def circ(n): pt = cv.cvPoint(int(round(n[0,0])),int(round(n[1,0]))) cv.cvCircle(self.disp.buffer, pt, size, color_scalar, cv.CV_FILLED, cv.CV_AA) pt2 = cv.cvPoint(pt.x + 2, pt.y + 2) cv.cvPutText(self.disp.buffer, text, pt, self.disp.font, cv.cvScalar(255,255,255)) cv.cvPutText(self.disp.buffer, text, pt2, self.disp.font, cv.cvScalar(50,50,50))
def clear(self):
cv.cvRectangle(self.buffer,
cv.cvPoint(0,0),
cv.cvPoint(self.buffer.width, self.buffer.height),
cv.cvScalar(255,255,255),
cv.CV_FILLED)
if self.draw_grid:
line_color = 230
lc = cv.cvScalar(line_color,line_color,line_color)
for i in xrange(1, as_int(self.meters_disp)+3):
cv.cvCircle(self.buffer, cv.cvPoint(self.w/2,self.h), as_int(self.pixels_per_meter * (i-.5)),
#lc, 1)
lc, 1, cv.CV_AA)
cv.cvCircle(self.buffer, cv.cvPoint(self.w/2,self.h), as_int(self.pixels_per_meter * i),
#lc, 1)
lc, 1, cv.CV_AA)
for i in xrange(360/30):
x = (self.w/2) + math.cos(math.radians(i*30)) * self.pixels_per_meter * (self.meters_disp+2)
y = self.h + math.sin(math.radians(i*30)) * self.pixels_per_meter * (self.meters_disp+2)
cv.cvLine(self.buffer, cv.cvPoint(self.w/2,self.h), cv.cvPoint(as_int(x),as_int(y)), lc, 1, cv.CV_AA)
if self.draw_center:
cv.cvCircle(self.buffer, cv.cvPoint(self.w/2,self.h), 3,
cv.cvScalar(0,0,200), cv.CV_FILLED, cv.CV_AA)
def draw_weighted_Pose2D(display, max_weight, particles):
for p in particles:
if type(p) is types.TupleType:
part, weight = p
rpos = part.pos
else:
part = p
rpos = p.pos
x = mt.cos(part.angle) * .07
y = mt.sin(part.angle) * .07
dir = rpos.copy()
dir[0,0] = dir[0,0] + x
dir[1,0] = dir[1,0] + y
pos = display.to_screen(rpos)
dirp = display.to_screen(dir)
if type(p) is types.TupleType:
color = round(255.0 * (weight/max_weight))
cv.cvCircle(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
2, cv.cvScalar(255, 255-color, 255), cv.CV_FILLED, cv.CV_AA)
cv.cvCircle(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
2, cv.cvScalar(200, 200, 200), 8, cv.CV_AA)
else:
cv.cvCircle(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
2, cv.cvScalar(150, 150, 150), cv.CV_FILLED, cv.CV_AA)
cv.cvLine(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
cv.cvPoint((int) (dirp[0,0]), (int) (dirp[1,0])),
cv.cvScalar(100,200,100), 1, cv.CV_AA, 0)
def __findContour(self, filename): #find the contour of images, and save all points in self.vKeyPoints
self.img = highgui.cvLoadImage (filename)
self.grayimg = cv.cvCreateImage(cv.cvSize(self.img.width, self.img.height), 8,1)
self.drawimg = cv.cvCreateImage(cv.cvSize(self.img.width, self.img.height), 8,3)
cv.cvCvtColor (self.img, self.grayimg, cv.CV_BGR2GRAY)
cv.cvSmooth(self.grayimg, self.grayimg, cv.CV_BLUR, 9)
cv.cvSmooth(self.grayimg, self.grayimg, cv.CV_BLUR, 9)
cv.cvSmooth(self.grayimg, self.grayimg, cv.CV_BLUR, 9)
cv.cvThreshold( self.grayimg, self.grayimg, self.threshold, self.threshold +100, cv.CV_THRESH_BINARY )
cv.cvZero(self.drawimg)
storage = cv.cvCreateMemStorage(0)
nb_contours, cont = cv.cvFindContours (self.grayimg,
storage,
cv.sizeof_CvContour,
cv.CV_RETR_LIST,
cv.CV_CHAIN_APPROX_NONE,
cv.cvPoint (0,0))
cv.cvDrawContours (self.drawimg, cont, cv.cvScalar(255,255,255,0), cv.cvScalar(255,255,255,0), 1, 1, cv.CV_AA, cv.cvPoint (0, 0))
self.allcurve = []
idx = 0
for c in cont.hrange():
PointArray = cv.cvCreateMat(1, c.total , cv.CV_32SC2)
PointArray2D32f= cv.cvCreateMat( 1, c.total , cv.CV_32FC2)
cv.cvCvtSeqToArray(c, PointArray, cv.cvSlice(0, cv.CV_WHOLE_SEQ_END_INDEX))
fpoints = []
for i in range(c.total):
kp = myPoint()
kp.x = cv.cvGet2D(PointArray,0, i)[0]
kp.y = cv.cvGet2D(PointArray,0, i)[1]
kp.index = idx
idx += 1
fpoints.append(kp)
self.allcurve.append(fpoints)
self.curvelength = idx
def circ(n):
pt = cv.cvPoint(int(round(n[0, 0])), int(round(n[1, 0])))
cv.cvCircle(self.disp.buffer, pt, size, color_scalar,
cv.CV_FILLED, cv.CV_AA)
pt2 = cv.cvPoint(pt.x + 2, pt.y + 2)
cv.cvPutText(self.disp.buffer, text, pt, self.disp.font,
cv.cvScalar(255, 255, 255))
cv.cvPutText(self.disp.buffer, text, pt2, self.disp.font,
cv.cvScalar(50, 50, 50))
def draw_weighted_Pose2D(display, max_weight, particles):
for p in particles:
if type(p) is types.TupleType:
part, weight = p
rpos = part.pos
else:
part = p
rpos = p.pos
x = mt.cos(part.angle) * 0.07
y = mt.sin(part.angle) * 0.07
dir = rpos.copy()
dir[0, 0] = dir[0, 0] + x
dir[1, 0] = dir[1, 0] + y
pos = display.to_screen(rpos)
dirp = display.to_screen(dir)
if type(p) is types.TupleType:
color = round(255.0 * (weight / max_weight))
cv.cvCircle(
display.buffer,
cv.cvPoint((int)(pos[0, 0]), (int)(pos[1, 0])),
2,
cv.cvScalar(255, 255 - color, 255),
cv.CV_FILLED,
cv.CV_AA,
)
cv.cvCircle(
display.buffer,
cv.cvPoint((int)(pos[0, 0]), (int)(pos[1, 0])),
2,
cv.cvScalar(200, 200, 200),
8,
cv.CV_AA,
)
else:
cv.cvCircle(
display.buffer,
cv.cvPoint((int)(pos[0, 0]), (int)(pos[1, 0])),
2,
cv.cvScalar(150, 150, 150),
cv.CV_FILLED,
cv.CV_AA,
)
cv.cvLine(
display.buffer,
cv.cvPoint((int)(pos[0, 0]), (int)(pos[1, 0])),
cv.cvPoint((int)(dirp[0, 0]), (int)(dirp[1, 0])),
cv.cvScalar(100, 200, 100),
1,
cv.CV_AA,
0,
)
def DrawKeyPoints(self):
if (not self.drawimg):
self.drawimg = cv.cvCloneImage(self.img)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
ic = 0
for c in self.points:
cv.cvPutText(self.drawimg, str(ic), cv.cvPoint(int(c.x), int(c.y)),
myfont, cv.cvScalar(255, 255, 0, 0))
ic += 1
cv.cvDrawCircle(self.drawimg, c, 4, cv.cvScalar(255, 255, 0, 0))
def get_nearest_feature( image, this_point, n=2000 ): """ Get the n-nearest features to a specified image coordinate. Features are determined using cvGoodFeaturesToTrack. """ _red = cv.cvScalar (0, 0, 255, 0); _green = cv.cvScalar (0, 255, 0, 0); _blue = cv.cvScalar (255,0,0,0); _white = cv.cvRealScalar (255) _black = cv.cvRealScalar (0) quality = 0.01 min_distance = 4 N_best = n win_size = 11 grey = cv.cvCreateImage (cv.cvGetSize (image), 8, 1) eig = cv.cvCreateImage (cv.cvGetSize (image), 32, 1) temp = cv.cvCreateImage (cv.cvGetSize (image), 32, 1) # create a grey version of the image cv.cvCvtColor ( image, grey, cv.CV_BGR2GRAY) points = cv.cvGoodFeaturesToTrack ( grey, eig, temp, N_best, quality, min_distance, None, 3, 0, 0.04) # refine the corner locations better_points = cv.cvFindCornerSubPix ( grey, points, cv.cvSize (win_size, win_size), cv.cvSize (-1, -1), cv.cvTermCriteria (cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03)) eigs = [] for i in range(len(points)): eigs.append(cv.cvGetMat(eig)[int(points[i].y)][int(points[i].x)]) mypoints = np.matrix(np.zeros((len(points)*2),dtype=float)).reshape(len(points),2) dists = [] for i,point in enumerate(points): mypoints[i,0]=point.x mypoints[i,1]=point.y dists.append( np.linalg.norm(mypoints[i,:]-this_point) ) dists = np.array(dists) sorteddists = dists.argsort() cv.cvDrawCircle ( image, points[ sorteddists[0] ], 5, _green, 2, 8, 0 ) return better_points[ sorteddists[0] ]
def DrawKeyPoints(self):
ic = 0
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
for ic, c in enumerate(self.mss.seqs):
cnt = 0
for k in c.points:
cnt += 1
if (int(cnt/2) * 2 != cnt): continue
cv.cvDrawCircle(self.drawimg, cv.cvPoint(int(k.x), int(k.y)), 4, cv.cvScalar(255,255,255,0))
if (self.bDrawNumber and (cnt > self.start) and cnt < self.start + 8*4 and len(c.points) > 30):
#cv.cvPutText(self.drawimg, str(cnt), cv.cvPoint(int(k.x) + 5, int(k.y)), myfont, cv.cvScalar(255, 255, 0,0))
cv.cvDrawCircle(self.drawimg, cv.cvPoint(int(k.x), int(k.y)), 4, cv.cvScalar(255,0, 255,0))
def get_nearest_feature(image, this_point, n=2000):
"""
Get the n-nearest features to a specified image coordinate.
Features are determined using cvGoodFeaturesToTrack.
"""
_red = cv.cvScalar(0, 0, 255, 0)
_green = cv.cvScalar(0, 255, 0, 0)
_blue = cv.cvScalar(255, 0, 0, 0)
_white = cv.cvRealScalar(255)
_black = cv.cvRealScalar(0)
quality = 0.01
min_distance = 4
N_best = n
win_size = 11
grey = cv.cvCreateImage(cv.cvGetSize(image), 8, 1)
eig = cv.cvCreateImage(cv.cvGetSize(image), 32, 1)
temp = cv.cvCreateImage(cv.cvGetSize(image), 32, 1)
# create a grey version of the image
cv.cvCvtColor(image, grey, cv.CV_BGR2GRAY)
points = cv.cvGoodFeaturesToTrack(grey, eig, temp, N_best, quality,
min_distance, None, 3, 0, 0.04)
# refine the corner locations
better_points = cv.cvFindCornerSubPix(
grey, points, cv.cvSize(win_size, win_size), cv.cvSize(-1, -1),
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03))
eigs = []
for i in range(len(points)):
eigs.append(cv.cvGetMat(eig)[int(points[i].y)][int(points[i].x)])
mypoints = np.matrix(np.zeros((len(points) * 2),
dtype=float)).reshape(len(points), 2)
dists = []
for i, point in enumerate(points):
mypoints[i, 0] = point.x
mypoints[i, 1] = point.y
dists.append(np.linalg.norm(mypoints[i, :] - this_point))
dists = np.array(dists)
sorteddists = dists.argsort()
cv.cvDrawCircle(image, points[sorteddists[0]], 5, _green, 2, 8, 0)
return better_points[sorteddists[0]]
def process_node(tup):
node, color, size, text = tup
color_scalar = cv.cvScalar(color[0], color[1], color[2])
node_val = node.val(t)
if node_val.__class__ != tuple:
if node_val != None:
v_cv = self.disp.to_screen(node.val(t))
def circ(n):
pt = cv.cvPoint(int(round(n[0, 0])), int(round(n[1, 0])))
cv.cvCircle(self.disp.buffer, pt, size, color_scalar,
cv.CV_FILLED, cv.CV_AA)
pt2 = cv.cvPoint(pt.x + 2, pt.y + 2)
cv.cvPutText(self.disp.buffer, text, pt, self.disp.font,
cv.cvScalar(255, 255, 255))
cv.cvPutText(self.disp.buffer, text, pt2, self.disp.font,
cv.cvScalar(50, 50, 50))
map(circ, fun.points_of_mat(v_cv))
else:
start_pts, end_pts = node_val
for idx in range(start_pts.shape[1]):
start_pt = cvpoint_of_pt(
self.disp.to_screen(start_pts[:, idx]))[0]
end_pt = cvpoint_of_pt(self.disp.to_screen(
end_pts[:, idx]))[0]
cv.cvLine(self.disp.buffer, start_pt, end_pt, color_scalar,
size, cv.CV_AA)
def __GetCrossDist(self, p1, dx, dy, iPointIndex):
bFound = 0
fDist = 0
bestPoint = cv.cvPoint(0, 0)
bestLength = 1e10
bigLength = -1
nPoints = len(self.keypoints)
for k in range(nPoints):
if (k == iPointIndex or k == iPointIndex + 1):
continue
q1 = self.keypoints[(k - 1 + nPoints) % nPoints]
q2 = self.keypoints[k]
du = q2.x - q1.x
dv = q2.y - q1.y
dd = (dy * du - dx * dv)
if (dd == 0):
continue
t = (dy * (p1.x - q1.x) - dx * (p1.y - q1.y)) / dd
if (t >= -0.0001 and t <= 1.0001): # found it
ptt = cv.cvPoint(int(q1.x + t * du), int(q1.y + t * dv))
l = math.sqrt((ptt.x - p1.x ) * (ptt.x - p1.x ) + (ptt.y - p1.y ) * (ptt.y - p1.y))
l2 = ((dv * q1.x - du * q1.y) - (dv * p1.x - du * p1.y)) / ( dv * dx - du * dy)
bFound = 1
if (l <= bestLength and l2 > 0):
bestPoint = ptt
bestLength = l
fDist = bestLength
if (not bFound):
fDist = 0
if (self.img):
cv.cvLine(self.img, cv.cvPoint(int(p1.x), int(p1.y)), bestPoint, cv.cvScalar(255, 255, 255, 0))
return fDist
def __GetCrossDist(self, p1, dx, dy, iPointIndex):
bFound = 0
fDist = 0
bestPoint = cv.cvPoint(0, 0)
bestLength = 1e10
bigLength = -1
nPoints = len(self.keypoints)
for k in range(nPoints):
if (k == iPointIndex or k == iPointIndex + 1):
continue
q1 = self.keypoints[(k - 1 + nPoints) % nPoints]
q2 = self.keypoints[k]
du = q2.x - q1.x
dv = q2.y - q1.y
dd = (dy * du - dx * dv)
if (dd == 0):
continue
t = (dy * (p1.x - q1.x) - dx * (p1.y - q1.y)) / dd
if (t >= -0.0001 and t <= 1.0001): # found it
ptt = cv.cvPoint(int(q1.x + t * du), int(q1.y + t * dv))
l = math.sqrt((ptt.x - p1.x) * (ptt.x - p1.x) +
(ptt.y - p1.y) * (ptt.y - p1.y))
l2 = ((dv * q1.x - du * q1.y) -
(dv * p1.x - du * p1.y)) / (dv * dx - du * dy)
bFound = 1
if (l <= bestLength and l2 > 0):
bestPoint = ptt
bestLength = l
fDist = bestLength
if (not bFound):
fDist = 0
if (self.img):
cv.cvLine(self.img, cv.cvPoint(int(p1.x), int(p1.y)), bestPoint,
cv.cvScalar(255, 255, 255, 0))
return fDist
def __link(self):
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
kkk = 0
self.edges = []
for curve in self.allcurve:
showpt = []
state = 0
currentPoint = None
currentPointIdx = -1
cumulate = 0
dcurve = curve + curve
curlen = len(curve)
ptcount = 0
pointseq = []
for c in dcurve:
if (ptcount > curlen): break
cumulate += 1
for kk in range(len(self.points)):
k = self.points[kk]
if (abs(c.x - k.x) + abs(c.y - k.y) < 15):
if (currentPoint != k or cumulate > 40):
state += 1
currentPoint = k
currentPointIdx = kk
cumulate = 0
pointseq.append(kk)
if (state > 0):
showpt.append([c, state, currentPointIdx])
ptcount += 1
if (state > 1):
kkk += 1
cnt = 0
pret = -1
e = None
for s, t, cp in showpt:
if (cp != pret):
if e != None:
e.end = cp
e = Edge()
self.edges.append(e)
e.start = cp
pret = cp
cnt += 1
if (t < state):
e.addPoint(s)
#print "%d\t%3.2f\t%3.2f\t%d\t%d\t%d" % (kkk, s.x, s.y, cnt, pointseq[t - 1], pointseq[t])
e.end = showpt[-1][2]
print >> OUT, "seq\tptn\tx\ty\t"
# self.__edgededup()
self.__evenSample(self.npoints)
for ie, e in enumerate(self.edges):
print "P(%d) <-> P(%d) length %d, selected %d" % (
e.start, e.end, len(e.points), len(e.selected))
for d in e.points:
cv.cvSet2D(self.drawimg, int(d.y), int(d.x), color[3])
for ip, p in enumerate(e.selected):
cv.cvDrawCircle(self.drawimg, p, 2,
cv.cvScalar(255, 255, 0, 0))
print >> OUT, "%d\t%d\t%d\t%d" % (ie, ip, p.x, p.y)
def draw_weighted_2D(display, max_weight, particles):
for p in particles:
if type(p) is types.TupleType:
rpos, weight = p
else:
rpos = p
pos = display.to_screen(rpos)
if type(p) is types.TupleType:
color = round(255.0 * (weight/max_weight))
cv.cvCircle(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
3, cv.cvScalar(255, 255-color, 255), cv.CV_FILLED, cv.CV_AA)
cv.cvCircle(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
3, cv.cvScalar(200, 200, 200), 1, cv.CV_AA)
else:
cv.cvCircle(display.buffer, cv.cvPoint((int) (pos[0,0]), (int) (pos[1,0])),
2, cv.cvScalar(150, 150, 150), cv.CV_FILLED, cv.CV_AA)
def __link(self):
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
kkk = 0
self.edges = []
for curve in self.allcurve:
showpt = []
state = 0
currentPoint = None
currentPointIdx = -1
cumulate = 0
dcurve = curve + curve
curlen = len(curve)
ptcount = 0
pointseq = []
for c in dcurve:
if (ptcount > curlen): break
cumulate += 1
for kk in range(len(self.points)):
k = self.points[kk]
if (abs(c.x - k.x) + abs(c.y - k.y) < 15):
if (currentPoint != k or cumulate > 40):
state += 1
currentPoint = k
currentPointIdx = kk
cumulate = 0
pointseq.append(kk)
if (state > 0):
showpt.append([c, state, currentPointIdx])
ptcount += 1
if (state > 1):
kkk += 1
cnt = 0
pret = -1
e = None
for s,t, cp in showpt:
if (cp != pret):
if e != None:
e.end = cp
e = Edge()
self.edges.append(e)
e.start = cp
pret = cp
cnt += 1
if (t < state):
e.addPoint(s)
#print "%d\t%3.2f\t%3.2f\t%d\t%d\t%d" % (kkk, s.x, s.y, cnt, pointseq[t - 1], pointseq[t])
e.end = showpt[-1][2]
print >> OUT, "seq\tptn\tx\ty\t"
# self.__edgededup()
self.__evenSample(self.npoints)
for ie, e in enumerate(self.edges):
print "P(%d) <-> P(%d) length %d, selected %d" % (e.start, e.end, len(e.points), len(e.selected))
for d in e.points:
cv.cvSet2D(self.drawimg, int(d.y), int(d.x), color[3])
for ip, p in enumerate(e.selected):
cv.cvDrawCircle(self.drawimg, p, 2, cv.cvScalar(255,255,0,0))
print >> OUT, "%d\t%d\t%d\t%d" % (ie, ip, p.x, p.y)
def DrawKeyPoints(self):
if (not self.drawimg):
self.drawimg = cv.cvCloneImage(self.img)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
ic = 0
for c in self.points:
cv.cvPutText(self.drawimg, str(ic), cv.cvPoint(int(c.x), int(c.y)), myfont, cv.cvScalar(255, 255, 0,0))
ic += 1
cv.cvDrawCircle(self.drawimg, c, 4, cv.cvScalar(255,255,0,0))
def DrawKeyPoints(self):
ic = 0
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
for ic, c in enumerate(self.mss.seqs):
for k in c.points:
if self.bDrawNumber:
cv.cvPutText(
self.drawimg, str(ic), cv.cvPoint(int(k.x), int(k.y)), myfont, cv.cvScalar(255, 255, 0, 0)
)
cv.cvDrawCircle(self.drawimg, cv.cvPoint(int(k.x), int(k.y)), 4, cv.cvScalar(255, 0, 255, 0))
def np2cv(im):
print 'WARNING: np2cv is not reliable or well tested (it is a bit flakey...)'
#raise AssertionError('np2cv does not work :-(')
if len(im.shape) == 3:
shp = im.shape
channels = shp[2]
height = shp[0]
width = shp[1]
#height, width, channels = im.shape
elif len(im.shape) == 2:
height, width = im.shape
channels = 1
else:
raise AssertionError(
"unrecognized shape for the input image. should be 3 or 2, but was %d."
% len(im.shape))
key = str(im.dtype)
cv_type = np2cv_type_dict[key]
print 'attempt to create opencv image with (key, width, height, channels) =', (
key, width, height, channels)
cv_im = cv.cvCreateImage(cv.cvSize(width, height), cv_type, channels)
#cv_im.imageData = im.tostring()
if True:
if len(im.shape) == 3:
for y in xrange(height):
for x in xrange(width):
pix = [float(v) for v in im[y, x]]
scalar = cv.cvScalar(*pix)
#print scalar
cv_im[y, x] = scalar
else:
for y in xrange(height):
for x in xrange(width):
pix = float(im[y, x])
cv_im[y, x] = cv.cvScalar(pix, pix, pix)
#print 'im[y,x], cv_im[y,x] =', im[y,x], cv_im[y,x]
print 'resulted in an image openCV image with the following properties:'
numpy_type, nchannels = cv2np_type_dict[cv.cvGetElemType(cv_im)]
print '(numpy_type, nchannels, cvmat.width, cvmat.height) =', (
numpy_type, nchannels, cv_im.width, cv_im.height)
return cv_im
def clear(self):
cv.cvRectangle(self.buffer, cv.cvPoint(0, 0),
cv.cvPoint(self.buffer.width, self.buffer.height),
cv.cvScalar(255, 255, 255), cv.CV_FILLED)
if self.draw_grid:
line_color = 230
lc = cv.cvScalar(line_color, line_color, line_color)
for i in xrange(1, as_int(self.meters_disp) + 3):
cv.cvCircle(
self.buffer,
cv.cvPoint(self.w / 2, self.h),
as_int(self.pixels_per_meter * (i - .5)),
#lc, 1)
lc,
1,
cv.CV_AA)
cv.cvCircle(
self.buffer,
cv.cvPoint(self.w / 2, self.h),
as_int(self.pixels_per_meter * i),
#lc, 1)
lc,
1,
cv.CV_AA)
for i in xrange(360 / 30):
x = (self.w / 2) + math.cos(math.radians(
i * 30)) * self.pixels_per_meter * (self.meters_disp + 2)
y = self.h + math.sin(math.radians(
i * 30)) * self.pixels_per_meter * (self.meters_disp + 2)
cv.cvLine(self.buffer, cv.cvPoint(self.w / 2, self.h),
cv.cvPoint(as_int(x), as_int(y)), lc, 1, cv.CV_AA)
if self.draw_center:
cv.cvCircle(self.buffer, cv.cvPoint(self.w / 2, self.h), 3,
cv.cvScalar(0, 0, 200), cv.CV_FILLED, cv.CV_AA)
def np2cv(im):
print 'WARNING: np2cv is not reliable or well tested (it is a bit flakey...)'
#raise AssertionError('np2cv does not work :-(')
if len(im.shape) == 3:
shp = im.shape
channels = shp[2]
height = shp[0]
width = shp[1]
#height, width, channels = im.shape
elif len(im.shape) == 2:
height, width = im.shape
channels = 1
else:
raise AssertionError("unrecognized shape for the input image. should be 3 or 2, but was %d." % len(im.shape))
key = str(im.dtype)
cv_type = np2cv_type_dict[key]
print 'attempt to create opencv image with (key, width, height, channels) =', (key, width, height, channels)
cv_im = cv.cvCreateImage(cv.cvSize(width, height), cv_type, channels)
#cv_im.imageData = im.tostring()
if True:
if len(im.shape) == 3:
for y in xrange(height):
for x in xrange(width):
pix = [float(v) for v in im[y,x]]
scalar = cv.cvScalar(*pix)
#print scalar
cv_im[y,x] = scalar
else:
for y in xrange(height):
for x in xrange(width):
pix = float(im[y,x])
cv_im[y,x] = cv.cvScalar(pix, pix, pix)
#print 'im[y,x], cv_im[y,x] =', im[y,x], cv_im[y,x]
print 'resulted in an image openCV image with the following properties:'
numpy_type, nchannels = cv2np_type_dict[cv.cvGetElemType(cv_im)]
print '(numpy_type, nchannels, cvmat.width, cvmat.height) =', (numpy_type, nchannels, cv_im.width, cv_im.height)
return cv_im
def hsv2rgb(hue):
# convert the hue value to the corresponding rgb value
sector_data = [[0, 2, 1], [1, 2, 0], [1, 0, 2], [2, 0, 1], [2, 1, 0], [0, 1, 2]]
hue *= 0.1 / 3
sector = cv.cvFloor(hue)
p = cv.cvRound(255 * (hue - sector))
if sector & 1:
p ^= 255
rgb = {}
rgb[sector_data[sector][0]] = 255
rgb[sector_data[sector][1]] = 0
rgb[sector_data[sector][2]] = p
return cv.cvScalar(rgb[2], rgb[1], rgb[0], 0)
def removeErrantPoints(frame):
size = cv.cvGetSize(frame)
for x in range(size.width):
for y in range(size.height):
if(cv.cvGetReal2D(frame, y, x) > 0):
count = 0
count += same2ndValue(frame, x-1, y)
count += same2ndValue(frame, x+1, y)
count += same2ndValue(frame, x, y-1)
count += same2ndValue(frame, x, y+1)
count += same2ndValue(frame, x-1, y-1)
count += same2ndValue(frame, x-1, y+1)
count += same2ndValue(frame, x+1, y-1)
count += same2ndValue(frame, x+1, y+1)
if count == 0:
cv.cvSet2D(frame, y, x, cv.cvScalar(0, 0, 0, 0))
def hsv2rgb(hue):
# convert the hue value to the corresponding rgb value
sector_data = [[0, 2, 1], [1, 2, 0], [1, 0, 2], [2, 0, 1], [2, 1, 0],
[0, 1, 2]]
hue *= 0.1 / 3
sector = cv.cvFloor(hue)
p = cv.cvRound(255 * (hue - sector))
if sector & 1:
p ^= 255
rgb = {}
rgb[sector_data[sector][0]] = 255
rgb[sector_data[sector][1]] = 0
rgb[sector_data[sector][2]] = p
return cv.cvScalar(rgb[2], rgb[1], rgb[0], 0)
def process_node(tup): node, color, size, text = tup color_scalar = cv.cvScalar(color[0], color[1], color[2]) node_val = node.val(t) if node_val.__class__ != tuple: if node_val != None: v_cv = self.disp.to_screen(node.val(t)) def circ(n): pt = cv.cvPoint(int(round(n[0,0])),int(round(n[1,0]))) cv.cvCircle(self.disp.buffer, pt, size, color_scalar, cv.CV_FILLED, cv.CV_AA) pt2 = cv.cvPoint(pt.x + 2, pt.y + 2) cv.cvPutText(self.disp.buffer, text, pt, self.disp.font, cv.cvScalar(255,255,255)) cv.cvPutText(self.disp.buffer, text, pt2, self.disp.font, cv.cvScalar(50,50,50)) map(circ, fun.points_of_mat(v_cv)) else: start_pts, end_pts = node_val for idx in range(start_pts.shape[1]): start_pt = cvpoint_of_pt(self.disp.to_screen(start_pts[:,idx]))[0] end_pt = cvpoint_of_pt(self.disp.to_screen( end_pts[:,idx]))[0] cv.cvLine(self.disp.buffer, start_pt, end_pt, color_scalar, size, cv.CV_AA)
def draw_point(self, x, y):
cv.cvCircle(self.__image, [x,y], 3, cv.cvScalar(0, 255, 0, 0), -1, 8, 0)
def paint(self, img):
for p in self.points:
cv.cvDrawCircle(img, p.getCvPoint(), 2, cv.cvScalar(0, 0, 255,0))
for i in range(len(self.points) - 1):
cv.cvLine(img, self.points[i].getCvPoint(), self.points[i + 1].getCvPoint(), cv.cvScalar(255,255,255,0), 1)
import sys
from opencv import cv
from opencv import highgui
import opencv
from pygame.locals import *
hmin = 4
hmax = 18
vmin = 140
vmax = 255
smin = 147
smax = 255
hsv_min = cv.cvScalar(0, smin, vmin, 0)
hsv_max = cv.cvScalar(180, 256, vmax, 0)
capture = None
def change_hmin(p):
global hmin
hmin = p
def change_hmax(p):
global hmax
hmax = p
from opencv import highgui
#############################################################################
# definition of some constants
# how many bins we want for the histogram, and their ranges
hdims = 16
hranges = [[0, 180]]
# ranges for the limitation of the histogram
vmin = 10
vmax = 256
smin = 30
# the range we want to monitor
hsv_min = cv.cvScalar(0, smin, vmin, 0)
hsv_max = cv.cvScalar(180, 256, vmax, 0)
#############################################################################
# some useful functions
def hsv2rgb(hue):
# convert the hue value to the corresponding rgb value
sector_data = [[0, 2, 1], [1, 2, 0], [1, 0, 2], [2, 0, 1], [2, 1, 0],
[0, 1, 2]]
hue *= 0.1 / 3
sector = cv.cvFloor(hue)
p = cv.cvRound(255 * (hue - sector))
if sector & 1:
from contourFilters import areaFilter, rectangularAspectFilter, boxAreaFilter, perimeterFilter
MORPH_KERNEL_SIZE = 2
DILATE_ITER = 2
ERODE_ITER = 2
# Polygon Contour aproximation tolerance
PER_TOLERANCE = 50
# contour constants
CURRENT_CONTOUR = 3
CONTOUR_THICKNESS = 3
# color constants
_red = cv.cvScalar(0, 0, 255, 0)
_green = cv.cvScalar(0, 255, 0, 0)
def getPatchContour():
frame = cvLoadImage("../images/colilla-patch2.png")
src_hsvImage = cvCreateImage(cvGetSize(frame), frame.depth, 3)
src_Himage = cvCreateImage(cvGetSize(frame), frame.depth, 1)
src_Simage = cvCreateImage(cvGetSize(frame), frame.depth, 1)
src_Vimage = cvCreateImage(cvGetSize(frame), frame.depth, 1)
cvCvtColor(frame, src_hsvImage, CV_BGR2HSV)
cvSplit(src_hsvImage, src_Himage, src_Simage, src_Vimage, None)
cvShowImage("HSV", src_Simage)
eqImage = cvClone(src_Simage)
cvEqualizeHist(src_Simage, eqImage)
def main():
ct1 = CntPoint()
ct2 = CntPoint()
agl = CntAngle()
das = CntDAS()
das.bDraw = 0
try:
opts, args = getopt.getopt(sys.argv[1:], "ho:dn:e",
["help", "output=", "draw", "num=", "even"])
except getopt.GetoptError:
usage()
sys.exit(2)
output = None
bDraw = 0
npoint = 100
for o, a in opts:
if o == "-v":
ct.verbose = 1
if o in ("-h", "--help"):
usage()
sys.exit()
if o in ("-o", "--output"):
output = a
if o in ("-d", "--draw"):
bDraw = 1
if o in ("-n", "--num"):
npoint = string.atoi(a)
if o in ("-e", "--even"):
ct.bEven = 1
if (len(args)) != 2:
usage()
sys.exit(2)
ct1.GetContour(args[0], npoint)
agl.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
das.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
ct2.GetContour(args[1], npoint)
agl.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
das.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
seq1 = getdata(ct1.GetKeyPoints())
seq2 = getdata(ct2.GetKeyPoints())
matcher = SmithWaterman()
cost, align, X, Y = matcher.Align(seq1, seq2)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
if (bDraw):
ct1.DrawKeyPoints()
kpoints1 = ct1.GetKeyPoints()
ct2.DrawKeyPoints()
kpoints2 = ct2.GetKeyPoints()
ptcount = 0
for i in range(len(X)):
xi = X[i]
yi = Y[i]
if (xi == -1):
cv.cvPutText(
ct2.drawimg, 'O',
cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)),
myfont, cv.cvScalar(255, 0, 0, 0))
if (yi == -1):
cv.cvPutText(
ct1.drawimg, 'O',
cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)),
myfont, cv.cvScalar(255, 0, 0, 0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvPutText(
ct1.drawimg, str(ptcount),
cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)),
myfont, cv.cvScalar(255, 255, 0, 0))
cv.cvPutText(
ct2.drawimg, str(ptcount),
cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)),
myfont, cv.cvScalar(255, 255, 0, 0))
highgui.cvNamedWindow("contour1", 1)
highgui.cvNamedWindow("contour2", 1)
highgui.cvShowImage("contour1", ct1.drawimg)
highgui.cvShowImage("contour2", ct2.drawimg)
highgui.cvWaitKey(0)
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status [point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append (the_point)
# draw the current point
cv.cvCircle (image,
cv.cvPointFrom32f(the_point),
3, cv.cvScalar (0, 255, 0, 0),
-1, 8, 0)
# set back the points we keep
points [1] = new_points
if add_remove_pt:
# we want to add a point
points [1].append (cv.cvPointTo32f (pt))
# refine the corner locations
points [1][-1] = cv.cvFindCornerSubPix (
grey,
[points [1][-1]],
cv.cvSize (win_size, win_size), cv.cvSize (-1, -1),
cv.cvTermCriteria (cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS,
def point(self, pts, size=1, color=cv.cvScalar(100,100,100)): def circ(n): pt = cv.cvPoint(int(round(n[0,0])),int(round(n[1,0]))) cv.cvCircle(self.buffer, pt, size, color, cv.CV_FILLED, cv.CV_AA) map(circ, fun.points_of_mat(pts))
def main():
ct1 = CntPoint()
ct2 = CntPoint()
agl = CntAngle()
das = CntDAS()
das.bDraw = 0
try:
opts, args = getopt.getopt(sys.argv[1:], "ho:dn:e", ["help", "output=", "draw", "num=", "even"])
except getopt.GetoptError:
usage()
sys.exit(2)
output = None
bDraw = 0
npoint = 100
for o, a in opts:
if o == "-v":
ct.verbose = 1
if o in ("-h", "--help"):
usage()
sys.exit()
if o in ("-o", "--output"):
output = a
if o in ("-d", "--draw"):
bDraw = 1
if o in ("-n", "--num"):
npoint = string.atoi(a)
if o in ("-e", "--even"):
ct.bEven = 1
if (len(args)) != 2:
usage()
sys.exit(2)
ct1.GetContour(args[0], npoint)
agl.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
das.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
ct2.GetContour(args[1], npoint)
agl.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
das.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
seq1 = getdata(ct1.GetKeyPoints())
seq2 = getdata(ct2.GetKeyPoints())
matcher = SmithWaterman()
cost,align,X,Y = matcher.Align(seq1, seq2)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
if (bDraw):
ct1.DrawKeyPoints()
kpoints1 = ct1.GetKeyPoints()
ct2.DrawKeyPoints()
kpoints2 = ct2.GetKeyPoints()
ptcount = 0
for i in range(len(X)):
xi = X[i]
yi = Y[i]
if (xi == -1):
cv.cvPutText(ct2.drawimg, 'O', cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (yi == -1):
cv.cvPutText(ct1.drawimg, 'O', cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvPutText(ct1.drawimg, str(ptcount), cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)), myfont, cv.cvScalar(255, 255, 0,0))
cv.cvPutText(ct2.drawimg, str(ptcount), cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)), myfont, cv.cvScalar(255, 255, 0,0))
highgui.cvNamedWindow ("contour1", 1)
highgui.cvNamedWindow ("contour2", 1)
highgui.cvShowImage ("contour1", ct1.drawimg)
highgui.cvShowImage ("contour2", ct2.drawimg)
highgui.cvWaitKey (0)
#!/usr/bin/env python
import sys
import math
import string
import optparse
import fileinput
from CntPoint import *
from opencv import cv
from opencv import highgui
_red = cv.cvScalar (0, 0, 255, 0)
_green = cv.cvScalar (0, 255, 0, 0)
_white = cv.cvScalar (255,255,255,0)
_black = cv.cvScalar (0,0,0,0)
class Corner:
def __FindCorner(self, filename): #find the corners of images, and save all corner points in self.vKeyPoints
self.img = highgui.cvLoadImage (filename)
greyimg = cv.cvCreateImage(cv.cvSize(self.img.width, self.img.height), 8,1)
hsvimg = cv.cvCreateImage(cv.cvGetSize(self.img), 8, 3)
cv.cvCvtColor(self.img, hsvimg, cv.CV_RGB2HSV)
cv.cvCvtColor (hsvimg, greyimg, cv.CV_BGR2GRAY)
eigImage = cv.cvCreateImage(cv.cvGetSize(greyimg), cv.IPL_DEPTH_32F, 1)
tempImage = cv.cvCreateImage(cv.cvGetSize(greyimg), cv.IPL_DEPTH_32F, 1)
self.points = cv.cvGoodFeaturesToTrack(greyimg, eigImage,tempImage, 2000, 0.01, 5, None, 3,0,0.01 )
self.points2 = cv.cvFindCornerSubPix(greyimg, self.points,cv.cvSize(20, 20),
cv.cvSize(-1, -1), cv.cvTermCriteria(cv.CV_TERMCRIT_ITER |cv.CV_TERMCRIT_EPS, 20, 0.03))
cv.cvReleaseImage(eigImage)
def harrisResponse(frame):
"""pyvision/point/DetectorHarris.py
Runs at 10.5 fps...
"""
#gray = cv.cvCreateImage( cv.cvGetSize(image), 8, 1 )
#corners = cv.cvCreateImage( cv.cvGetSize(image), 32, 1 )
#cv.cvCvtColor( image, gray, cv.CV_BGR2GRAY )
#cv.cvCornerHarris(gray,corners,15)
# This could be done in a persistant way
# create the images we need
image = cv.cvCreateImage(cv.cvGetSize(frame), 8, 3)
grey = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
prev_grey = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
pyramid = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
prev_pyramid = cv.cvCreateImage(cv.cvGetSize(frame), 8, 1)
eig = cv.cvCreateImage(cv.cvGetSize(frame), cv.IPL_DEPTH_32F, 1)
temp = cv.cvCreateImage(cv.cvGetSize(frame), cv.IPL_DEPTH_32F, 1)
points = [[], []]
# copy the frame, so we can draw on it
cv.cvCopy(frame, image)
# create a grey version of the image
cv.cvCvtColor(image, grey, cv.CV_BGR2GRAY)
# search the good points
points[1] = cv.cvGoodFeaturesToTrack(grey, eig, temp, MAX_COUNT, quality,
min_distance, None, 3, 0, 0.04)
# refine the corner locations
cv.cvFindCornerSubPix(
grey, points[1], cv.cvSize(win_size, win_size), cv.cvSize(-1, -1),
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03))
if len(points[0]) > 0:
# we have points, so display them
# calculate the optical flow
[points[1], status], something = cv.cvCalcOpticalFlowPyrLK(
prev_grey, grey, prev_pyramid, pyramid, points[0], len(points[0]),
(win_size, win_size), 3, len(points[0]), None,
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20,
0.03), flags)
# initializations
point_counter = -1
new_points = []
for the_point in points[1]:
# go trough all the points
# increment the counter
point_counter += 1
if add_remove_pt:
# we have a point to add, so see if it is close to
# another one. If yes, don't use it
dx = pt.x - the_point.x
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status[point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append(the_point)
# draw the current point
cv.cvCircle(image, cv.cvPointFrom32f(the_point), 3,
cv.cvScalar(0, 255, 0, 0), -1, 8, 0)
# set back the points we keep
points[1] = new_points
# swapping
prev_grey, grey = grey, prev_grey
prev_pyramid, pyramid = pyramid, prev_pyramid
points[0], points[1] = points[1], points[0]
return image
def point(self, pts, size=1, color=cv.cvScalar(100, 100, 100)):
def circ(n):
pt = cv.cvPoint(int(round(n[0, 0])), int(round(n[1, 0])))
cv.cvCircle(self.buffer, pt, size, color, cv.CV_FILLED, cv.CV_AA)
map(circ, fun.points_of_mat(pts))
random.randrange (0, 100) * 0.05 + 0.01,
random.randrange (0, 5) * 0.1,
random.randrange (0, 10),
line_type)
cv.cvPutText (image, "Testing text rendering!",
pt1, font,
random_color (random))
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# prepare a text, and get it's properties
font = cv.cvInitFont (cv.CV_FONT_HERSHEY_COMPLEX,
3, 3, 0.0, 5, line_type)
text_size, ymin = cv.cvGetTextSize ("OpenCV forever!", font)
pt1.x = (width - text_size.width) / 2
pt1.y = (height + text_size.height) / 2
image2 = cv.cvCloneImage(image)
# now, draw some OpenCV pub ;-)
for i in range (255):
cv.cvSubS (image2, cv.cvScalarAll (i), image, None)
cv.cvPutText (image, "OpenCV forever!",
pt1, font, cv.cvScalar (255, i, i))
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# wait some key to end
highgui.cvWaitKey (0)
# generate a random point
points.append (cv.cvPoint (
my_random.randrange (0, image.width / 2) + image.width / 4,
my_random.randrange (0, image.width / 2) + image.width / 4
))
# compute the convex hull
hull = cv.cvConvexHull2 (points, cv.CV_CLOCKWISE, 0)
# start with an empty image
cv.cvSetZero (image)
for i in range (count):
# draw all the points
cv.cvCircle (image, points [i], 2,
cv.cvScalar (0, 0, 255, 0),
cv.CV_FILLED, cv.CV_AA, 0)
# start the line from the last point
pt0 = points [hull [-1]]
for point_index in hull:
# connect the previous point to the current one
# get the current one
pt1 = points [point_index]
# draw
cv.cvLine (image, pt0, pt1,
cv.cvScalar (0, 255, 0, 0),
1, cv.CV_AA, 0)
cv.cvCvtColor(image, hsv, cv.CV_BGR2HSV)
cv.cvLine(image, cv.cvPoint(0, image.height / 2),
cv.cvPoint(image.width, image.height / 2),
cv.CV_RGB(0, 255, 0), 2, 8, 0)
cv.cvLine(image, cv.cvPoint(image.width / 2, 0),
cv.cvPoint(image.width / 2, image.height),
cv.CV_RGB(0, 255, 0), 2, 8, 0)
if track_object:
_vmin = vmin
_vmax = vmax
cv.cvInRangeS(hsv, cv.cvScalar(0, smin, min(_vmin, _vmax), 0),
cv.cvScalar(180, 256, max(_vmin, _vmax), 0), mask)
cv.cvSplit(hsv, hue, None, None, None)
if track_object < 0:
max_val = 0.0
subhue = cv.cvGetSubRect(hue, selection)
submask = cv.cvGetSubRect(mask, selection)
cv.cvCalcHist(subhue, hist, 0, submask)
# extract the min and max value of the histogram
min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue(
hist)
if (max_val):
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status[point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append(the_point)
# draw the current point
cv.cvCircle(image, [the_point.x, the_point.y], 3,
cv.cvScalar(0, 255, 0, 0), -1, 8, 0)
# set back the points we keep
points[1] = new_points
if add_remove_pt:
# we want to add a point
points[1].append(cv.cvPointTo32f(pt))
# refine the corner locations
points[1][-1] = cv.cvFindCornerSubPix(
grey, [points[1][-1]], cv.cvSize(win_size, win_size),
cv.cvSize(-1, -1),
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20,
0.03))[0]
#ERODE_ITER=2
DILATE_ITER = 1
ERODE_ITER = 1
#Polygon Contour aproximation tolerance
PER_TOLERANCE = 50
#contour constants
CURRENT_CONTOUR = 2
CONTOUR_THICKNESS = 2
#threshold values
THRESHOLD_VALUE = 240
#color constants
_red = cv.cvScalar(0, 0, 255, 0)
_green = cv.cvScalar(0, 255, 0, 0)
def isValidRect(rect, fullFrame):
if rect.x < 0 or rect.y < 0:
return False
if rect.x > fullFrame.width or rect.y > fullFrame.height:
return False
if rect.x + rect.width > fullFrame.width or rect.y + rect.height > fullFrame.height:
return False
return True
def biggerRect(rect, percent, fullFrame):
random.randrange (0, 5) * 0.1,
random.randrange (0, 10),
line_type)
cv.cvPutText (image, "Testing text rendering!",
pt1, font,
random_color (random))
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# prepare a text, and get it's properties
font = cv.cvInitFont (cv.CV_FONT_HERSHEY_COMPLEX,
3, 3, 0.0, 5, line_type)
text_size, ymin = cv.cvGetTextSize ("OpenCV forever!", font)
pt1.x = (width - text_size.width) / 2
pt1.y = (height + text_size.height) / 2
image2 = cv.cvCloneImage(image)
# now, draw some OpenCV pub ;-)
for i in range (255):
cv.cvSubS (image2, cv.cvScalarAll (i), image, None)
cv.cvPutText (image, "OpenCV forever!",
pt1, font, cv.cvScalar (255, i, i))
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# wait some key to end
highgui.cvWaitKey (0)
def random_color (random):
"""
Return a random color
"""
icolor = random.randint (0, 0xFFFFFF)
return cv.cvScalar (icolor & 0xff, (icolor >> 8) & 0xff, (icolor >> 16) & 0xff)
dx = pt.x - the_point.x
dy = pt.y - the_point.y
if dx * dx + dy * dy <= 25:
# too close
add_remove_pt = 0
continue
if not status[point_counter]:
# we will disable this point
continue
# this point is a correct point
new_points.append(the_point)
# draw the current point
cv.cvCircle(image, [the_point.x, the_point.y], 3, cv.cvScalar(0, 255, 0, 0), -1, 8, 0)
# set back the points we keep
points[1] = new_points
if add_remove_pt:
# we want to add a point
points[1].append(cv.cvPointTo32f(pt))
# refine the corner locations
points[1][-1] = cv.cvFindCornerSubPix(
grey,
[points[1][-1]],
cv.cvSize(win_size, win_size),
cv.cvSize(-1, -1),
cv.cvTermCriteria(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03),
def random_color (random):
"""
Return a random color
"""
icolor = random.randint (0, 0xFFFFFF)
return cv.cvScalar (icolor & 0xff, (icolor >> 8) & 0xff, (icolor >> 16) & 0xff)
red_hmin = 127 red_hmax = 180 green_hmin = 38 green_hmax = 100 vmin = 125 vmax = 255 # global statistics variables stats = True frameCount = 0 redFailCount = 0 greenFailCount = 0 startTime = time() hsv_min = cv.cvScalar(0, 0, vmin, 0) hsv_max = cv.cvScalar(180, 255, vmax, 0) capture = None def change_hmin(p): global hmin hmin = p def change_hmax(p): global hmax hmax = p def change_red_hmin(p): global red_hmin red_hmin = p
def segment_center_object(image,
display_on=False,
nsamp=10000, iter_limit=30,
use_texture=True, use_hsv=True, set_v_to_zero=True,
use_mask=True, remove_saturation=False, remove_boundary = True, prior_gmm=None,
use_flip_heuristic=True):
"""
segment the input image (OpenCV image) and return an ellipse fit to the center object (foreground) and a binary image mask for this foreground object
nsamp : number of pixels to be used when fitting the Gaussian mixture model (impacts speed and accuracy)
iter_limit : maximum number of iterations when fitting the texture model
use_texture : use texture features
use_hsv : use hsv color space for features
set_v_to_zero : effectively remove the value (brightness) component of the hsv features
use_mask : mask out areas of the image prior to training the appearance model and segmenting
remove_saturation : if use_mask, then remove saturated pixels (RGB values = 255 = max value)
remove_boundary : if use_mask, then remove the borders of the image prior to segmenting it
returns a segmentation object (SegmentObject)
"""
#remove_low_freq = True
if use_hsv:
hsv_image = cv.cvCreateImage(cv.cvSize(image.width, image.height),
cv.IPL_DEPTH_8U, 3)
cv.cvCvtColor(image, hsv_image, cv.CV_RGB2HSV) #cv.CV_BGR2HSV)
if set_v_to_zero:
#cvSet(hsv_image, cvScalarAll(0), )
for y in xrange(hsv_image.height):
for x in xrange(hsv_image.width):
pix = hsv_image[y,x]
hsv_image[y,x] = cv.cvScalar(pix[0], pix[1], 0.0)
image = hsv_image
if display_on:
image_list = []
else:
image_list = None
imf = ImageFeatures(image, use_texture=use_texture)
#imf.texture_features()
if use_mask:
#test_mask = np.zeros([image.height, image.width])
#test_mask[0:200, 0:200] = 1.0
#test_mask = test_mask > 0.0
# select saturation mask
nim = ut.cv2np(image)
if remove_saturation:
# remove saturated pixels
#saturation_mask = ~np.alltrue(nim > 255, axis=2)
saturation_mask = ~np.any(nim >= 255, axis=2)
#saturation_mask = np.sum(nim >= 255, axis=2) < 2
if remove_boundary:
# remove boundaries beyond the possible object size
border_y = 50
border_x = 100
too_big_mask = np.zeros(nim.shape[:2], dtype=np.bool)
w = nim.shape[1]
h = nim.shape[0]
too_big_mask[border_y : h - border_y, border_x : w - border_x] = True
if remove_saturation and remove_boundary:
feature_mask = saturation_mask & too_big_mask
elif remove_saturation:
feature_mask = saturation_mask
else:
feature_mask = too_big_mask
disp_mask = feature_mask.copy()
features = imf.select_subset(nsamp, mask_image=feature_mask)
cv_mask = ut.np2cv(disp_mask.astype(np.uint8) * 255)
if image_list is not None:
image_list.append(cv_mask)
else:
features = imf.select_subset(nsamp)
#sego = SegmentObject(image, features, iter_limit=iter_limit)
sego = SegmentObject(image, imf, iter_limit=iter_limit, prior_gmm=prior_gmm)
sego.classify_image(use_flip_heuristic)
sego.clean_classified_image()
#sego.find_largest_object()
sego.find_best_object()
sego.fit_to_largest_object()
if image_list is not None:
image_list.extend(sego.get_images_for_display())
ut.display_images(image_list)
return sego
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()
#!/usr/bin/env python ##################################################### # Longbin Chen # ------------ # Created by [email protected] ##################################################### import sys, math, string, optparse, fileinput, cStringIO, random from opencv import cv from opencv import highgui from MSS import * import NW _red = cv.cvScalar(0, 0, 255, 0) _green = cv.cvScalar(0, 255, 0, 0) _white = cv.cvScalar(255, 255, 255, 0) _black = cv.cvScalar(0, 0, 0, 0) color = [ _red, _green, _white, cv.cvScalar(128, 0, 128), cv.cvScalar(128, 128, 128), cv.cvScalar(128, 0, 0), cv.cvScalar(0, 0, 128) ] OUT = cStringIO.StringIO() class Edge:
from opencv import highgui
#############################################################################
# definition of some constants
# how many bins we want for the histogram, and their ranges
hdims = 16
hranges = [[0, 180]]
# ranges for the limitation of the histogram
vmin = 10
vmax = 256
smin = 30
# the range we want to monitor
hsv_min = cv.cvScalar (0, smin, vmin, 0)
hsv_max = cv.cvScalar (180, 256, vmax, 0)
#############################################################################
# some useful functions
def hsv2rgb (hue):
# convert the hue value to the corresponding rgb value
sector_data = [[0, 2, 1],
[1, 2, 0],
[1, 0, 2],
[2, 0, 1],
[2, 1, 0],
[0, 1, 2]]
hue *= 0.1 / 3
def segment_center_object(image,
display_on=False,
nsamp=10000,
iter_limit=30,
use_texture=True,
use_hsv=True,
set_v_to_zero=True,
use_mask=True,
remove_saturation=False,
remove_boundary=True,
prior_gmm=None,
use_flip_heuristic=True):
"""
segment the input image (OpenCV image) and return an ellipse fit to the center object (foreground) and a binary image mask for this foreground object
nsamp : number of pixels to be used when fitting the Gaussian mixture model (impacts speed and accuracy)
iter_limit : maximum number of iterations when fitting the texture model
use_texture : use texture features
use_hsv : use hsv color space for features
set_v_to_zero : effectively remove the value (brightness) component of the hsv features
use_mask : mask out areas of the image prior to training the appearance model and segmenting
remove_saturation : if use_mask, then remove saturated pixels (RGB values = 255 = max value)
remove_boundary : if use_mask, then remove the borders of the image prior to segmenting it
returns a segmentation object (SegmentObject)
"""
#remove_low_freq = True
if use_hsv:
hsv_image = cv.cvCreateImage(cv.cvSize(image.width, image.height),
cv.IPL_DEPTH_8U, 3)
cv.cvCvtColor(image, hsv_image, cv.CV_RGB2HSV) #cv.CV_BGR2HSV)
if set_v_to_zero:
#cvSet(hsv_image, cvScalarAll(0), )
for y in xrange(hsv_image.height):
for x in xrange(hsv_image.width):
pix = hsv_image[y, x]
hsv_image[y, x] = cv.cvScalar(pix[0], pix[1], 0.0)
image = hsv_image
if display_on:
image_list = []
else:
image_list = None
imf = ImageFeatures(image, use_texture=use_texture)
#imf.texture_features()
if use_mask:
#test_mask = np.zeros([image.height, image.width])
#test_mask[0:200, 0:200] = 1.0
#test_mask = test_mask > 0.0
# select saturation mask
nim = ut.cv2np(image)
if remove_saturation:
# remove saturated pixels
#saturation_mask = ~np.alltrue(nim > 255, axis=2)
saturation_mask = ~np.any(nim >= 255, axis=2)
#saturation_mask = np.sum(nim >= 255, axis=2) < 2
if remove_boundary:
# remove boundaries beyond the possible object size
border_y = 50
border_x = 100
too_big_mask = np.zeros(nim.shape[:2], dtype=np.bool)
w = nim.shape[1]
h = nim.shape[0]
too_big_mask[border_y:h - border_y, border_x:w - border_x] = True
if remove_saturation and remove_boundary:
feature_mask = saturation_mask & too_big_mask
elif remove_saturation:
feature_mask = saturation_mask
else:
feature_mask = too_big_mask
disp_mask = feature_mask.copy()
features = imf.select_subset(nsamp, mask_image=feature_mask)
cv_mask = ut.np2cv(disp_mask.astype(np.uint8) * 255)
if image_list is not None:
image_list.append(cv_mask)
else:
features = imf.select_subset(nsamp)
#sego = SegmentObject(image, features, iter_limit=iter_limit)
sego = SegmentObject(image,
imf,
iter_limit=iter_limit,
prior_gmm=prior_gmm)
sego.classify_image(use_flip_heuristic)
sego.clean_classified_image()
#sego.find_largest_object()
sego.find_best_object()
sego.fit_to_largest_object()
if image_list is not None:
image_list.extend(sego.get_images_for_display())
ut.display_images(image_list)
return sego