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fix: 最外矩形を正しく表示
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@YKhm20020
YKhm20020 committed Oct 21, 2023
1 parent c085c80 commit 1dec645
Showing 1 changed file with 46 additions and 21 deletions.
67 changes: 46 additions & 21 deletions rear_camera_py/src/get_area_info.py
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Original file line number Diff line number Diff line change
Expand Up @@ -269,7 +269,7 @@ def start(self) -> None:
'yellow': Color.YELLOW.value,
}

# 各サークルにあたる正方形を格納する空のリストを保持した辞書
# 各サークルにあたる正方形の座標を格納する空のリストを保持した辞書
circles_data= {
'red': {
'upper_left': [],
Expand Down Expand Up @@ -306,6 +306,7 @@ def start(self) -> None:

color_counts = {}

# 抽出した色をカウント
for color, (lower, upper) in color_ranges.items():
mask = cv2.inRange(square_hsv, np.array(lower), np.array(upper))
count = cv2.countNonZero(mask)
Expand All @@ -319,39 +320,63 @@ def start(self) -> None:
# 画像に色情報を描画
cv2.rectangle(trans_img, (x, y), (x+square_size, y+square_size), bright_colors[dominant_color], 2)

# 色の数だけ for 文を回す。正方形の座標をサークルの色の位置に対応するリストに格納
# 最も上の行は射影変換の歪みを考慮し、y 座標の基準を決めている
# サークルの色の数だけ for 文を回す。正方形の座標をサークルの色の位置に対応するリストに格納する
# 行と列の境界は射影変換の歪みを考慮し、基準を決めている
for key in circles_data.keys():
if key == 'red':
if key == 'red' and dominant_color == 'red':
if x < width / 4 and y < height / 8:
circles_data[key]['upper_left'].append((x, y))
elif x >= width / 4 and y < height / 8:
elif x >= width / 4 and x <= width / 2 and y < height / 8:
circles_data[key]['upper_right'].append((x, y))
elif x < width / 4 and y <= height / 2:
elif x < width / 4 and y < height / 2:
circles_data[key]['lower_left'].append((x, y))
else:
elif x >= width / 4 and x <= width / 2 and y >= height / 8 and y <= height / 2:
circles_data[key]['lower_right'].append((x, y))

# if key == 'yellow':
# if x < (3 * width / 4) and y < height / 8:
# circles_data[key]['upper_left'].append((x, y))
# elif x >= (3 * width / 4) and y < height / 8:
# circles_data[key]['upper_right'].append((x, y))
# elif x < (3 * width / 4) and y <= height / 2:
# circles_data[key]['lower_left'].append((x, y))
# else:
# circles_data[key]['lower_right'].append((x, y))
if key == 'yellow' and dominant_color == 'yellow':
if x > width / 2 and x < (3 * width / 4) and y < height / 8:
circles_data[key]['upper_left'].append((x, y))
elif x >= (3 * width / 4) and y <= height / 8:
circles_data[key]['upper_right'].append((x, y))
elif x > width / 2 and x < (3 * width / 4) and y > height / 8 and y < height / 2:
circles_data[key]['lower_left'].append((x, y))
elif x >= (3 * width / 4) and y >= height / 8 and y <= height / 2:
circles_data[key]['lower_right'].append((x, y))

if key == 'blue' and dominant_color == 'blue':
if x < width / 4 and y > height / 2 and y < (3 * height / 4):
circles_data[key]['upper_left'].append((x, y))
elif x > width / 4 and x < width / 2 and y > height / 2 and y < (3 * height / 4):
circles_data[key]['upper_right'].append((x, y))
elif x < width / 4 and y > (3 * height / 4):
circles_data[key]['lower_left'].append((x, y))
elif x >= width / 4 and x <= width / 2 and y >= height / 2 and y >= (3 * height / 4):
circles_data[key]['lower_right'].append((x, y))

if key == 'green' and dominant_color == 'green':
if x > width / 2 and x < (3 * width / 4) and y > height / 2 and y < (3 * height / 4):
circles_data[key]['upper_left'].append((x, y))
elif x >= (3 * width / 4) and y >= height / 2 and y <= (3 * height / 4):
circles_data[key]['upper_right'].append((x, y))
elif x >= width / 2 and x < (3 * width / 4) and y > (3 * height / 4):
circles_data[key]['lower_left'].append((x, y))
elif x >= (3 * width / 4) and y >= (3 * height / 4):
circles_data[key]['lower_right'].append((x, y))

for key, value in circles_data.items():
for region in value:
if not value[region]:
print(f'{region}_{key}_circle is not detected')
# print(f'{region}_{key}_circle is not detected')
continue
else:
min_x, min_y = min(circles_data[key][region], key=lambda item: (item[0], item[1]))
max_x, max_y = max(circles_data[key][region], key=lambda item: (item[0], item[1]))
print(f'({min_x}, {min_y}), ({max_x}, {max_y})')
min_x = min(circles_data[key][region], key=lambda item: item[0])[0]
max_x = max(circles_data[key][region], key=lambda item: item[0])[0]
min_y = min(circles_data[key][region], key=lambda item: item[1])[1]
max_y = max(circles_data[key][region], key=lambda item: item[1])[1]
# print(f'({min_x}, {min_y}), ({max_x}, {max_y})') # 確認用
cv2.rectangle(trans_img, (min_x, min_y), (max_x, max_y), bright_colors[key], 2)

# print(f'{key}_{region}: {circles_data[key][region]}') # 確認用

save_path = os.path.join(self.image_dir_path, "circles_"+self.image_name)
cv2.imwrite(save_path, trans_img)

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