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fix cv color conversions #1133

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merged 1 commit into from
Jun 26, 2023
Merged

fix cv color conversions #1133

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100 changes: 78 additions & 22 deletions donkeycar/parts/cv.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_RGB2GRAY)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_RGB2GRAY)
except:
logger.error("Unable to convert RGB image to greyscale")
return None
Expand All @@ -40,7 +39,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_GRAY2RGB)
return cv2.cvtColor(img_arr, cv2.COLOR_GRAY2RGB)
except:
logger.error(F"Unable to convert greyscale image of shape {img_arr.shape} to RGB")
return None
Expand All @@ -55,7 +54,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_GRAY2BGR)
return cv2.cvtColor(img_arr, cv2.COLOR_GRAY2BGR)
except:
logger.error(F"Unable to convert greyscale image of shape {img_arr.shape} to RGB")
return None
Expand All @@ -75,8 +74,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_BGR2GRAY)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_BGR2GRAY)
except:
logger.error("Unable to convert BGR image to greyscale")
return None
Expand All @@ -92,8 +90,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_HSV2GRAY)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_HSV2GRAY)
except:
logger.error("Unable to convert HSV image to greyscale")
return None
Expand Down Expand Up @@ -121,8 +118,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_BGR2RGB)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_BGR2RGB)
except:
logger.error("Unable to convert BGR image to RGB")
return None
Expand All @@ -138,8 +134,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_RGB2BGR)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_RGB2BGR)
except:
logger.error("Unable to convert RGB image to BRG")
return None
Expand All @@ -155,8 +150,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_HSV2RGB)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_HSV2RGB)
except:
logger.error("Unable to convert HSV image to RGB")
return None
Expand All @@ -172,8 +166,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_RGB2HSV)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_RGB2HSV)
except:
logger.error("Unable to convert RGB image to HSV")
return None
Expand All @@ -189,8 +182,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_HSV2BGR)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_HSV2BGR)
except:
logger.error("Unable to convert HSV image to BGR")
return None
Expand All @@ -206,8 +198,7 @@ def run(self, img_arr):
return None

try:
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_BGR2HSV)
return img_arr
return cv2.cvtColor(img_arr, cv2.COLOR_BGR2HSV)
except:
logger.error("Unable to convert BGR image to HSV")
return None
Expand Down Expand Up @@ -422,6 +413,62 @@ def shutdown(self):
self.masks = {} # free cached masks


class ImgTrapezoidalEdgeMask:
def __init__(self, upper_left, upper_right, lower_left, lower_right, top, bottom, fill=[255,255,255]) -> None:
"""
Apply a trapezoidal mask to an image, where bounds are
relative the the edge of the image, conserving the
image pixels within the trapezoid and masking everything
other pixels with the fill color
"""
self.lower_left = lower_left
self.lower_right = lower_right
self.upper_left = upper_left
self.upper_right = upper_right
self.top = top
self.bottom = bottom
self.fill = fill
self.masks = {}

def run(self, image):
"""
Apply trapezoidal mask
# # # # # # # # # # # # #
# xxxxxxxxxxxxxxxxxxxxxxx
# xxxx ul ur xxxxxxxx min_y
# xxx xxxxxxx
# xx xxxxxx
# x xxxxx
# ll lr xx max_y
"""
transformed = None
if image is not None:
mask = None
key = str(image.shape)
if self.masks.get(key) is None:
height, width, depth = image_shape(image)
mask = np.zeros(image.shape, dtype=np.int32)
points = [
[self.upper_left, self.top],
[width - self.upper_right, self.top],
[width - self.lower_right, height - self.bottom],
[self.lower_left, height - self.bottom]
]
cv2.fillConvexPoly(mask,
np.array(points, dtype=np.int32),
self.fill)
Comment on lines +457 to +459
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👾

Suggested change
cv2.fillConvexPoly(mask,
np.array(points, dtype=np.int32),
self.fill)
cv2.fillConvexPoly(
mask,
np.array(points, dtype=np.int32),
self.fill
)
Suggested change
cv2.fillConvexPoly(mask,
np.array(points, dtype=np.int32),
self.fill)
cv2.fillConvexPoly(mask, np.array(points, dtype=np.int32), self.fill)

mask = np.asarray(mask, dtype='bool')
self.masks[key] = mask

mask = self.masks[key]
transformed = np.multiply(image, mask)

return transformed

def shutdown(self):
self.masks = {} # free cached masks


class ImgCropMask:
def __init__(self, left=0, top=0, right=0, bottom=0, fill=[255, 255, 255]) -> None:
"""
Expand Down Expand Up @@ -746,7 +793,7 @@ def shutdown(self):
#
# masking tranformations
#
if "TRAPEZE" == transformation or "CROP" == transformation:
if "TRAPEZE" == transformation or "TRAPEZE_EDGE" == transformation or "CROP" == transformation:
#
# masking transformations
#
Expand All @@ -759,6 +806,15 @@ def shutdown(self):
args.top if args.top is not None else 0,
args.bottom if args.bottom is not None else height
)
elif "TRAPEZE_EDGE" == transformation:
transformer = ImgTrapezoidalEdgeMask(
args.left if args.left is not None else 0,
args.right if args.right is not None else width,
args.left_bottom if args.left_bottom is not None else 0,
args.right_bottom if args.right_bottom is not None else width,
args.top if args.top is not None else 0,
args.bottom if args.bottom is not None else height
)
else:
transformer = ImgCropMask(
args.left if args.left is not None else 0,
Expand All @@ -782,7 +838,7 @@ def shutdown(self):
transformer = ImgHSV2BGR()
elif "RGB2GREY" == transformation:
transformer = ImgRGB2GRAY()
elif "RBGR2GREY" == transformation:
elif "BGR2GREY" == transformation:
transformer = ImgBGR2GRAY()
elif "HSV2GREY" == transformation:
transformer = ImgHSV2GRAY()
Expand Down