def getData(): frame = highgui.cvQueryFrame(capture) if frame is None: return None cv.cvSplit(frame, b_img, g_img, r_img, None) cv.cvInRangeS(r_img, 150, 255, r_img) cv.cvInRangeS(g_img, 0, 100, g_img) cv.cvInRangeS(b_img, 0, 100, b_img) cv.cvAnd(r_img, g_img, laser_img) cv.cvAnd(laser_img, b_img, laser_img) cv.cvErode(laser_img,laser_img) #,0,2) cv.cvDilate(laser_img,laser_img) c_count, contours = cv.cvFindContours (laser_img, storage, cv.sizeof_CvContour, cv.CV_RETR_LIST, cv.CV_CHAIN_APPROX_NONE, cv.cvPoint (0,0)) if c_count: return returnEllipses(contours) else: return None
def getFilter(frameWidht, frameHeight): cvNamedWindow("Filtred") cvCreateTrackbar("hmax", "Filtred", getHlsFilter('hmax'), 180, trackBarChangeHmax) cvCreateTrackbar("hmin", "Filtred", getHlsFilter('hmin'), 180, trackBarChangeHmin) #cvCreateTrackbar("lmax", "Filtred", hlsFilter['lmax'], 255, trackBarChangeLmax) #cvCreateTrackbar("lmin", "Filtred", hlsFilter['lmin'], 255, trackBarChangeLmin) cvCreateTrackbar("smax", "Filtred", getHlsFilter('smax'), 255, trackBarChangeSmax) cvCreateTrackbar("smin", "Filtred", getHlsFilter('smin'), 255, trackBarChangeSmin) cvSetMouseCallback("Filtred", mouseClick, None) frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3) hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3) filtredFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3) mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) key = -1 while key == -1: if not cvGrabFrame(CAM): print "Could not grab a frame" exit frame = cvQueryFrame(CAM) cvCvtColor(frame, hlsFrame, CV_BGR2HLS) cvSplit(hlsFrame, hFrame, lFrame, sFrame, None) pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame) #pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame) pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame) cvSetZero(mask) cvAnd(ThHFrame, ThSFrame, mask) cvSetZero(filtredFrame) cvCopy(frame, filtredFrame, mask) cvShowImage("Filtred", filtredFrame) key = cvWaitKey(10) if key == 'r': key = -1 resetHlsFilter() cvDestroyWindow("Filtred")
def threshold_image(image, n=[]): """Record the first 5 images to get a background, then diff current frame with the last saved frame. """ if len(n) < 5: # n[4] will be our background # First capture a few images n.append(cv.cvCloneMat(image)) if len(n) == 5: # last time here # could do averaging here. pass return image original = n[4] differenceImage = cv.cvCloneMat(image) cv.cvAbsDiff(image, original, differenceImage) """The threshold value determines the amount of "Change" required before something will show up""" thresholdValue = 50 # 32 cv.cvThreshold(differenceImage, differenceImage, thresholdValue, 255, cv.CV_THRESH_BINARY) # Convert to one channel gray = cv.cvCreateImage(cv.cvGetSize(differenceImage), 8, 1) cv.cvCvtColor(differenceImage, gray, cv.CV_BGR2GRAY) # Use median filter to remove salt and pepper noise. cv.cvSmooth(gray, gray, cv.CV_MEDIAN, 15) # Dilate and the threshold image # It adds a border to the object. #cv.cvDilate(gray,gray, None, 9) # Add a bit of Blur to the threshold mask cv.cvSmooth(gray, gray, cv.CV_GAUSSIAN, 5) result = cv.cvCloneMat(image) cv.cvSetZero(result) cv.cvAnd(image, image, result, gray) return result
def threshold_image(image, n=[]): """Record the first 5 images to get a background, then diff current frame with the last saved frame. """ if len(n) < 5: # n[4] will be our background # First capture a few images n.append(cv.cvCloneMat(image)) if len(n) == 5: # last time here # could do averaging here. pass return image original = n[4] differenceImage = cv.cvCloneMat( image ) cv.cvAbsDiff( image, original, differenceImage ) """The threshold value determines the amount of "Change" required before something will show up""" thresholdValue = 50 # 32 cv.cvThreshold( differenceImage, differenceImage, thresholdValue, 255, cv.CV_THRESH_BINARY ) # Convert to one channel gray = cv.cvCreateImage( cv.cvGetSize(differenceImage), 8, 1 ) cv.cvCvtColor( differenceImage, gray, cv.CV_BGR2GRAY ) # Use median filter to remove salt and pepper noise. cv.cvSmooth(gray, gray, cv.CV_MEDIAN, 15) # Dilate and the threshold image # It adds a border to the object. #cv.cvDilate(gray,gray, None, 9) # Add a bit of Blur to the threshold mask cv.cvSmooth(gray, gray, cv.CV_GAUSSIAN, 5) result = cv.cvCloneMat( image) cv.cvSetZero(result) cv.cvAnd(image,image, result, gray) return result
def startChroma(background, frameWidht, frameHeight): #cvNamedWindow("Original") cvNamedWindow("Chroma") hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3) transparency = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3) mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1) key = -1 while key == -1: if not cvGrabFrame(CAM): print "Could not grab a frame" exit frame = cvQueryFrame(CAM) cvCvtColor(frame, hlsFrame, CV_BGR2HLS) cvSplit(hlsFrame, hFrame, lFrame, sFrame, None) pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame) #pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame) pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame) cvAnd(ThHFrame, ThSFrame, mask) cvCopy(background, frame, mask) cvShowImage("Chroma", frame) key = cvWaitKey(10) cvDestroyWindow("Chroma")
def main(args): global capture global hmax, hmin highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE) highgui.cvMoveWindow('Camera', 0, 10) highgui.cvMoveWindow('Hue', 0, 350) highgui.cvMoveWindow('Satuation', 360, 10) highgui.cvMoveWindow('Value', 360, 350) highgui.cvMoveWindow('Laser', 700, 40) highgui.cvCreateTrackbar("Brightness Trackbar", "Camera", 0, 255, change_brightness) highgui.cvCreateTrackbar("hmin Trackbar", "Hue", hmin, 180, change_hmin) highgui.cvCreateTrackbar("hmax Trackbar", "Hue", hmax, 180, change_hmax) highgui.cvCreateTrackbar("smin Trackbar", "Satuation", smin, 255, change_smin) highgui.cvCreateTrackbar("smax Trackbar", "Satuation", smax, 255, change_smax) highgui.cvCreateTrackbar("vmin Trackbar", "Value", vmin, 255, change_vmin) highgui.cvCreateTrackbar("vmax Trackbar", "Value", vmax, 255, change_vmax) print "grabbing camera" capture = highgui.cvCreateCameraCapture(0) print "found camera" highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH, 320) highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT, 240) frame = highgui.cvQueryFrame(capture) frameSize = cv.cvGetSize(frame) hsv = cv.cvCreateImage(frameSize, 8, 3) mask = cv.cvCreateImage(frameSize, 8, 1) hue = cv.cvCreateImage(frameSize, 8, 1) satuation = cv.cvCreateImage(frameSize, 8, 1) value = cv.cvCreateImage(frameSize, 8, 1) laser = cv.cvCreateImage(frameSize, 8, 1) while 1: frame = highgui.cvQueryFrame(capture) cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV) #cv.cvInRangeS(hsv,hsv_min,hsv_max,mask) cv.cvSplit(hsv, hue, satuation, value, None) cv.cvInRangeS(hue, hmin, hmax, hue) cv.cvInRangeS(satuation, smin, smax, satuation) cv.cvInRangeS(value, vmin, vmax, value) #cv.cvInRangeS(hue,0,180,hue) cv.cvAnd(hue, value, laser) #cv.cvAnd(laser, value, laser) cenX, cenY = averageWhitePoints(laser) #print cenX,cenY draw_target(frame, cenX, cenY) #draw_target(frame,200,1) highgui.cvShowImage('Camera', frame) highgui.cvShowImage('Hue', hue) highgui.cvShowImage('Satuation', satuation) highgui.cvShowImage('Value', value) highgui.cvShowImage('Laser', laser) k = highgui.cvWaitKey(10) if k == " ": highgui.cvDestroyAllWindows() highgui.cvReleaseCapture(capture) sys.exit()
cv.cvScalar(180, 256, max(vmin, vmax), 0), mask) cv.cvSplit(hsv, hue, None, None, None) if track_object < 0: # Calculate the histogram for the mouse_selection box hue_roi_rect = cv.cvGetSubRect(hue, mouse_selection) mask_roi_rect = cv.cvGetSubRect(mask, mouse_selection) cv.cvCalcHist(hue_roi_rect, obj_hist, 0, mask_roi_rect) min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue( obj_hist) track_window = mouse_selection track_object = 1 cv.cvCalcBackProject(hue, backproject, obj_hist) cv.cvAnd(backproject, mask, backproject) #niter, track_comp, track_box = cv.cvCamShift( backproject, track_window, cv.cvTermCriteria(cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1), track_comp, track_box) track_window = track_comp.rect #if backproject_mode: # cvCvtColor( backproject, image, CV_GRAY2BGR ) if not frame.origin: track_box.angle = -track_box.angle cv.cvEllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3, cv.CV_AA, 0)
def main(): print "OpenCV version: %s (%d, %d, %d)" % (cv.CV_VERSION, cv.CV_MAJOR_VERSION, cv.CV_MINOR_VERSION, cv.CV_SUBMINOR_VERSION) # create windows create_and_position_window('Thresholded_HSV_Image', 10, 10) create_and_position_window('RGB_VideoFrame', 10+cam_width, 10) create_and_position_window('Hue', 10, 10+cam_height) create_and_position_window('Saturation', 210, 10+cam_height) create_and_position_window('Value', 410, 10+cam_height) create_and_position_window('LaserPointer', 0,0) capture = setup_camera_capture() # create images for the different channels h_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1) s_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1) v_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1) laser_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1) cv.cvSetZero(h_img) cv.cvSetZero(s_img) cv.cvSetZero(v_img) cv.cvSetZero(laser_img) while True: # 1. capture the current image frame = highgui.cvQueryFrame (capture) if frame is None: # no image captured... end the processing break hsv_image = cv.cvCloneImage(frame) # temporary copy of the frame cv.cvCvtColor(frame, hsv_image, cv.CV_BGR2HSV) # convert to HSV # split the video frame into color channels cv.cvSplit(hsv_image, h_img, s_img, v_img, None) # Threshold ranges of HSV components. cv.cvInRangeS(h_img, hmin, hmax, h_img) cv.cvInRangeS(s_img, smin, smax, s_img) cv.cvInRangeS(v_img, vmin, vmax, v_img) # Perform an AND on HSV components to identify the laser! cv.cvAnd(h_img, v_img, laser_img) # This actually Worked OK for me without using Saturation. #cv.cvAnd(laser_img, s_img,laser_img) # Merge the HSV components back together. cv.cvMerge(h_img, s_img, v_img, None, hsv_image) #----------------------------------------------------- # NOTE: default color space in OpenCV is BGR!! # we can now display the images highgui.cvShowImage ('Thresholded_HSV_Image', hsv_image) highgui.cvShowImage ('RGB_VideoFrame', frame) highgui.cvShowImage ('Hue', h_img) highgui.cvShowImage ('Saturation', s_img) highgui.cvShowImage ('Value', v_img) highgui.cvShowImage('LaserPointer', laser_img) # handle events k = highgui.cvWaitKey (10) if k == '\x1b' or k == 'q': # user has press the ESC key, so exit break
def main(args): global capture global hmax, hmin global stats, startTime highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Red Hue', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Green Hue', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Red Laser', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Green Laser', highgui.CV_WINDOW_AUTOSIZE) highgui.cvMoveWindow('Camera', 0, 10) highgui.cvMoveWindow('Value', 10, 420) highgui.cvMoveWindow('Red Laser', 360, 10) highgui.cvMoveWindow('Green Laser', 360, 360) highgui.cvMoveWindow('Red Hue',700, 10 ) highgui.cvMoveWindow('Green Hue',700, 420) highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness); highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin); highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax); highgui.cvCreateTrackbar("red hmin Trackbar","Red Hue",red_hmin,180, change_red_hmin); highgui.cvCreateTrackbar("red hmax Trackbar","Red Hue",red_hmax,180, change_red_hmax); highgui.cvCreateTrackbar("green hmin Trackbar","Green Hue",green_hmin,180, change_green_hmin); highgui.cvCreateTrackbar("green hmax Trackbar","Green Hue",green_hmax,180, change_green_hmax); print "grabbing camera" capture = highgui.cvCreateCameraCapture(0) print "found camera" highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth) highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight) frame = highgui.cvQueryFrame(capture) frameSize = cv.cvGetSize(frame) hsv = cv.cvCreateImage(frameSize,8,3) mask = cv.cvCreateImage(frameSize,8,1) red_hue = cv.cvCreateImage(frameSize,8,1) green_hue = cv.cvCreateImage(frameSize,8,1) saturation = cv.cvCreateImage(frameSize,8,1) value = cv.cvCreateImage(frameSize,8,1) red_laser = cv.cvCreateImage(frameSize,8,1) green_laser = cv.cvCreateImage(frameSize,8,1) turret = FuzzyController(frameSize.width,frameSize.height,True) while 1: frame = highgui.cvQueryFrame(capture) cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV) cv.cvSplit(hsv,red_hue,saturation,value,None) cv.cvSplit(hsv,green_hue,saturation,value,None) cv.cvInRangeS(red_hue, cv.cvScalar(red_hmin), cv.cvScalar(red_hmax), red_hue) cv.cvInRangeS(green_hue, cv.cvScalar(green_hmin), cv.cvScalar(green_hmax), green_hue) cv.cvInRangeS(value, cv.cvScalar(vmin), cv.cvScalar(vmax), value) cv.cvAnd(red_hue, value, red_laser) cv.cvAnd(green_hue, value, green_laser) green_cenX,green_cenY = averageWhitePoints(green_laser) draw_target(frame, green_cenX, green_cenY, "GREEN") red_cenX, red_cenY = averageWhitePoints(red_laser) draw_target(frame, red_cenX, red_cenY, "RED") if(green_cenX >= 0 and green_cenY >= 0):# and move_count <= 0): turret.update(green_cenX,green_cenY) highgui.cvShowImage('Camera',frame) highgui.cvShowImage('Red Hue', red_hue) highgui.cvShowImage('Green Hue', green_hue) highgui.cvShowImage('Value',value) highgui.cvShowImage('Red Laser',red_laser) highgui.cvShowImage('Green Laser',green_laser) if stats: printRunningStats((green_cenX, green_cenY), (red_cenX, red_cenY)) k = highgui.cvWaitKey(10) if k == '\x1b' or k == 'q': sys.exit() if k == 'p': if stats: printTotalStats() stats = False else: startTime = time() stats = True
def main(args): global capture global hmax, hmin highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE) highgui.cvMoveWindow('Camera', 0, 10) highgui.cvMoveWindow('Hue', 0, 350) highgui.cvMoveWindow('Satuation', 360, 10) highgui.cvMoveWindow('Value', 360, 350) highgui.cvMoveWindow('Laser', 700, 40) highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness); highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin); highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax); highgui.cvCreateTrackbar("smin Trackbar","Satuation",smin,255, change_smin); highgui.cvCreateTrackbar("smax Trackbar","Satuation",smax,255, change_smax); highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin); highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax); print "grabbing camera" capture = highgui.cvCreateCameraCapture(0) print "found camera" highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, 320) highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, 240) frame = highgui.cvQueryFrame(capture) frameSize = cv.cvGetSize(frame) hsv = cv.cvCreateImage(frameSize,8,3) mask = cv.cvCreateImage(frameSize,8,1) hue = cv.cvCreateImage(frameSize,8,1) satuation = cv.cvCreateImage(frameSize,8,1) value = cv.cvCreateImage(frameSize,8,1) laser = cv.cvCreateImage(frameSize,8,1) turret = FuzzyController(frameSize.width,frameSize.height,True) move_count = 0 while 1: frame = highgui.cvQueryFrame(capture) cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV) #cv.cvInRangeS(hsv,hsv_min,hsv_max,mask) cv.cvSplit(hsv,hue,satuation,value,None) cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue) cv.cvInRangeS(satuation,cv.cvScalar(smin),cv.cvScalar(smax),satuation) cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value) #cv.cvInRangeS(hue,0,180,hue) cv.cvAnd(hue, value, laser) #cv.cvAnd(laser, value, laser) cenX,cenY = averageWhitePoints(laser) #print cenX,cenY draw_target(frame,cenX,cenY) if(cenX != 0 and cenY != 0):# and move_count <= 0): turret.update(cenX,cenY,False) """ turret.reset() move_count = 3 if(cenX < 100): turret.left(20) elif(cenX > 200): turret.right(20) if(cenY < 80): turret.up(40) elif(cenY > 170): print "DOWN please.." turret.down(40) print cenY """ #move_count -= 1 #draw_target(frame,200,1) highgui.cvShowImage('Camera',frame) highgui.cvShowImage('Hue',hue) highgui.cvShowImage('Satuation',satuation) highgui.cvShowImage('Value',value) highgui.cvShowImage('Laser',laser) k = highgui.cvWaitKey(10) if k == 'q': sys.exit()
# extract the min and max value of the histogram min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue (hist) if (max_val): cv.cvConvertScale( hist.bins, hist.bins, 255.0 / max_val, 0) else: cv.cvConvertScale( hist.bins, hist.bins, 0.0, 0 ) track_window = selection track_object = 1 cv.cvCalcArrBackProject( hue, backproject, hist ) cv.cvAnd( backproject, mask, backproject, 0 ) cv.cvCamShift( backproject, track_window, cv.cvTermCriteria( cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1 ), track_comp, track_box ) track_window = track_comp.rect if backproject_mode: cv.cvCvtColor( backproject, image, cv.CV_GRAY2BGR ) if not image.origin: track_box.angle = -track_box.angle cv.cvEllipseBox(image, track_box, cv.CV_RGB(255,0,0), 3, cv.CV_AA, 0) if (track_box.size.width > 10 or track_box.size.height > 10): rotate = ( (image.width/2.0) - track_box.center.x) / (image.width/2.0)
def main(args): global capture global hmax, hmin highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Saturation', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE) highgui.cvMoveWindow('Camera', 0, 10) highgui.cvMoveWindow('Hue', 0, 350) highgui.cvMoveWindow('Saturation', 360, 10) highgui.cvMoveWindow('Value', 360, 350) highgui.cvMoveWindow('Laser', 700, 40) highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness); highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin); highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax); highgui.cvCreateTrackbar("smin Trackbar","Saturation",smin,255, change_smin); highgui.cvCreateTrackbar("smax Trackbar","Saturation",smax,255, change_smax); highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin); highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax); print "grabbing camera" capture = highgui.cvCreateCameraCapture(0) print "found camera" highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth) highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight) frame = highgui.cvQueryFrame(capture) frameSize = cv.cvGetSize(frame) hsv = cv.cvCreateImage(frameSize,8,3) mask = cv.cvCreateImage(frameSize,8,1) hue = cv.cvCreateImage(frameSize,8,1) saturation = cv.cvCreateImage(frameSize,8,1) value = cv.cvCreateImage(frameSize,8,1) laser = cv.cvCreateImage(frameSize,8,1) while 1: frame = highgui.cvQueryFrame(capture) cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV) #cv.cvInRangeS(hsv,hsv_min,hsv_max,mask) cv.cvSplit(hsv,hue,saturation,value,None) #print hmin, hmax cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue) cv.cvInRangeS(saturation,cv.cvScalar(smin),cv.cvScalar(smax),saturation) cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value) #cv.cvInRangeS(hue,cv.cvScalar(0),cv.cvScalar(180),hue) cv.cvAnd(hue, value, laser) #cv.cvAnd(laser, value, laser) # stupid filter #removeErrantPoints(laser) cenX,cenY = averageWhitePoints(laser) px = iwidth/2 - cenX dis = 57.18832855 / ( px - 5.702350176) + .05753797721 print cenX,px,dis draw_target(frame,cenX,cenY) #draw_target(frame,200,1) highgui.cvShowImage('Hue',hue) highgui.cvShowImage('Camera',frame) highgui.cvShowImage('Saturation',saturation) highgui.cvShowImage('Value',value) highgui.cvShowImage('Laser',laser) highgui.cvWaitKey(10)
def main(args): global capture global hmax, hmin highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE) highgui.cvMoveWindow('Camera', 0, 10) highgui.cvMoveWindow('Hue', 0, 350) highgui.cvMoveWindow('Satuation', 360, 10) highgui.cvMoveWindow('Value', 360, 350) highgui.cvMoveWindow('Laser', 700, 40) highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness); highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin); highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax); highgui.cvCreateTrackbar("smin Trackbar","Satuation",smin,255, change_smin); highgui.cvCreateTrackbar("smax Trackbar","Satuation",smax,255, change_smax); highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin); highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax); print "grabbing camera" capture = highgui.cvCreateCameraCapture(0) print "found camera" highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, 320) highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, 240) frame = highgui.cvQueryFrame(capture) frameSize = cv.cvGetSize(frame) hsv = cv.cvCreateImage(frameSize,8,3) mask = cv.cvCreateImage(frameSize,8,1) hue = cv.cvCreateImage(frameSize,8,1) satuation = cv.cvCreateImage(frameSize,8,1) value = cv.cvCreateImage(frameSize,8,1) laser = cv.cvCreateImage(frameSize,8,1) while 1: frame = highgui.cvQueryFrame(capture) cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV) #cv.cvInRangeS(hsv,hsv_min,hsv_max,mask) cv.cvSplit(hsv,hue,satuation,value,None) cv.cvInRangeS(hue,hmin,hmax,hue) cv.cvInRangeS(satuation,smin,smax,satuation) cv.cvInRangeS(value,vmin,vmax,value) #cv.cvInRangeS(hue,0,180,hue) cv.cvAnd(hue, value, laser) #cv.cvAnd(laser, value, laser) cenX,cenY = averageWhitePoints(laser) #print cenX,cenY draw_target(frame,cenX,cenY) #draw_target(frame,200,1) highgui.cvShowImage('Camera',frame) highgui.cvShowImage('Hue',hue) highgui.cvShowImage('Satuation',satuation) highgui.cvShowImage('Value',value) highgui.cvShowImage('Laser',laser) k = highgui.cvWaitKey(10) if k == " ": highgui.cvDestroyAllWindows() highgui.cvReleaseCapture (capture) sys.exit()
if frame is None: # no image captured... end the processing break ################ traitement de l'image ################ cv.cvCvtColor(frame, frameGray, cv.CV_BGR2GRAY) # niveau de gris cv.cvSub(frameGray, frameGrayBg, framewithoutbg) # soustraction du background cv.cvMul(framewithoutbg, framewithoutbg, framemul, get_gain()) # amplification cv.cvSmooth(framemul, framelisser1, cv.CV_BLUR, param_liss[0], param2_liss[0]) # lissage if first == 0: # "moyenne" sur deux image cv.cvAnd(framelisser1, framelisser2, framelisser) if first == 1: framelisser = cv.cvCloneImage(framelisser1) framelisser2 = cv.cvCloneImage(framelisser1) cv.cvThreshold(framelisser, frameBin, get_seuil(), float(255), cv.CV_THRESH_BINARY) # binaristaion de l image ################ run detection ################ zone_active = zoneActivePremier(zone_active, frameBin) if len(zone_active) == 0: centrePointeur = [] info_size = [] if len(zone_active) != 0: for i in range(1, nb_div_zone[0] + 1):
while True: img = highgui.cvQueryFrame(cap) cv.cvZero(img_h) cv.cvZero(img_s) cv.cvZero(img_v) cv.cvZero(thresh_mask) highgui.cvShowImage("Input", img) # 5x5 Gaussian Blur cv.cvSmooth(img, img, cv.CV_GAUSSIAN, 5, 5) # convert to HSV cv.cvCvtColor(img, img, cv.CV_BGR2HSV) # threshold bad values cv.cvInRangeS(img, hsv_min, hsv_max, thresh_mask) cv.cvAnd(thresh_mask, mask_bw, thresh_mask) # Hue(0,180), Saturation(0,255), Value(0,255) cv.cvSplit(img, img_h, img_s, img_v, 0) # calculate histogram cv.cvCalcHist(img_h, h_hue, 0, thresh_mask) cv.cvCalcHist(img_s, h_sat, 0, thresh_mask) cv.cvCalcHist(img_v, h_val, 0, thresh_mask) # Don't normalize, use total mask pixels to calculate relative importance # cv.cvNormalizeHist(h_hue, 180) # cv.cvNormalizeHist(h_sat, 255) # cv.cvNormalizeHist(h_val, 255) # minv,maxv,minp,maxp = cv.cvMinMaxLoc(img_h) # print minv,maxv