def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
backproject_mode = True
while True:
frame = cv.QueryFrame(self.capture)
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.CalcArrBackProject([self.hue], backproject, hist)
# Run the cam-shift (if the a window is set and != 0)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window,
crit) #Call the camshift !!
self.track_window = rect #Put the current rectangle as the tracked area
# If mouse is pressed, highlight the current selected rectangle and recompute histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection) #Get specified area
#Make the effect of background shadow when selecting a window
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
#Draw temporary rectangle
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
#Take the same area but in hue image to calculate histogram
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], hist, 0)
#Used to rescale the histogram with the max value (to draw it later on)
(_, max_val, _, _) = cv.GetMinMaxHistValue(hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(
self.track_window): #If window set draw an elipseBox
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3,
cv.CV_AA, 0)
cv.ShowImage("CamShiftDemo", frame)
cv.ShowImage("Backprojection", backproject)
cv.ShowImage("Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
break
def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
backproject_mode = False
while True:
frame = cv.QueryFrame(self.capture)
cv.Flip(frame, frame, 0)
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, frame, cv.CV_RGB2BGR)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.CvtColor(frame, hsv, cv.CV_RGB2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject([self.hue], backproject, hist)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window, crit)
self.track_window = rect
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue(hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(self.track_window):
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3,
cv.CV_AA, 0)
if not backproject_mode:
cv.ShowImage("CamShiftDemo", frame)
else:
cv.ShowImage("CamShiftDemo", backproject)
cv.ShowImage("Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
break
elif c == ord("b"):
backproject_mode = not backproject_mode
def detect_and_draw(self, imgmsg):
if self.pause:
return
# frame = cv.QueryFrame( self.capture )
frame = self.br.imgmsg_to_cv(imgmsg, "bgr8")
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject([self.hue], backproject, self.hist)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window, crit)
self.track_window = rect
x, y, w, h = rect
self.bbpub.publish(RegionOfInterest(x, y, w, h, False))
proba_msg = self.br.cv_to_imgmsg(backproject)
proba_msg.header = imgmsg.header
self.bppub.publish(proba_msg)
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], self.hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue(self.hist)
if max_val != 0:
cv.ConvertScale(self.hist.bins, self.hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(self.track_window):
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3, cv.CV_AA,
0)
self.frame = frame
self.backproject = backproject
def camshift(x, y, w, h, selection):
print "Performing camshift with x:{} y:{} w:{} h:{}".format(x, y, w, h)
print selection
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
while True:
print "entered loop"
#camshift termination criteria (10 iterations without movement of 1 pixel ends camshift)
frame = cv.QueryFrame(cap)
cv.Flip(frame, frame, 1)
#print "switching to HSV"
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, hue, None, None, None)
#compute back projection
# print "back projection"
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.CalcArrBackProject([hue], backproject, hist)
#run the camshift
#print "camshift"
print "Selection"
#pdb.set_trace()
print selection
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, selection, crit)
print "rect"
print rect
if rect[0] > 0 and rect[1] > 0:
selection = rect
print "SelectionNew"
print selection
print "track_box"
print track_box
#draw the surrounding ellipse
# print "ellipse"
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3, cv.CV_AA, 0)
#draw image
#print "drawing image"
cv.ShowImage("CamShift", frame)
if cv.WaitKey(1) & 0xFF == ord('q'):
break
def camshift(x, y, w, h):
global numLoops
global cap
for x in range(0, numLoops):
frame = cv.QueryFrame(cap)
track_window = (x, y, w, h)
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, track_window, crit)
try:
#prints the center x and y value of the tracked ellipse
coord = track_box[0]
print "center = {}".format(coord)
except UnboundLocalError:
print "track_box is None"
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3, cv.CV_AA, 0)
def graphShape(ellipBox,
grid,
ratio,
graph=None,
label="",
color=None,
flags=0):
# 1 = image
# 2 = circle
# 4 = ellipse
# 8 = other graph
ellipse = circle = image = writeOther = False
if (flags & 0x01) != 0:
image = True
if (flags & 0x02) != 0:
ellipse = True
if (flags & 0x04) != 0:
circle = True
if (flags & 0x08) != 0:
writeOther = True
(cent, size, angle) = ellipBox
w, l = size
circum = circumference(l / 2, w / 2)
d = circum / np.pi
excelEllipeBox = (tuple(np.divide(cent, ratio)),
tuple(np.round(np.divide(size, ratio))), angle)
circBox = (tuple(np.divide(cent, ratio)),
tuple(np.round((d / ratio, d / ratio))), angle)
th = np.linspace(STARTANG, STARTANG + 2 * np.pi,
np.round(circum / ratio * 2))
thet, h = mkPeriod(th, circBox, grid)
f = interpolate.interp1d(
np.concatenate(
(thet - 2 * np.pi, thet, thet + 2 * np.pi, thet + 4 * np.pi)),
np.concatenate((h, h, h, h)))
writeCircHeight = f(writeTheta)
thet, h = mkPeriod(th, excelEllipeBox, grid)
f = interpolate.interp1d(
np.concatenate(
(thet - 2 * np.pi, thet, thet + 2 * np.pi, thet + 4 * np.pi)),
np.concatenate((h, h, h, h)))
writeEllipHeight = f(writeTheta)
areaCirc = circum * mmperpixel / len(writeCircHeight) * np.sum(
writeCircHeight)
areaEllip = circum * mmperpixel / len(writeEllipHeight) * np.sum(
writeEllipHeight)
r, g, b = color
ovalR, ovalG, ovalB = 255 - r, 255 - g, 255 - b
if image is True:
cv.Circle(imgColor,
tuple(np.around(cent).astype('int')),
int(d / 2),
color=cv.RGB(r, g, b))
cv.EllipseBox(imgColor, ellipBox, cv.RGB(ovalR, ovalG, ovalB))
#dataWriter.writerow(np.around(circHeight,decimals=3))
#dataWriter.writerow(np.around(ellipHeight,decimals=3))
#np.savetxt(dataFile,circHeight,fmt='%.4f',newline=',',delimiter='\n')
#np.savetxt(dataFile,ellipHeight,fmt='%.4f',newline=',',delimiter='\n')
#f = interpolate.interp1d(th,circHeight-ellipHeight)
#diffHeight = f(th)
dataFile.write(
"%s,%s,%.0fx%.0f,%.3f,%s\n" %
(label, 'ellipse', l * mmperpixel * 1000, w * mmperpixel * 1000,
areaEllip, fmtCSVArr(writeEllipHeight[1:])))
dataFile.write(
"%s,%s,%.0fx%.0f,%.3f,%s\n" %
(label, 'circle', d * mmperpixel * 1000, d * mmperpixel * 1000,
areaCirc, fmtCSVArr(writeCircHeight[1:])))
if writeOther is True:
tsnitGraph.plot(np.linspace(0, 360, len(writeCircHeight)),
writeCircHeight,
color=(r / 255., g / 255., b / 255.),
label=(label + " cir AUC " +
str(round(areaCirc / 1000, 3)) + " mm^2"))
if ellipse is True:
#dataFile.write(label+','++','+fmtCSVArr(writeEllipHeight)+"\n")
graph.plot(np.linspace(0, 360, len(writeEllipHeight)),
writeEllipHeight,
color=(ovalR / 255., ovalG / 255., ovalB / 255.),
label=(label + " ellip AUC " +
str(round(areaEllip / 1000, 3)) + " mm^2"))
if circle is True:
#dataFile.write(label+','+'%.0fx%.0f'%()+','+fmtCSVArr(writeCircHeight)+"\n")
graph.plot(np.linspace(0, 360, len(writeCircHeight)),
writeCircHeight,
color=(r / 255., g / 255., b / 255.),
label=(label + " cir AUC " +
str(round(areaCirc / 1000, 3)) + " mm^2"))
def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
backproject_mode = False
i = 1
o_x = 0
o_y = 0
while True:
frame = cv.QueryFrame(self.capture)
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject([self.hue], backproject, hist)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window, crit)
self.track_window = rect
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue(hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(self.track_window):
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3,
cv.CV_AA, 0)
#print track_box
trace_val = track_box[0]
f_x = trace_val[0]
f_y = trace_val[1]
print 'value1', f_x
print 'value2', f_y
if i % 10 == 0:
o_x = f_x
o_y = f_y
if (f_x != o_x):
a = (f_x - o_x) / float(10)
round(a)
cam.Azimuth(-a)
if (f_y != o_y):
a = (f_y - o_y) / float(10)
round(a)
cam.Elevation(-a)
ren1.ResetCameraClippingRange()
renWin.Render()
i += 1
if not backproject_mode:
cv.ShowImage("CamShiftDemo", frame)
else:
cv.ShowImage("CamShiftDemo", backproject)
cv.ShowImage("Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
break
elif c == ord("b"):
backproject_mode = not backproject_mode
def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
backproject_mode = False
print "hitting run section"
x = 0
while True:
#print x
#x = x + 1
frame = cv.QueryFrame(self.capture)
cv.Flip(frame, frame, 1)
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject([self.hue], backproject, hist)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
print self.track_window
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window, crit)
self.track_window = rect
print self.track_window
try:
#prints the center x and y value of the tracked ellipse
coord = track_box[0]
print "center = {}".format(coord)
if (coord[0] < 320):
print "move right"
# ser.write("R")
elif (coord[0] == 320):
print "do nothing"
else:
print "move left"
# ser.write("L")
except UnboundLocalError:
print "track_box is None"
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue(hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(self.track_window):
print track_box
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3,
cv.CV_AA, 0)
if not backproject_mode:
cv.ShowImage("CamShiftDemo", frame)
else:
cv.ShowImage("CamShiftDemo", backproject)
cv.ShowImage("Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
break
elif c == ord("b"):
backproject_mode = not backproject_mode
