, 245])],
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# "yellow": [np.array([22, 93, 0]), np.array([45, 255, 245])],
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# "red": [np.array([0, 43, 46]), np.array([8, 255, 255])],
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# "green": [np.array([35, 43, 35]), np.array([90, 255, 255])],
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# # "blue": [np.array([100, 43, 46]), np.array([124, 255, 255])],
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# "cyan": [np.array([78, 43, 46]), np.array([99, 255, 255])],
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# }
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# use to calculate coord between cube and mypal260
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self.sum_x1 = self.sum_x2 = self.sum_y2 = self.sum_y1 = 0
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# The coordinates of the grab center point relative to the mypal260
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@ -328,14 +310,14 @@ class Object_detect(Movement):
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def color_detect(self, img):
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# set the arrangement of color'HSV
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x = y = 0
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gs_img = cv2.GaussianBlur(img, (3, 3), 0) # 高斯模糊
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# transfrom the img to model of gray
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hsv = cv2.cvtColor(gs_img, cv2.COLOR_BGR2HSV)
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for mycolor, item in self.HSV.items():
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# print("mycolor:",mycolor)
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redLower = np.array(item[0])
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redUpper = np.array(item[1])
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# transfrom the img to model of gray
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hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
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# print("hsv",hsv)
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# wipe off all color expect color in range
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mask = cv2.inRange(hsv, item[0], item[1])
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@ -380,64 +362,18 @@ class Object_detect(Movement):
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# calculate the real coordinates of mypal260 relative to the target
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if mycolor == "red":
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self.color = 0
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break
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elif mycolor == "blue":
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self.color = 2
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break
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elif mycolor == "green":
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self.color = 1
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break
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elif mycolor == "cyan":
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elif mycolor == "cyan" or mycolor == "blue":
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self.color = 2
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break
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elif mycolor == "yellow":
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self.color = 3
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break
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# elif mycolor == "green":
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# self.color = 1
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# if mycolor == "red":
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# self.color = 0
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# break
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# elif mycolor == "green":
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# self.color = 1
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# print('green')
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# break
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# elif mycolor == "cyan":
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# self.color = 2
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# break
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# elif mycolor == "blue":
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# self.color = 2
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# break
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# elif mycolor == "yellow":
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# self.color = 3
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# break
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# if mycolor == "yellow":
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# self.color = 3
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# print(mycolor)
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# break
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# elif mycolor == "red":
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# self.color = 0
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# print(mycolor)
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# break
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# elif mycolor == "cyan" or mycolor == "blue":
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# self.color = 2
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# print(mycolor)
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# break
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# # elif mycolor == "blue":
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# # self.color =2
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# # break
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# else:
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# self.color = 1
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# print(mycolor)
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# # break
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else:
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self.color = 3
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if abs(x) + abs(y) > 0:
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return x, y
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else:
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