Deleted discontinuity in HSV filter of colorTuner

src/tools/colorTuner_py/CMakeLists.txt

@@ -16,6 +16,8 @@ install(
 INSTALL(FILES colorTuner.py DESTINATION share/jderobot/python/colorTuner_py/ COMPONENT colortuner-python)
 INSTALL(FILES resources_rc.py DESTINATION share/jderobot/python/colorTuner_py/ COMPONENT colortuner-python)
 
+INSTALL(FILES resources/HLSColorSpace.png DESTINATION share/jderobot/python/colorTuner_py/resources/HLSColorSpace.png COMPONENT colortuner-python)
+
 # Install gui
 INSTALL (DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/gui DESTINATION share/jderobot/python/colorTuner_py COMPONENT colortuner-python PATTERN .svn EXCLUDE)
 

src/tools/colorTuner_py/filters/hsvFilter.py

@@ -4,7 +4,7 @@
 import numpy as np
 
 '''Max Values supported by OpenCV'''
-HSVMAX = (179,255,255)
+HSVMAX = (180,255,255)
 HSVMIN = (0,0,0)
 
 
@@ -58,14 +58,31 @@ def apply (self, img):
         hdwn,sdwn,vdwn = self.getDownLimit()
 
         hsv = cv2.cvtColor(img, cv2.COLOR_RGB2HSV)
-
-        # http://docs.opencv.org/3.0-beta/doc/py_tutorials/py_imgproc/py_colorspaces/py_colorspaces.html
-        minValues = np.array([hdwn,sdwn,vdwn],dtype=np.uint8)
-        maxValues = np.array([hup,sup,vup], dtype=np.uint8)
-
-        mask = cv2.inRange(hsv, minValues, maxValues)
-
-        res = cv2.bitwise_and(img,img, mask= mask)
+        mask = None
+        res = None
+
+        if hdwn <= hup:
+            # http://docs.opencv.org/3.0-beta/doc/py_tutorials/py_imgproc/py_colorspaces/py_colorspaces.html
+            minValues = np.array([hdwn,sdwn,vdwn],dtype=np.uint8)
+            maxValues = np.array([hup,sup,vup], dtype=np.uint8)
+
+            mask = cv2.inRange(hsv, minValues, maxValues)
+            res = cv2.bitwise_and(img,img, mask= mask)
+        else:
+            # http://docs.opencv.org/3.0-beta/doc/py_tutorials/py_imgproc/py_colorspaces/py_colorspaces.html
+            # red goes from 240 to 20 degreess aprox
+            maxValues1 = np.array([hup,sup,vup],dtype=np.uint8)
+            minValues1 = np.array([0,sdwn,vdwn],dtype=np.uint8)
+            maxValues2 = np.array([180,sup,vup], dtype=np.uint8)
+            minValues2 = np.array([hdwn,sdwn,vdwn],dtype=np.uint8)
+
+            mask1 = cv2.inRange(hsv, minValues1, maxValues1)
+            mask2 = cv2.inRange(hsv, minValues2, maxValues2)
+
+            r1 = cv2.bitwise_and(img,img, mask= mask1)
+            r2 = cv2.bitwise_and(img,img, mask= mask2)
+            res = cv2.bitwise_or(r1, r2)
+
 
 
         return res

src/tools/colorTuner_py/gui/controlWidget.py

@@ -18,7 +18,7 @@
 #
 
 from PyQt5.QtCore import pyqtSignal, Qt
-from PyQt5.QtWidgets import QWidget, QLabel, QRadioButton, QGridLayout, QVBoxLayout, QSpacerItem, QSizePolicy, QSlider, QTextEdit, QLineEdit
+from PyQt5.QtWidgets import QWidget, QLabel, QRadioButton, QGridLayout, QVBoxLayout, QHBoxLayout, QSpacerItem, QSizePolicy, QSlider, QTextEdit, QLineEdit
 from PyQt5.QtGui import QIntValidator
 from filters.hsvFilter import HSVMAX, HSVMIN
 from filters.rgbFilter import RGBMAX, RGBMIN
@@ -66,13 +66,20 @@ def initUI(self):
         self.gLayout.setObjectName("gLayout")
 
         ''' Vertical Layout for radio buttons '''
+        self.radio1Layout = QHBoxLayout()
+        self.radio2Layout = QVBoxLayout()
+        self.radio3Layout = QVBoxLayout()
         self.radioLayout = QVBoxLayout()
         self.radioLayout.setObjectName("radioLayout")
-        self.radioLayout.addWidget(self.origButton)
-        self.radioLayout.addWidget(self.rgbButton)
-        self.radioLayout.addWidget(self.hsvButton)
-        self.radioLayout.addWidget(self.yuvButton)
-        self.vSpacer = QSpacerItem(30, 20, QSizePolicy.Ignored, QSizePolicy.Ignored);
+        self.radio1Layout.addWidget(self.origButton)
+        self.radio1Layout.addWidget(self.rgbButton)
+        self.radio1Layout.addWidget(self.hsvButton)
+        self.radio1Layout.addWidget(self.yuvButton)
+
+        #self.radio1Layout.addLayout(self.radio2Layout)
+        #self.radio1Layout.addLayout(self.radio3Layout)
+        self.radioLayout.addLayout(self.radio1Layout)
+        self.vSpacer = QSpacerItem(10, 10, QSizePolicy.Ignored, QSizePolicy.Ignored);
         self.radioLayout.addItem(self.vSpacer)
 
         hmin,smin,vmin = HSVMIN

src/tools/colorTuner_py/gui/gui.py

@@ -27,6 +27,7 @@
 from logoWidget import  LogoWidget
 import resources_rc
 import sys
+import cv2
 
 class MainWindow(QMainWindow):
 
@@ -133,11 +134,11 @@ def __init__(self, parent=None):
         zoompixGroupBox = QGroupBox("Zoom x" + str(self.ZOOM_X))
         grid3 = QGridLayout()
         self.crop = MyLabel(self, True)
-        self.crop.setFixedSize(200,200)
+        self.crop.setFixedSize(150,150)
 
         self.tootippixel = QLabel(self)
         self.pixel = QLabel(self)
-        self.pixel.setFixedSize(75,75)  
+        self.pixel.setFixedSize(50,50)  
         self.rgbVal = QLabel("RGB")
 
         grid3.addWidget(self.crop,0,0)
@@ -151,10 +152,23 @@ def __init__(self, parent=None):
         grid4.addWidget(controlWidget)
         slidersGroupBox.setLayout(grid4)
 
+        filtGroupBox = QGroupBox("Color Space")
+        image = cv2.imread("resources/HLSColorSpace.png")
+        self.colorSpace = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+        self.colorSpaceLabel = QLabel(self)
+        #filtImg.setScaledContents(True)
+        d = QImage(self.colorSpace.data, self.colorSpace.shape[1], self.colorSpace.shape[0], self.colorSpace.shape[1] * self.colorSpace.shape[2], QImage.Format_RGB888).scaled(200, 200, Qt.KeepAspectRatio)
+        self.colorSpaceLabel.setFixedSize(200,200)
+        self.colorSpaceLabel.setPixmap(QPixmap.fromImage(d))
+        gridf = QGridLayout()
+        gridf.addWidget(self.colorSpaceLabel)
+        filtGroupBox.setLayout(gridf)
+
         imagesLayout.addWidget(sourceGroupBox,0)
         imagesLayout.addWidget(filterGroupBox,1)
         controlLayout.addWidget(zoompixGroupBox,0)
-        controlLayout.addStretch(10)
+        #controlLayout.addStretch(10)
+        controlLayout.addWidget(filtGroupBox,0)
         controlLayout.addWidget(slidersGroupBox,0)
         mainLayout.addLayout(imagesLayout,0,0)
         mainLayout.addLayout(controlLayout,0,1)
@@ -177,9 +191,14 @@ def updateGUI(self):
 
         filt = self.getFilterName()
         img = self.camera.getFilteredImage(filt)
+        if (filt is not "Orig"):
+            disc2 = self.camera.getFilter(filt).apply(self.colorSpace)
+            imgDisc = QImage(disc2.data, disc2.shape[1], disc2.shape[0], disc2.shape[1] * disc2.shape[2], QImage.Format_RGB888).scaled(200, 200)
+            self.colorSpaceLabel.setPixmap(QPixmap.fromImage(imgDisc))
         if img is not None:
             self.imageF = QImage(img.data, img.shape[1], img.shape[0], img.shape[1] * img.shape[2], QImage.Format_RGB888).scaled(self.IMAGE_COLS_MAX, self.IMAGE_ROWS_MAX)
             self.filterImg.setPixmap(QPixmap.fromImage(self.imageF))
+
 
         #print "update"
         pos = self.sourceImg.getMousePos()