Add sliders for adjusting the HSV thresholds, making tuning practical.
Here's a good cut at tuning those parameters and some of the other parameters.
The recognizer really works!
It can be further tuned and refined.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4129 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/971CV/src/org/frc971/VisionTuner.java b/971CV/src/org/frc971/VisionTuner.java
index 159cafd..757b46c 100644
--- a/971CV/src/org/frc971/VisionTuner.java
+++ b/971CV/src/org/frc971/VisionTuner.java
@@ -1,11 +1,17 @@
package org.frc971;
+import java.awt.BorderLayout;
+import java.awt.GridLayout;
import java.awt.event.KeyEvent;
import java.io.File;
import java.io.IOException;
import javax.imageio.ImageIO;
+import javax.swing.JPanel;
+import javax.swing.JSlider;
import javax.swing.WindowConstants;
+import javax.swing.event.ChangeEvent;
+import javax.swing.event.ChangeListener;
import com.googlecode.javacv.CanvasFrame;
@@ -34,14 +40,64 @@
public class VisionTuner {
private String[] testImageFilenames;
private WPIColorImage[] testImages;
- private final CanvasFrame cameraFrame = new CanvasFrame("Camera");
private int currentIndex = 0;
private Recognizer recognizer = new Recognizer2013();
+ private final CanvasFrame cameraFrame = new CanvasFrame("Camera");
+ private final JPanel panel = new JPanel();
+ private final JSlider hueMinSlider = new JSlider();
+ private final JSlider hueMaxSlider = new JSlider();
+ private final JSlider satMinSlider = new JSlider();
+ private final JSlider valMinSlider = new JSlider();
+
public VisionTuner(String[] imageFilenames) {
cameraFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
loadTestImages(imageFilenames);
+
+ cameraFrame.getContentPane().add(panel, BorderLayout.SOUTH);
+ panel.setLayout(new GridLayout(0, 2, 0, 0));
+
+ ChangeListener sliderListener = new ChangeListener() {
+ @Override
+ public void stateChanged(ChangeEvent e) {
+ System.out.println("New HSV range ["
+ + hueMinSlider.getValue() + " .. "
+ + hueMaxSlider.getValue() + "], ["
+ + satMinSlider.getValue() + " .. 255], ["
+ + valMinSlider.getValue() + " .. 255]");
+ recognizer.setHSVRange(
+ hueMinSlider.getValue(), hueMaxSlider.getValue(),
+ satMinSlider.getValue(),
+ valMinSlider.getValue());
+ processCurrentImage();
+ }
+ };
+
+ hueMinSlider.setValue(recognizer.getHueMin());
+ hueMinSlider.setToolTipText("minimum HSV hue");
+ hueMinSlider.setMaximum(255);
+ panel.add(hueMinSlider);
+
+ hueMaxSlider.setValue(recognizer.getHueMax());
+ hueMaxSlider.setToolTipText("maximum HSV hue");
+ hueMaxSlider.setMaximum(255);
+ panel.add(hueMaxSlider);
+
+ satMinSlider.setValue(recognizer.getSatMin());
+ satMinSlider.setToolTipText("minimum HSV color saturation");
+ satMinSlider.setMaximum(255);
+ panel.add(satMinSlider);
+
+ valMinSlider.setValue(recognizer.getValMin());
+ valMinSlider.setToolTipText("minimum HSV brightness value");
+ valMinSlider.setMaximum(255);
+ panel.add(valMinSlider);
+
+ hueMinSlider.addChangeListener(sliderListener);
+ hueMaxSlider.addChangeListener(sliderListener);
+ satMinSlider.addChangeListener(sliderListener);
+ valMinSlider.addChangeListener(sliderListener);
}
/**
@@ -51,6 +107,7 @@
private void loadTestImages(String[] imageFilenames) {
testImageFilenames = imageFilenames;
testImages = new WPIColorImage[testImageFilenames.length];
+ currentIndex = 0;
for (int i = 0; i < testImageFilenames.length; i++) {
String imageFilename = testImageFilenames[i];