def run(self, image, display_image):
from arrow import draw_arrow
image = cv2.resize(image, (n_cols, n_rows))
self.images.append(image)
category = None
if len(self.images) == n_files:
try:
predict = session.run(model_predict, { model_input: [self.images], model_keep_prob: 1.0 } )
category = ind2cat(predict[0])
draw_arrow(display_image, category)
except ValueError:
category = None
self.images.popleft()
return category
def paintEvent(self, event):
self.board_size = min(self.width(), self.height())
self.tile_size = self.board_size / 8
painter = QPainter()
painter.begin(self)
painter.setRenderHint(QPainter.Antialiasing)
self.board_svg.render(painter,
QRectF(0, 0, self.board_size, self.board_size))
if self.selected != None:
painter.setBrush(QBrush(QColor(0, 120, 255, 100), Qt.SolidPattern))
painter.setPen(QPen(QColor(0, 120, 255, 100), Qt.SolidLine))
sx = self.selected[0]
sy = self.selected[1]
painter.drawRect(sx * self.tile_size, sy * self.tile_size,
self.tile_size, self.tile_size)
for f in range(len(self.files)):
for r in range(len(self.ranks)):
if sx == f and sy == r:
continue
if self.islegalmove(sx, sy, f, r):
x = f * self.tile_size + self.tile_size / 4
y = r * self.tile_size + self.tile_size / 4
painter.drawEllipse(x, y, self.tile_size / 2,
self.tile_size / 2)
for f in range(len(self.files)):
for r in range(len(self.ranks)):
sn = self.files[f] + self.ranks[r]
s = chess.parse_square(sn)
piece = self.board.piece_at(s)
if piece != None:
ps = piece.symbol()
color = WHITE if ps.isupper() else BLACK
renderer = self.piece_images[color + ps.upper()]
bounds = QRectF(f * self.tile_size, r * self.tile_size,
self.tile_size, self.tile_size)
renderer.render(painter, bounds)
for arrow in self.arrows:
fx = arrow[0] * self.tile_size + self.tile_size / 2
fy = arrow[1] * self.tile_size + self.tile_size / 2
tx = arrow[2] * self.tile_size + self.tile_size / 2
ty = arrow[3] * self.tile_size + self.tile_size / 2
painter.setBrush(QBrush(QColor(34, 139, 34, 130), Qt.SolidPattern))
painter.setPen(Qt.NoPen)
painter.drawPolygon(draw_arrow(fx, fy, tx, ty, 40, 10))
if self.best_move != None and self.show_best_move:
bm = self.best_move
fx, fy = self.coordsofsquare(bm.from_square)
tx, ty = self.coordsofsquare(bm.to_square)
fx = fx * self.tile_size + self.tile_size / 2
fy = fy * self.tile_size + self.tile_size / 2
tx = tx * self.tile_size + self.tile_size / 2
ty = ty * self.tile_size + self.tile_size / 2
painter.setBrush(QBrush(QColor(0, 92, 153, 130), Qt.SolidPattern))
painter.setPen(Qt.NoPen)
painter.drawPolygon(draw_arrow(fx, fy, tx, ty, 70, 15))
painter.end()
self.update()
def update(table, viewAngleHorz, deltaTime) :
theta, dist = 0.0, 0.0
#print "update()"
# while True :
ret, img = camera.read() # img.shape 640x480 image
#print "ret: " + str(ret) + "\n"
#ret = True
#img = cv2.imread("c:\Untitled.tiff")
#if not ret : print "oops!\n"
#elif
# cv2.imshow('input',img)
# Convert to hsv img
#hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
h, s, v = rgb_to_hsl_hsv(img, True)
#cv2.imshow("v", v)
thresh = 255
im_bw = cv2.threshold(v, 240, 255, cv2.THRESH_BINARY)[1]
#cv2.imshow("im_bw",im_bw)
#
if False :
rg = better_way(img)
cv2.imshow('huh', rg)
#rg1 = cv2.cvtColor(rg, cv2.COLOR_BGR2HSV)
#hsv = cv2.cvtColor(rg, cv2.COLOR_BGR2HSV)
# Keep only green objects
# higher s = less white, higher v = less black
#invent sliders to adjust
#lowerGreen = np.array([70, 70, 180])
#upperGreen = np.array([110, 130,255])
if False :
lg_h, lg_s, lg_v = 0, 0, 254
ug_h, ug_s, ug_v = 255, 255, 255
#lg_h, lg_s, lg_v = 100, 6, 67
#ug_h, ug_s, ug_v = 158, 98, 87
lowerGreen = np.array([lg_h, lg_s, lg_v])
upperGreen = np.array([ug_h, ug_s, ug_v])
filteredGreen = cv2.inRange(hsv, lowerGreen, upperGreen)
#cv2.imshow('fgreen',filteredGreen)
if False :
filteredGreen = rg
#cv2.cvtColor(rg, cv2.COLOR_RGB2GRAY, filteredGreen, 1)
#cv2.cvtColor(filteredGreen, cv2.COLOR_GRAY2RGBA, filteredGreen, 1)
#rg.convertTo(filteredGreen, CV_8UC1)
#try as hard as heck to convert to happy format for findContours...
min_t = np.array((199, 199, 199))
max_t = np.array((201, 201, 201))
filteredGreen = cv2.inRange(rg, min_t, max_t)
filteredGreen = im_bw
#cv2.imshow('bigfilter',filteredGreen)
# Filter out small objects
filteredGreen = cv2.morphologyEx(filteredGreen, cv2.MORPH_OPEN, np.ones((3, 3)))
#cv2.imshow('fgreens',filteredGreen)
# Find all contours, counter is vector of points that are connected to make up a shape
contours, hierarchy = cv2.findContours(filteredGreen, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# Resetting values
foundHotTarget = False
foundVertTarget = False
# work around subtle bug - see StackOverflow
# http://stackoverflow.com/questions/13337058/data-type-error-with-drawcontours-unless-i-pickle-unpickle-first
tmp = cPickle.dumps(contours)
contours = cPickle.loads(tmp)
possibleHotTarget = Rectangle(0,0,0,0)
possibleHotArea = possibleHotTarget.getArea()
possibleVertTarget1 = Rectangle(0,0,0,0)
possibleVertTarget2 = Rectangle(0,0,0,0)
# Parse contours, calculate distance and check if it's the hot target
for shape in contours:
#target = Rectangle(*cv2.boundingRect(shape))
x,y,w,h = cv2.boundingRect(shape)
target = Rectangle(x,y,w,h)
# Filter out small contours
if target.getArea() > 300 and target.getArea() < 30000:
# Compensate for horizontal view of the target
#target.width = target.width / math.cos(viewAngle * math.PI / 180)
#target.width = target.width / math.cos(viewAngle * 3.14159 / 180)
# MPH improvements: - width / height (23.5/4) +-15% then possibly the hot target
# If the width of the target is greater than its height then it's probably the hot target
hotTargetRatio = 23.5 / 4
hotTargetMargin = 0.25 # percent error margin
if (target.width>target.height) and (target.height * (hotTargetRatio)*(1+hotTargetMargin)) >= target.width >= (target.height * ((hotTargetRatio)*(1-hotTargetMargin))):
foundHotTarget = True
if target.getArea() > possibleHotArea :
possibleHotTarget = target
possibleHotArea = target.getArea()
#distance = computeDistance(horizTarget.height, target.height)
# MPH improvements: - height / width (32/4) +-15% then possibly the hot target
# If the height of the target is greater than its width its probably a vert target
vertTargetRatio = 32 / 4
vertTargetMargin = 0.30
if (target.height>target.width) and (target.width * (vertTargetRatio)*(1+vertTargetMargin)) >= target.height >= (target.width * ((vertTargetRatio)*(1-vertTargetMargin))):
foundVertTarget = True
#maintain up to two top-ranked vertical targets
if possibleVertTarget2.getArea() > possibleVertTarget1.getArea :
temp = possibleVertTarget1
possibleVertTarget1 = possibleVertTarget2
possibleVertTarget2 = temp
if target.getArea() > possibleVertTarget1.getArea() :
possibleVertTarget2 = possibleVertTarget1
possibleVertTarget1 = target
elif target.getArea() > possibleVertTarget1.getArea() :
possibleVertTarget2 = target
#vt1loc = (50,440)
#vtrloc = (580,440)
#cv2.putText(img,"Hello World!!!", (50,50), cv2.FONT_HERSHEY_SIMPLEX, 2, 255)
#img, text, textOrg, fontFace, fontScale, thickness, baseline?
#cv2.putText
#cv2.putText(img, "Hi again", vtlloc, cv2.FONT_HERSHEY_SIMPLEX, 1, (255,255,255), thickness=2)
#lineType= cv2.CV_AA
if debugMode:
if possibleHotArea > 0 :
drawRect(img, possibleHotTarget)
drawXonTarget(img, possibleHotTarget)
viewAngle = computeAngle(horizTarget.height, possibleHotTarget.height, 228)
distanceHot = computeDistance(horizTarget.height, possibleHotTarget.height)
#print "Distance: ", round(distanceHot), ", Hot Target", viewAngle, viewAngleVert, ", width: ", possibleHotTarget.width, ", height", possibleHotTarget.height
#print "Distance: ", round(distanceHot / 12), ", Hot Target", viewAngle, viewAngleVert, ", width: ", \
# possibleHotTarget.width, ", height", possibleHotTarget.height
haveHotTarget = False
if possibleHotArea > 0 :
haveHotTarget = True
table.PutBoolean('hotTarget', haveHotTarget)
if debugMode:
lString = "L:"
rString = "R:"
v1DistStr = ""
v2DistStr = ""
if possibleVertTarget1.getArea() > 0 :
drawRect(img, possibleVertTarget1)
drawXonTarget(img, possibleVertTarget1)
viewAngle = computeAngle(vertTarget.height, possibleVertTarget1.height, 228)
distanceVert1 = computeDistance(vertTarget.height, possibleVertTarget1.height)
distanceVert1AsFeet = distanceVert1 / 12
#f(x)= 1.29x -0.09 - per Nathan
#distanceVert1AsFeet = (1.29 * distanceVert1AsFeet) - 0.09
v1DistStr = str(round(distanceVert1AsFeet))
#print "Distance: ", round(distanceVert1 / 12), ", Vert Target 1", viewAngle, viewAngleVert, ", width: ", \
# possibleVertTarget1.width, ", height", possibleVertTarget1.height
if possibleVertTarget2.getArea() > 0 :
drawRect(img, possibleVertTarget2)
drawXonTarget(img, possibleVertTarget2)
viewAngle = computeAngle(vertTarget.height, possibleVertTarget2.height, 228)
distanceVert2 = computeDistance(vertTarget.height, possibleVertTarget2.height)
distanceVert2AsFeet = distanceVert2 / 12
#f(x)= 1.29x -0.09 - per Nathan
#distanceVert2AsFeet = (1.29 * distanceVert2AsFeet) - 0.09
v2DistStr = str(round(distanceVert2/12))
#print "Distance: ", round(distanceVert2 / 12), ", Vert Target 1", viewAngle, viewAngleVert, ", width: ", \
# possibleVertTarget2.width, ", height", possibleVertTarget2.height
if (possibleVertTarget1.getArea()>0) and (possibleVertTarget1.getArea()>0) :
if (possibleVertTarget1.x+(possibleVertTarget1.width)/2) > (possibleVertTarget2.x+(possibleVertTarget2.width)/2) :
tmpStr = v2DistStr
v2DistStr = v1DistStr
v2DistStr = tmpStr
dist = 0
if (possibleVertTarget1.getArea()>0) :
dist = distanceVert1
lString = lString + v1DistStr
rString = rString + v2DistStr
fpsString = "FPS: "
fpsString = fpsString + str(round(1/deltaTime))
cv2.putText(img, lString, (10, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (0,0,255), thickness=2)
cv2.putText(img, rString, (510, 440), cv2.FONT_HERSHEY_SIMPLEX, 1, (0,0,255), thickness=2)
cv2.putText(img, fpsString, (10, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, (0,0,255), thickness=2)
if debugMode:
#arrow.draw_arrow(img, (320, 240), (100, 150), (100, 0, 255), 20);
throttleArrow = throttleValue(dist)
if throttleArrow != 0 :
arrow.draw_arrow(img, (320, 380), (320, int(380 - (50*throttleArrow))), (200, 0, 255), 20);
cv2.imshow("color", img)
cv2.waitKey(1)
#cv2.imshow("filtered", filteredGreen)
#cv2.waitKey(10)
if cv2.waitKey(1) == 27:
exit(0)
return theta, dist
def update(table, viewAngleHorz, deltaTime):
theta, dist = 0.0, 0.0
#print "update()"
# while True :
ret, img = camera.read() # img.shape 640x480 image
#print "ret: " + str(ret) + "\n"
#ret = True
#img = cv2.imread("c:\Untitled.tiff")
#if not ret : print "oops!\n"
#elif
# cv2.imshow('input',img)
# Convert to hsv img
#hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
h, s, v = rgb_to_hsl_hsv(img, True)
#cv2.imshow("v", v)
thresh = 255
im_bw = cv2.threshold(v, 240, 255, cv2.THRESH_BINARY)[1]
#cv2.imshow("im_bw",im_bw)
#
if False:
rg = better_way(img)
cv2.imshow('huh', rg)
#rg1 = cv2.cvtColor(rg, cv2.COLOR_BGR2HSV)
#hsv = cv2.cvtColor(rg, cv2.COLOR_BGR2HSV)
# Keep only green objects
# higher s = less white, higher v = less black
#invent sliders to adjust
#lowerGreen = np.array([70, 70, 180])
#upperGreen = np.array([110, 130,255])
if False:
lg_h, lg_s, lg_v = 0, 0, 254
ug_h, ug_s, ug_v = 255, 255, 255
#lg_h, lg_s, lg_v = 100, 6, 67
#ug_h, ug_s, ug_v = 158, 98, 87
lowerGreen = np.array([lg_h, lg_s, lg_v])
upperGreen = np.array([ug_h, ug_s, ug_v])
filteredGreen = cv2.inRange(hsv, lowerGreen, upperGreen)
#cv2.imshow('fgreen',filteredGreen)
if False:
filteredGreen = rg
#cv2.cvtColor(rg, cv2.COLOR_RGB2GRAY, filteredGreen, 1)
#cv2.cvtColor(filteredGreen, cv2.COLOR_GRAY2RGBA, filteredGreen, 1)
#rg.convertTo(filteredGreen, CV_8UC1)
#try as hard as heck to convert to happy format for findContours...
min_t = np.array((199, 199, 199))
max_t = np.array((201, 201, 201))
filteredGreen = cv2.inRange(rg, min_t, max_t)
filteredGreen = im_bw
#cv2.imshow('bigfilter',filteredGreen)
# Filter out small objects
filteredGreen = cv2.morphologyEx(filteredGreen, cv2.MORPH_OPEN,
np.ones((3, 3)))
#cv2.imshow('fgreens',filteredGreen)
# Find all contours, counter is vector of points that are connected to make up a shape
contours, hierarchy = cv2.findContours(filteredGreen, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
# Resetting values
foundHotTarget = False
foundVertTarget = False
# work around subtle bug - see StackOverflow
# http://stackoverflow.com/questions/13337058/data-type-error-with-drawcontours-unless-i-pickle-unpickle-first
tmp = cPickle.dumps(contours)
contours = cPickle.loads(tmp)
possibleHotTarget = Rectangle(0, 0, 0, 0)
possibleHotArea = possibleHotTarget.getArea()
possibleVertTarget1 = Rectangle(0, 0, 0, 0)
possibleVertTarget2 = Rectangle(0, 0, 0, 0)
# Parse contours, calculate distance and check if it's the hot target
for shape in contours:
#target = Rectangle(*cv2.boundingRect(shape))
x, y, w, h = cv2.boundingRect(shape)
target = Rectangle(x, y, w, h)
# Filter out small contours
if target.getArea() > 300 and target.getArea() < 30000:
# Compensate for horizontal view of the target
#target.width = target.width / math.cos(viewAngle * math.PI / 180)
#target.width = target.width / math.cos(viewAngle * 3.14159 / 180)
# MPH improvements: - width / height (23.5/4) +-15% then possibly the hot target
# If the width of the target is greater than its height then it's probably the hot target
hotTargetRatio = 23.5 / 4
hotTargetMargin = 0.25 # percent error margin
if (target.width > target.height) and (
target.height * (hotTargetRatio) *
(1 + hotTargetMargin)) >= target.width >= (target.height * (
(hotTargetRatio) * (1 - hotTargetMargin))):
foundHotTarget = True
if target.getArea() > possibleHotArea:
possibleHotTarget = target
possibleHotArea = target.getArea()
#distance = computeDistance(horizTarget.height, target.height)
# MPH improvements: - height / width (32/4) +-15% then possibly the hot target
# If the height of the target is greater than its width its probably a vert target
vertTargetRatio = 32 / 4
vertTargetMargin = 0.30
if (target.height > target.width) and (
target.width * (vertTargetRatio) *
(1 + vertTargetMargin)) >= target.height >= (target.width * (
(vertTargetRatio) * (1 - vertTargetMargin))):
foundVertTarget = True
#maintain up to two top-ranked vertical targets
if possibleVertTarget2.getArea() > possibleVertTarget1.getArea:
temp = possibleVertTarget1
possibleVertTarget1 = possibleVertTarget2
possibleVertTarget2 = temp
if target.getArea() > possibleVertTarget1.getArea():
possibleVertTarget2 = possibleVertTarget1
possibleVertTarget1 = target
elif target.getArea() > possibleVertTarget1.getArea():
possibleVertTarget2 = target
#vt1loc = (50,440)
#vtrloc = (580,440)
#cv2.putText(img,"Hello World!!!", (50,50), cv2.FONT_HERSHEY_SIMPLEX, 2, 255)
#img, text, textOrg, fontFace, fontScale, thickness, baseline?
#cv2.putText
#cv2.putText(img, "Hi again", vtlloc, cv2.FONT_HERSHEY_SIMPLEX, 1, (255,255,255), thickness=2)
#lineType= cv2.CV_AA
if debugMode:
if possibleHotArea > 0:
drawRect(img, possibleHotTarget)
drawXonTarget(img, possibleHotTarget)
viewAngle = computeAngle(horizTarget.height,
possibleHotTarget.height, 228)
distanceHot = computeDistance(horizTarget.height,
possibleHotTarget.height)
#print "Distance: ", round(distanceHot), ", Hot Target", viewAngle, viewAngleVert, ", width: ", possibleHotTarget.width, ", height", possibleHotTarget.height
#print "Distance: ", round(distanceHot / 12), ", Hot Target", viewAngle, viewAngleVert, ", width: ", \
# possibleHotTarget.width, ", height", possibleHotTarget.height
haveHotTarget = False
if possibleHotArea > 0:
haveHotTarget = True
table.PutBoolean('hotTarget', haveHotTarget)
if debugMode:
lString = "L:"
rString = "R:"
v1DistStr = ""
v2DistStr = ""
if possibleVertTarget1.getArea() > 0:
drawRect(img, possibleVertTarget1)
drawXonTarget(img, possibleVertTarget1)
viewAngle = computeAngle(vertTarget.height,
possibleVertTarget1.height, 228)
distanceVert1 = computeDistance(vertTarget.height,
possibleVertTarget1.height)
distanceVert1AsFeet = distanceVert1 / 12
#f(x)= 1.29x -0.09 - per Nathan
#distanceVert1AsFeet = (1.29 * distanceVert1AsFeet) - 0.09
v1DistStr = str(round(distanceVert1AsFeet))
#print "Distance: ", round(distanceVert1 / 12), ", Vert Target 1", viewAngle, viewAngleVert, ", width: ", \
# possibleVertTarget1.width, ", height", possibleVertTarget1.height
if possibleVertTarget2.getArea() > 0:
drawRect(img, possibleVertTarget2)
drawXonTarget(img, possibleVertTarget2)
viewAngle = computeAngle(vertTarget.height,
possibleVertTarget2.height, 228)
distanceVert2 = computeDistance(vertTarget.height,
possibleVertTarget2.height)
distanceVert2AsFeet = distanceVert2 / 12
#f(x)= 1.29x -0.09 - per Nathan
#distanceVert2AsFeet = (1.29 * distanceVert2AsFeet) - 0.09
v2DistStr = str(round(distanceVert2 / 12))
#print "Distance: ", round(distanceVert2 / 12), ", Vert Target 1", viewAngle, viewAngleVert, ", width: ", \
# possibleVertTarget2.width, ", height", possibleVertTarget2.height
if (possibleVertTarget1.getArea() >
0) and (possibleVertTarget1.getArea() > 0):
if (possibleVertTarget1.x + (possibleVertTarget1.width) / 2) > (
possibleVertTarget2.x + (possibleVertTarget2.width) / 2):
tmpStr = v2DistStr
v2DistStr = v1DistStr
v2DistStr = tmpStr
dist = 0
if (possibleVertTarget1.getArea() > 0):
dist = distanceVert1
lString = lString + v1DistStr
rString = rString + v2DistStr
fpsString = "FPS: "
fpsString = fpsString + str(round(1 / deltaTime))
cv2.putText(img,
lString, (10, 440),
cv2.FONT_HERSHEY_SIMPLEX,
1, (0, 0, 255),
thickness=2)
cv2.putText(img,
rString, (510, 440),
cv2.FONT_HERSHEY_SIMPLEX,
1, (0, 0, 255),
thickness=2)
cv2.putText(img,
fpsString, (10, 40),
cv2.FONT_HERSHEY_SIMPLEX,
1, (0, 0, 255),
thickness=2)
if debugMode:
#arrow.draw_arrow(img, (320, 240), (100, 150), (100, 0, 255), 20);
throttleArrow = throttleValue(dist)
if throttleArrow != 0:
arrow.draw_arrow(img, (320, 380),
(320, int(380 - (50 * throttleArrow))),
(200, 0, 255), 20)
cv2.imshow("color", img)
cv2.waitKey(1)
#cv2.imshow("filtered", filteredGreen)
#cv2.waitKey(10)
if cv2.waitKey(1) == 27:
exit(0)
return theta, dist