fix cv color conversions (autorope#1133)

- several of the color conversions were not correctly returning
  the converted image; return None instead.
- this commit fixes those and makes all color conversions
  similar in how they return that converted image
- This also adds a new transform; a version of the trapezoid
  mask that takes values from the edges of the image like
  the crop transform does (rather than absoluted image coordinates
  as the pre-existing trapezoid transform does).

Author: Ezward

donkeycar/parts/cv.py

@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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)
+                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:
         """
@@ -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
         #
@@ -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, 
@@ -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()