Fixed color thresholding for the most part. Probably gonna have to incorporate...

Fixed color thresholding for the most part. Probably gonna have to incorporate brightness and saturation though, not just hue

board_detector.py

@@ -225,19 +225,18 @@ def find_board(img):
 def find_pieces(warped_img, sorted_warped_points):
     hsv_img = cv2.cvtColor(warped_img, cv2.COLOR_BGR2HSV)
 
-    hsv_mask_sat = cv2.inRange(hsv_img[:,:,1], 70, 255) # saturation mask
+    # threshold to find strongest colors in image
+    hsv_mask_sat = cv2.inRange(hsv_img[:,:,1], 60, 255) # saturation mask
     hsv_mask_bright = cv2.inRange(hsv_img[:,:,2], 100, 255) # brightness mask
     hsv_mask = cv2.bitwise_and(hsv_mask_sat, hsv_mask_bright)
 
-    # Apply the mask to the entire HSV image
-    full_white = np.full_like(hsv_img, 255, dtype=np.uint8)
-    hsv_after = cv2.bitwise_and(hsv_img, full_white, mask=hsv_mask)
+    hsv_after = cv2.bitwise_and(hsv_img, hsv_img, mask=hsv_mask)
     bgr_after = cv2.cvtColor(hsv_after, cv2.COLOR_HSV2BGR)
     
 
     # create color histogram for each square and find candidate color, if any
-    hue_thresh_dict = {'red': (170,190), 'orange':(11,30), 'yellow': (31,40), 'green': (50,70), 'blue': (110,130), 'teal': (90,109),
-                       'pink': (140,160)} 
+    hue_thresh_dict = {'red': (170,190), 'orange':(8,20), 'yellow': (20,40), 'green': (50,70), 'blue': (105,120), 'purple': (120,140), 
+                       'teal': (90,105), 'pink': (140,170)} 
 
     count = 0
     color_grid = []
@@ -273,24 +272,24 @@ def find_pieces(warped_img, sorted_warped_points):
             piece_found = False
             if avg_hue != 0:
                 for color, (lower, upper) in hue_thresh_dict.items():
-                    if lower <= avg_hue <= upper:
-                        color_grid[i].append((color, avg_hue))
+                    if lower <= avg_hue < upper:
+                        color_grid[i].append((color, avg_hue, num_pixels))
                         piece_found = True
                         break # should only do this once
             
             if piece_found == False:
-                color_grid[i].append((None,avg_hue))
+                color_grid[i].append((None, avg_hue, num_pixels))
 
             count += 1
 
-    # print color_grid
+    # print color_grid. only print when the color is found a lot in the square (> 100 times)
     for row in color_grid:
         print("||", end="")
-        for tup in row:
-            if tup[1] == 0:
-                print("\t\t|", end="")
+        for color, avg_hue, num_pixels in row:
+            if num_pixels > 100:
+                print(color,int(avg_hue), "\t|", end="")
             else:
-                print(tup[0],int(tup[1]), "\t|", end="")
+                print("\t\t|", end="")
         print("|")
 
     if show_cv: