def main():
# Initialization
highgui.cvNamedWindow("Guardian", 1)
signal.signal(signal.SIGINT, handler)
# Stage
#robot = playerc.playerc_client(None, "localhost", 6665)
# Corobot
robot = playerc.playerc_client(None, "corobot-w.wifi.wpi.edu", 6665)
robot.connect()
p2dproxy = playerc.playerc_position2d(robot, 0)
p2dproxy.subscribe(playerc.PLAYERC_OPEN_MODE)
p2dproxy.get_geom()
robot.read()
while True:
image = highgui.cvQueryFrame(camera)
detectObject(image)
p2dproxy.set_cmd_vel(speed[0], 0, speed[1], 0)
draw_gui(image)
highgui.cvShowImage("Guardian", image)
if highgui.cvWaitKey(20) != -1:
break
highgui.cvDestroyWindow("Guardian")
p2dproxy.set_cmd_vel(0, 0, 0, 0)
def __init__(self,
name,
size=2,
draw_center=True,
draw_grid=True,
meters_radius=4.0):
"""
name = name of window
meter_radus = 4.0
size = multiple of 400x200 to use for screen
meter_radius = how many per metrer
"""
self.draw_center = draw_center
self.draw_grid = draw_grid
self.w = (int)(round(size * 400.0))
self.h = (int)(round(size * 200.0))
self.meters_disp = 4.0 #Range in meters of area around robot to display
self.laser_win = name
self.buffer = cv.cvCreateImage(cv.cvSize(self.w, 2 * self.h),
cv.IPL_DEPTH_8U, 3)
#print "RobotDisp: window width", self.buffer.width
#print "RobotDisp: window height", self.buffer.height
self.pixels_per_meter = self.h / self.meters_disp
hg.cvNamedWindow(name, hg.CV_WINDOW_AUTOSIZE)
hg.cvMoveWindow(name, 0, 50)
self.font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, as_int(1),
as_int(1), 0, 1, cv.CV_AA)
def main():
usage = "%prog [options] <imgfile>"
version = "%prog 0.2\n Longbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d', '--display', action="store_true", dest = 'display', default = False, help = 'display the image')
oparser.add_option('-m', '--drawnumber', action="store_true", dest = 'drawnumber', default = False, help = 'display the point numbers')
oparser.add_option('-n', '--number', dest = 'num', type='int',default = 200 , help = 'the number of feature points')
oparser.add_option('-t', '--threshold', dest = 'threshold', type='int',default = 100 , help = 'the threshold for image binarification')
oparser.add_option('-o', '--output', dest = 'output', default = None, help = 'output file')
oparser.add_option('-s', '--save', dest = 'save', default = None, help = 'save the img file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 2:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
ct = ExtractMSS()
ct.GetContour(args[1], options)
if (options.display):
ct.start = options.threshold
ct.DrawKeyPoints()
highgui.cvNamedWindow ("contour", 1)
highgui.cvShowImage ("contour", ct.drawimg)
highgui.cvWaitKey (0)
if (options.output):
ct.mss.save(options.output)
if (options.save):
highgui.cvSaveImage(options.save, ct.drawimg)
def main():
# Initialization
highgui.cvNamedWindow("Guardian", 1)
signal.signal(signal.SIGINT, handler)
# Stage
#robot = playerc.playerc_client(None, "localhost", 6665)
# Corobot
robot = playerc.playerc_client(None, "corobot-w.wifi.wpi.edu", 6665)
robot.connect()
p2dproxy = playerc.playerc_position2d(robot, 0)
p2dproxy.subscribe(playerc.PLAYERC_OPEN_MODE)
p2dproxy.get_geom()
robot.read()
while True:
image = highgui.cvQueryFrame(camera)
detectObject(image)
p2dproxy.set_cmd_vel(speed[0], 0, speed[1], 0)
draw_gui(image)
highgui.cvShowImage("Guardian", image)
if highgui.cvWaitKey(20) != -1:
break
highgui.cvDestroyWindow("Guardian")
p2dproxy.set_cmd_vel(0, 0, 0, 0)
def main():
print "FaceIn! an OpenCV Python Face Recognition Program"
highgui.cvNamedWindow ('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow ('Camera', 10, 10)
device = 0 #use first device found
capture = highgui.cvCreateCameraCapture (device)
frame = highgui.cvQueryFrame (capture)
frame_size = cv.cvGetSize (frame)
fps = 30
while 1:
frame = highgui.cvQueryFrame (capture)
detectFace(frame)
# display the frames to have a visual output
highgui.cvShowImage ('Camera', frame)
# handle events
k = highgui.cvWaitKey (5)
if k % 0x100 == 27:
# user has press the ESC key, so exit
quit()
def main():
print "FaceIn! an OpenCV Python Face Recognition Program"
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 10, 10)
device = 0 #use first device found
capture = highgui.cvCreateCameraCapture(device)
frame = highgui.cvQueryFrame(capture)
frame_size = cv.cvGetSize(frame)
fps = 30
while 1:
frame = highgui.cvQueryFrame(capture)
detectFace(frame)
# display the frames to have a visual output
highgui.cvShowImage('Camera', frame)
# handle events
k = highgui.cvWaitKey(5)
if k % 0x100 == 27:
# user has press the ESC key, so exit
quit()
def show_image(window_name, img, wait=False):
hg.cvStartWindowThread()
RESIZABLE = 0
hg.cvNamedWindow(window_name, RESIZABLE)
hg.cvShowImage(window_name, img)
if wait:
print 'show_image: press any key to continue..'
cv.highgui.cvWaitKey()
def run_me_server():
sn = SegmentNode()
hg.cvNamedWindow('image', 1)
rospy.TopicSub('image', RImage, sn.set_image)
rospy.ready(sys.argv[0])
segment_service = rospy.Service('hrl_grasp', srv.hrl_grasp, sn.segment)
segment_service.register()
rospy.spin()
def _make_windows(self):
windows = ['video', 'right', 'thresholded', 'motion', 'intensity', 'patch', 'big_patch']
for n in windows:
hg.cvNamedWindow(n, 1)
hg.cvMoveWindow("video", 0, 0)
hg.cvMoveWindow("right", 800, 0)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
def main(argv):
# Frames per second
fps = 20
tux_pos = 5
tux_pos_min = 0.0
tux_pos_max = 9.0
try:
opts, args = getopt.getopt(argv, "fps", ["framerate=",])
except getopt.GetoptError:
sys.exit(2)
for opt, arg in opts:
if opt in ("-fps", "--framerate"):
fps = arg
camera = highgui.cvCreateCameraCapture(0)
while True:
highgui.cvNamedWindow('Camera', 1)
im = highgui.cvQueryFrame(camera)
if im is None:
break
# mirror
opencv.cv.cvFlip(im, None, 1)
# positions = face.detect(im, 'haarcascade_data/haarcascade_profileface.xml')
positions = face.detect(im, 'haarcascade_data/haarcascade_frontalface_alt2.xml')
# if not positions:
# positions = face.detect(im, 'haarcascade_data/haarcascade_frontalface_alt2.xml')
# display webcam image
highgui.cvShowImage('Camera', im)
# Division of the screen to count as "walking" motion to trigger tux
image_size = opencv.cvGetSize(im)
motion_block = image_size.width / 9
if positions:
mp = None
for position in positions:
if not mp or mp['width'] > position['width']:
mp = position
pos = (mp['x'] + (mp['width'] / 2)) / motion_block
print "tux pos: %f" % tux_pos
print "pos: %f" % pos
if pos != tux_pos:
if tux_pos > pos:
move_tux_right(tux_pos - pos)
elif tux_pos < pos:
move_tux_left(pos - tux_pos)
tux_pos = pos
if highgui.cvWaitKey(fps) >= 0:
highgui.cvDestroyWindow('Camera')
sys.exit(0)
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 _make_windows(self):
windows = [
'video', 'right', 'thresholded', 'motion', 'intensity', 'patch',
'big_patch'
]
for n in windows:
hg.cvNamedWindow(n, 1)
hg.cvMoveWindow("video", 0, 0)
hg.cvMoveWindow("right", 800, 0)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
def run(self):
"""
Consume images from the webcam at 25fps.
If visualize is True, show the result in the screen.
"""
if self.visualize:
highgui.cvNamedWindow('DucksboardFace')
while self.running:
self.image = highgui.cvQueryFrame(self.camera)
if self.visualize:
highgui.cvShowImage('DucksboardFace', self.image)
highgui.cvWaitKey(1000 / 25)
def run(self):
"""
Consume images from the webcam at 25fps.
If visualize is True, show the result in the screen.
"""
if self.visualize:
highgui.cvNamedWindow('DucksboardFace')
while self.running:
self.image = highgui.cvQueryFrame(self.camera)
if self.visualize:
highgui.cvShowImage('DucksboardFace', self.image)
highgui.cvWaitKey(1000 / 25)
def main(): # ctrl+c to end
global h,s,v,h2,v2,s2,d,e
highgui.cvNamedWindow("Camera 1", 1)
highgui.cvNamedWindow("Orig", 1)
highgui.cvCreateTrackbar("H", "Camera 1", h, 256, tb_h)
highgui.cvCreateTrackbar("S", "Camera 1", s, 256, tb_s)
highgui.cvCreateTrackbar("V", "Camera 1", v, 256, tb_v)
highgui.cvCreateTrackbar("H2", "Camera 1", h2, 256, tb_h2)
highgui.cvCreateTrackbar("S2", "Camera 1", s2, 256, tb_s2)
highgui.cvCreateTrackbar("V2", "Camera 1", v2, 256, tb_v2)
highgui.cvCreateTrackbar("Dilate", "Camera 1", d, 30, tb_d)
highgui.cvCreateTrackbar("Erode", "Camera 1", e, 30, tb_e)
cap = highgui.cvCreateCameraCapture(1)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_WIDTH, IMGW)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_HEIGHT, IMGH)
c = 0
t1 = tdraw = time.clock()
t = 1
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, 1, 1)
while c != 0x27:
image = highgui.cvQueryFrame(cap)
if not image:
print "capture failed"
break
thresh = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,1)
cv.cvSetZero(thresh)
cv.cvCvtColor(image,image,cv.CV_RGB2HSV)
cv.cvInRangeS(image, (h,s,v,0), (h2,s2,v2,0), thresh)
result = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,3)
cv.cvSetZero(result)
cv.cvOr(image,image,result,thresh)
for i in range(1,e):
cv.cvErode(result,result)
for i in range(1,d):
cv.cvDilate(result,result)
# floodfill objects back in, allowing threshold differences outwards
t2 = time.clock()
if t2 > tdraw+0.3:
t = t2-t1
tdraw=t2
cv.cvPutText(result, "FPS: " + str(1 / (t)), (0,25), font, (255,255,255))
t1 = t2
highgui.cvShowImage("Orig", image)
highgui.cvShowImage("Camera 1", result)
c = highgui.cvWaitKey(10)
def getBackground(frameWidht, frameHeight):
cvNamedWindow("Background")
text = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
background = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
font = cvInitFont(CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0, 0.0, 2)
pt1 = cvPoint(50, 100)
pt2 = cvPoint(50, 150)
center = cvPoint(frameWidth/2, frameHeight/2)
cvPutText(text, "Press enter, run away and wait", pt1, font, CV_RGB(150, 100, 150))
cvPutText(text, str(delayS) + " seconds to capture background", pt2, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key == -1:
key = cvWaitKey(10)
like = False
while not like:
for i in range(delayS):
cvZero(text)
cvPutText(text, str(delayS-i), center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
cvWaitKey(1000)
csut = camStartUpTime
while (csut): # Stats capturing frames in order to give time to the cam to auto-adjust colors
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
cvWaitKey(10)
csut -= 1
frame = cvQueryFrame(CAM)
cvCopy(frame, background)
cvCopy(frame, text)
cvPutText(text, "Is correct? [y/n]", center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key != 'n' and key != 'y':
key = cvWaitKey(10)
if key == 'y':
like = True
return background
cvDestroyWindow("Background")
def main():
"""
Just the test
This method is a god resource on how to handle the results
"""
filename = sys.argv[1]
image = highgui.cvLoadImage (filename)
print "DO NOT EXPECT THE RUNNING TIME OF THIS TEST TO BE REPRESENTATIVE!"
print ""
print "THRESHOLDS AND EVERYTHING ELSE ARE HARDCODED!"
cutRatios = [0.6667, lib.PHI, 0.6]
settings = Settings(cutRatios)
# Run the analysis with the above settings
comps = naiveMethod.analyzeImage(image, settings)
# This is just for drawing the results
# The below methods can probably be combined but don't bother
# {{{
# Get and draw the cuts
cuts = {}
for ratio in settings.cutRatios:
cuts[str(ratio)] = lib.findMeans(cv.cvGetSize(image), ratio)
for ratio in cuts:
lib.drawLines(image, None, cuts[ratio], lib.getRandomColor())
# Get and draw the components
for ratio in comps:
for cut in comps[ratio]:
lib.drawBoundingBoxes(image, comps[ratio][cut])
# }}}
winname = "Failure"
highgui.cvNamedWindow (winname, highgui.CV_WINDOW_AUTOSIZE)
while True:
highgui.cvShowImage (winname, image)
c = highgui.cvWaitKey(0)
if c == 'q':
print "Exiting ..."
print ""
sys.exit(0)
def showImage(image, name): """Helper method for displaying an image""" winname = name highgui.cvNamedWindow (winname, highgui.CV_WINDOW_AUTOSIZE) while True: highgui.cvShowImage (winname, image) c = highgui.cvWaitKey(0) if c == 'q': print "Exiting ..." print "" sys.exit(0)
def display(self, index=-1):
"""
open a new window
"""
if(index==-1):
self.maxWindow = self.maxWindow+1;
index= self.maxWindow;
if(index > self.maxWindow):
self.maxWindow = index;
self.currentWindow = index;
self.currentWindowName = "opencv-python window %d" % self.currentWindow
cvNamedWindow(self.currentWindowName,0)
return self.currentWindow
def display(self, index=-1):
"""
open a new window
"""
if (index == -1):
self.maxWindow = self.maxWindow + 1
index = self.maxWindow
if (index > self.maxWindow):
self.maxWindow = index
self.currentWindow = index
self.currentWindowName = "opencv-python window %d" % self.currentWindow
cvNamedWindow(self.currentWindowName, 0)
return self.currentWindow
def __init__(self,
processFunction=None,
title="Video Capture Player",
show=True,
**argd):
self.__dict__.update(**argd)
super(VideoCapturePlayer, self).__init__(**argd)
t_begin = time.time()
self.processFunction = processFunction
self.title = title
self.show = show
if self.show is True:
self.display = hg.cvNamedWindow(self.title)
try:
self.camera = hg.cvCreateCameraCapture(0)
except:
print("Couldn't open camera device, is it connected?")
hg.cvDestroyWindow(title)
raise SystemExit
# Take a frame to get props and use in testing
self.snapshot = cv.cvCloneMat(hg.cvQueryFrame(self.camera))
# check that we got an image, otherwise try again.
for i in xrange(100):
if self.snapshot is not None: break
self.snapshot = hg.cvQueryFrame(self.camera)
def recognize_face():
try:
argsnum=len(sys.argv)
print "args:",argsnum
#if(argsnum<5):
# print "usage:python pyfaces.py imgname dirname numofeigenfaces threshold "
# sys.exit(2)
#imgname=sys.argv[1]
#dirname=sys.argv[2]
#egfaces=int(sys.argv[3])
#thrshld=float(sys.argv[4])
capture=hg.cvCreateCameraCapture(0)
hg.cvNamedWindow("Snapshot")
i=0
#time.sleep(1)
myframe=0
imgname='sample.png'
dirname='images'
egfaces=5
thrshld=0.3
#frame=0
while 1:
frame=hg.cvQueryFrame(capture)
#print type(frame)
hg.cvShowImage("Snapshot",frame)
key = hg.cvWaitKey(5)
if key=='c' or key=='C':
hg.cvDestroyWindow("Snapshot")
hg.cvSaveImage(imgname,frame)
global_frame=frame
break
#print frame
#sys.exit(0)
pyf=PyFaces(imgname,dirname,egfaces,thrshld,frame)
#if pyfaces returns false then save this image into images folder
hg.cvReleaseCapture(capture)
return pyf.getFileName()
except Exception,detail:
print detail
print "usage:python pyfaces.py imgname dirname numofeigenfaces threshold "
def compareImages(img1, img2, name1, name2): # Do NOT save images to disk in this method winname1 = name1 winname2 = name2 highgui.cvNamedWindow (winname1, highgui.CV_WINDOW_AUTOSIZE) highgui.cvNamedWindow (winname2, highgui.CV_WINDOW_AUTOSIZE) while True: highgui.cvShowImage (winname1, img1) highgui.cvShowImage (winname2, img2) c = highgui.cvWaitKey(0) if c == 'q': print "Exiting ..." print "" sys.exit(0)
def main():
usage = "%s [options] <imgfile> " % (sys.argv[0])
version = "%prog 0.2\n Longbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d', '--display', action="store_true", dest = 'display', default = False, help = 'display the image')
oparser.add_option('-c','--contour', action="store_true", dest = 'contour', default = False, help = 'show object contour')
oparser.add_option('-i','--image', action="store_true", dest = 'image', default = False, help = 'show original images')
oparser.add_option('-n', '--number', dest = 'num', type='int', default = 200 , help = 'the number of feature points')
oparser.add_option('-x','--enlarge', dest = 'enlarge', default = 1.0 , type = float, help = 'resize images, default:1.0')
oparser.add_option('-o', '--output', dest = 'output', default = None, help = 'output file')
oparser.add_option('-p', '--pointfile', dest = 'pointfile', default = None, help = 'use pointfile ')
oparser.add_option('-r', '--harris', dest = 'harris', default = False, action = "store_true", help = 'use harris detector')
oparser.add_option('-s', '--save', dest = 'save', default = None, help = 'save the img file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 2:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
if (options.pointfile == None and options.harris == None):
print >> sys.stderr, "either of pointfile and harris can be valid"
sys.exit(1)
highgui.cvNamedWindow ("Corner1", 1)
ct = Linker(options.contour, options.image, options.enlarge, options.num)
if (options.pointfile):
ct.LoadPoints(options.pointfile)
ct.LinkPoints(args[1])
else:
ct.HarrisPoints(args[1])
ct.LinkPoints(args[1])
highgui.cvShowImage ("Corner1", ct.drawimg)
highgui.cvWaitKey (0)
if (options.save):
highgui.cvSaveImage(options.save, ct.drawimg)
if (options.output):
f = open(options.output, "w")
f.write(OUT.getvalue())
f.close()
OUT.close()
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 display_images(image_list, max_x=1200, max_y=1000, save_images=False):
"""
Display a list of OpenCV images tiled across the screen
with maximum width of max_x and maximum height of max_y
save_images - will save the images(with timestamp)
"""
curtime = time.localtime()
date_name = time.strftime('%Y_%m_%d_%I%M%S', curtime)
loc_x, loc_y = 0, 0
wins = []
for i, im in enumerate(image_list):
if save_images:
if im.nChannels == 1 and im.depth == cv.IPL_DEPTH_32F:
clr = cv.cvCreateImage(cv.cvSize(im.width, im.height),
cv.IPL_DEPTH_8U, 1)
cv.cvConvertScale(im, clr, 255.0)
im = clr
highgui.cvSaveImage('image%d_' % i + date_name + '.png', im)
window_name = 'image %d' % i
wins.append((window_name, im))
highgui.cvNamedWindow(window_name, highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow(window_name, loc_x, loc_y)
loc_x = loc_x + im.width
if loc_x > max_x:
loc_x = 0
loc_y = loc_y + im.height
if loc_y > max_y:
loc_y = 0
while True:
for name, im in wins:
highgui.cvShowImage(name, im)
keypress = highgui.cvWaitKey(10)
if keypress == '\x1b':
break
def main():
ct = Corner()
usage = "%s [options] <imgfile>" % (sys.argv[0])
version = "%prog 0.2\n Longbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d', '--display', action="store_true", dest = 'display', default = False, help = 'display the image')
oparser.add_option('-n', '--number', dest = 'num', type='int',default = 200 , help = 'the number of feature points')
oparser.add_option('-o', '--output', dest = 'output', default = None, help = 'output file')
oparser.add_option('-s', '--save', dest = 'save', default = None, help = 'save the img file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 2:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
ct.GetCorner(args[1], options.num)
if (options.display):
ct.DrawKeyPoints()
highgui.cvNamedWindow ("Corner1", 1)
highgui.cvShowImage ("Corner1", ct.drawimg)
highgui.cvWaitKey (0)
if (options.save):
highgui.cvSaveImage(options.save, ct.drawimg)
def visualize(eigens):
l1 = eigens[:,:,0]
l2 = eigens[:,:,1]
m1 = np.min(l1)
m2 = np.min(l2)
r1 = np.max(l1) - m1
r2 = np.max(l2) - m2
if r1 == 0:
r1 = 1
if r2 == 0:
r2 = 1
l1cv = ut.np2cv(np.array( (1 - ((l1-m1) / r1)) * 255, dtype='uint8'))
l2cv = ut.np2cv(np.array( (1 - ((l2-m2) / r2)) * 255, dtype='uint8'))
hg.cvNamedWindow('eigen value 1', 1)
hg.cvNamedWindow('eigen value 2', 1)
hg.cvShowImage('eigen value 1', l1cv)
hg.cvShowImage('eigen value 2', l2cv)
while True:
k = hg.cvWaitKey(33)
if k == ' ':
return
if k == 'x':
exit()
def visualize(eigens):
l1 = eigens[:, :, 0]
l2 = eigens[:, :, 1]
m1 = np.min(l1)
m2 = np.min(l2)
r1 = np.max(l1) - m1
r2 = np.max(l2) - m2
if r1 == 0:
r1 = 1
if r2 == 0:
r2 = 1
l1cv = ut.np2cv(np.array((1 - ((l1 - m1) / r1)) * 255, dtype="uint8"))
l2cv = ut.np2cv(np.array((1 - ((l2 - m2) / r2)) * 255, dtype="uint8"))
hg.cvNamedWindow("eigen value 1", 1)
hg.cvNamedWindow("eigen value 2", 1)
hg.cvShowImage("eigen value 1", l1cv)
hg.cvShowImage("eigen value 2", l2cv)
while True:
k = hg.cvWaitKey(33)
if k == " ":
return
if k == "x":
exit()
def display_images(image_list, max_x = 1200, max_y = 1000, save_images=False):
"""
Display a list of OpenCV images tiled across the screen
with maximum width of max_x and maximum height of max_y
save_images - will save the images(with timestamp)
"""
curtime=time.localtime()
date_name = time.strftime('%Y_%m_%d_%I%M%S', curtime)
loc_x, loc_y = 0, 0
wins = []
for i, im in enumerate(image_list):
if save_images:
if im.nChannels == 1 and im.depth == cv.IPL_DEPTH_32F:
clr = cv.cvCreateImage(cv.cvSize(im.width, im.height), cv.IPL_DEPTH_8U, 1)
cv.cvConvertScale(im, clr, 255.0)
im = clr
highgui.cvSaveImage('image%d_'%i+date_name+'.png', im)
window_name = 'image %d' % i
wins.append((window_name, im))
highgui.cvNamedWindow(window_name, highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow(window_name, loc_x, loc_y)
loc_x = loc_x + im.width
if loc_x > max_x:
loc_x = 0
loc_y = loc_y + im.height
if loc_y > max_y:
loc_y = 0
while True:
for name, im in wins:
highgui.cvShowImage(name, im)
keypress = highgui.cvWaitKey(10)
if keypress == '\x1b':
break
def __init__(self, name, size=2, draw_center=True, draw_grid=True, meters_radius=4.0): """ name = name of window meter_radus = 4.0 size = multiple of 400x200 to use for screen meter_radius = how many per metrer """ self.draw_center = draw_center self.draw_grid = draw_grid self.w = (int) (round(size * 400.0)) self.h = (int) (round(size * 200.0)) self.meters_disp = 4.0 #Range in meters of area around robot to display self.laser_win = name self.buffer = cv.cvCreateImage(cv.cvSize(self.w, 2*self.h), cv.IPL_DEPTH_8U, 3) #print "RobotDisp: window width", self.buffer.width #print "RobotDisp: window height", self.buffer.height self.pixels_per_meter = self.h / self.meters_disp hg.cvNamedWindow(name, hg.CV_WINDOW_AUTOSIZE) hg.cvMoveWindow(name, 0, 50) self.font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, as_int(1), as_int(1), 0, 1, cv.CV_AA)
def main(): if len(sys.argv)<2: print "throw a image my way" sys.exit(-1) print "Im testing" class Phony(): pass tmp = Phony() setattr(tmp, 'id', 1) setattr(tmp, 'location', sys.argv[1]) test = Painting(tmp) print test.getWidth() print test.getHeight() winname ="Test" highgui.cvNamedWindow(winname, highgui.CV_WINDOW_AUTOSIZE) while True: highgui.cvShowImage(winname,test.getImage()) c = highgui.cvWaitKey(0) if c == 'q': sys.exit(0)
def main():
usage = "%prog [options] <imgfile>"
version = "%prog 0.2\n Longbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option("-d", "--display", action="store_true", dest="display", default=False, help="display the image")
oparser.add_option(
"-m", "--drawnumber", action="store_true", dest="drawnumber", default=False, help="display the point numbers"
)
oparser.add_option("-n", "--number", dest="num", type="int", default=200, help="the number of feature points")
oparser.add_option(
"-t", "--threshold", dest="threshold", type="int", default=100, help="the threshold for image binarification"
)
oparser.add_option("-o", "--output", dest="output", default=None, help="output file")
oparser.add_option("-s", "--save", dest="save", default=None, help="save the img file")
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 2:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
ct = ExtractMSS()
ct.GetContour(args[1], options)
if options.display:
ct.DrawKeyPoints()
highgui.cvNamedWindow("contour", 1)
highgui.cvShowImage("contour", ct.drawimg)
highgui.cvWaitKey(0)
if options.output:
ct.mss.save(options.output)
if options.save:
highgui.cvSaveImage(options.save, ct.drawimg)
def opencvSnap(dev,size):
"""
An example use of the "camera" taking a single picture frame using opencv's cvMat as the return method.
"""
# First lets take a picture using opencv, and display it using opencv...
cvWin = hg.cvNamedWindow( "Opencv Rendering and Capture", 0 )
print("Opening device %s, with video size (%s,%s)" % (dev,size[0],size[1]))
# creates the camera of the specified size and in RGB colorspace
cam = Camera(dev, size, "RGB")
a = cam.get_image()
hg.cvShowImage ('Opencv Rendering and Capture', a)
# close the capture stream to avoid problems later, should see the camera turn off
hg.cvReleaseCapture(cam.capture)
del cam
# Wait for any key then clean up
print("Press any key to continue")
k = hg.cvWaitKey()
hg.cvDestroyWindow("Opencv Rendering and Capture")
def opencvSnap(dev, size):
"""
An example use of the "camera" taking a single picture frame using opencv's cvMat as the return method.
"""
# First lets take a picture using opencv, and display it using opencv...
cvWin = hg.cvNamedWindow("Opencv Rendering and Capture", 0)
print("Opening device %s, with video size (%s,%s)" %
(dev, size[0], size[1]))
# creates the camera of the specified size and in RGB colorspace
cam = Camera(dev, size, "RGB")
a = cam.get_image()
hg.cvShowImage('Opencv Rendering and Capture', a)
# close the capture stream to avoid problems later, should see the camera turn off
hg.cvReleaseCapture(cam.capture)
del cam
# Wait for any key then clean up
print("Press any key to continue")
k = hg.cvWaitKey()
hg.cvDestroyWindow("Opencv Rendering and Capture")
def __init__(self, processFunction = None, title = "Video Capture Player", show=True, **argd):
self.__dict__.update(**argd)
super(VideoCapturePlayer, self).__init__(**argd)
t_begin = time.time()
self.processFunction = processFunction
self.title = title
self.show = show
if self.show is True:
self.display = hg.cvNamedWindow(self.title)
try:
self.camera = hg.cvCreateCameraCapture(0)
# Take a frame to get props and use in testing
self.snapshot = cv.cvCloneMat( hg.cvQueryFrame( self.camera ) )
# check that we got an image, otherwise try again.
for i in xrange(20):
if self.snapshot is not None: break
self.snapshot = hg.cvQueryFrame( self.camera )
except:
print("Couldn't open camera device, is it connected?")
hg.cvDestroyWindow(title)
raise SystemExit
def run(exposure, video=None, display=False, debug=False):
if display:
hg.cvNamedWindow("video", 1)
hg.cvMoveWindow("video", 0, 0)
if debug:
hg.cvNamedWindow('right', 1)
hg.cvMoveWindow("right", 800, 0)
hg.cvNamedWindow("thresholded", 1)
hg.cvNamedWindow('motion', 1)
hg.cvNamedWindow('intensity', 1)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
if video is None:
#video = cam.VidereStereo(0, gain=96, exposure=exposure)
video = cam.StereoFile('measuring_tape_red_left.avi','measuring_tape_red_right.avi')
frames = video.next()
detector = LaserPointerDetector(frames[0], LaserPointerDetector.SUN_EXPOSURE,
use_color=False, use_learning=True)
detector_right = LaserPointerDetector(frames[1], LaserPointerDetector.SUN_EXPOSURE,
use_color=False, use_learning=True, classifier=detector.classifier)
stereo_cam = cam.KNOWN_CAMERAS['videre_stereo2']
for i in xrange(10):
frames = video.next()
detector.detect(frames[0])
detector_right.detect(frames[1])
lt = cv.cvCreateImage(cv.cvSize(640,480), 8, 3)
rt = cv.cvCreateImage(cv.cvSize(640,480), 8, 3)
for l, r in video:
start_time = time.time()
#l = stereo_cam.camera_left.undistort_img(l)
#r = stereo_cam.camera_right.undistort_img(r)
cv.cvCopy(l, lt)
cv.cvCopy(r, rt)
l = lt
r = rt
undistort_time = time.time()
_, _, right_cam_detection, stats = detector_right.detect(r)
if debug:
draw_blobs(r, stats)
draw_detection(r, right_cam_detection)
hg.cvShowImage('right', r)
image, combined, left_cam_detection, stats = detector.detect(l)
detect_time = time.time()
if debug:
motion, intensity = detector.get_motion_intensity_images()
show_processed(l, [combined, motion, intensity], left_cam_detection, stats, detector)
elif display:
#draw_blobs(l, stats)
draw_detection(l, left_cam_detection)
hg.cvShowImage('video', l)
hg.cvWaitKey(10)
if right_cam_detection != None and left_cam_detection != None:
x = np.matrix(left_cam_detection['centroid']).T
xp = np.matrix(right_cam_detection['centroid']).T
result = stereo_cam.triangulate_3d(x, xp)
print '3D point located at', result['point'].T,
print 'distance %.2f error %.3f' % (np.linalg.norm(result['point']), result['error'])
triangulation_time = time.time()
diff = time.time() - start_time
print 'Main: Running at %.2f fps, took %.4f s' % (1.0 / diff, diff)
def learn_run(exposure = LaserPointerDetector.SUN_EXPOSURE, num_examples_to_collect=200, display_during_run = True):
hg.cvNamedWindow("video", 1)
hg.cvNamedWindow("thresholded", 1)
hg.cvNamedWindow('motion', 1)
hg.cvNamedWindow('intensity', 1)
hg.cvMoveWindow("video", 0, 0)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
video = cam.VidereStereo(0, gain=96, exposure=exposure)
frames = video.next()
detector = LaserPointerDetector(frames[0], exposure=exposure,
dataset=PatchClassifier.DEFAULT_DATASET_FILE,
use_color=False, use_learning=False)
detector2 = LaserPointerDetector(frames[1], exposure=exposure,
dataset=PatchClassifier.DEFAULT_DATASET_FILE,
use_color=False, use_learning=False)
def append_examples_to_file(dataset, file = PatchClassifier.DEFAULT_DATASET_FILE):
try:
loaded_set = load_pickle(file)
dataset.append(loaded_set)
except IOError:
pass
dump_pickle(dataset, file)
print 'Saved examples!'
#Gather positive examples from laser detector
if confirmation_prompt('gather positive examples?'):
print 'Lets gather some positive examples... we need', num_examples_to_collect, 'examples'
positive_examples_for_classifier = []
count_down(0)
for i in xrange(10):
frames = video.next()
detector.detect(frames[0])
detector2.detect(frames[1])
for img in video:
image = None
combined = None
motion = None
intensity = None
laser_blob = None
intensity_motion_blob = None
for raw_image, detect in zip(img, [detector, detector2]):
before = time.time()
image, combined, laser_blob, intensity_motion_blob = detect.detect(raw_image)
diff = time.time() - before
#print 'took %.2f seconds to run or %.2f fps' % (diff, 1.0/diff)
if laser_blob != None:
instance = blob_to_input_instance(image, laser_blob)
if instance is not None:
positive_examples_for_classifier.append(instance)
print 'got', len(positive_examples_for_classifier), 'instances'
motion, intensity = detect.get_motion_intensity_images()
show_processed(image, [combined, motion, intensity], laser_blob, intensity_motion_blob, detector2)
if len(positive_examples_for_classifier) > num_examples_to_collect:
break
positive_instances_dataset = matrix_to_dataset(ut.list_mat_to_mat(positive_examples_for_classifier, axis=1))
append_examples_to_file(positive_instances_dataset)
if confirmation_prompt('gather negative examples?'):
#Gather negative examples from laser detector
print 'lets gather some negative examples... we need', num_examples_to_collect,' examples'
negative_examples_for_classifier = []
count_down(10)
for i in xrange(10):
frames = video.next()
detector.detect(frames[0])
detector2.detect(frames[1])
for img in video:
image = None
combined = None
motion = None
intensity = None
laser_blob = None
intensity_motion_blob = None
for raw_image, detect in zip(img, [detector, detector2]):
image, combined, laser_blob, intensity_motion_blob = detect.detect(raw_image)
if laser_blob != None:
instance = blob_to_input_instance(image, laser_blob)
if instance is not None:
negative_examples_for_classifier.append(instance)
print 'got', len(negative_examples_for_classifier), 'instances'
motion, intensity = detect.get_motion_intensity_images()
show_processed(image, [combined, motion, intensity], laser_blob, intensity_motion_blob, detector2)
if len(negative_examples_for_classifier) > (num_examples_to_collect*2):
break
negative_instances_dataset = matrix_to_dataset(ut.list_mat_to_mat(negative_examples_for_classifier, axis=1))
append_examples_to_file(negative_instances_dataset)
if confirmation_prompt('run classifier?'):
run(exposure, video = video, display=display_during_run)
mouse_selection.width -= mouse_selection.x
mouse_selection.height -= mouse_selection.y
#############################################################################
# so, here is the main part of the program
if __name__ == '__main__':
print "OpenCV Python wrapper test"
print "OpenCV version: %s (%d, %d, %d)" % (
cv.CV_VERSION, cv.CV_MAJOR_VERSION, cv.CV_MINOR_VERSION,
cv.CV_SUBMINOR_VERSION)
# first, create the necessary windows
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Histogram', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow('Camera', 10, 40)
highgui.cvMoveWindow('Histogram', 10, 270)
global mouse_origin
global mouse_selection
global mouse_select_object
mouse_select_object = False
global track_object
track_object = 0
global track_comp
global track_box
#! /usr/bin/env python
import opencv
from opencv import highgui
cap = highgui.cvCreateFileCapture("../c/tree.avi")
img = highgui.cvQueryFrame(cap)
print "Got frame of dimensions (", img.width, " x ", img.height, " )"
highgui.cvNamedWindow("win", highgui.CV_WINDOW_AUTOSIZE)
highgui.cvShowImage("win", img)
highgui.cvMoveWindow("win", 200, 200)
highgui.cvWaitKey(0)
def tile_nsave(vecs):
patches = []
for i in xrange(vecs.shape[1]):
patch, context = reconstruct_input(vecs[:, i])
patches.append(patch)
tile_width = math.ceil(math.pow(vecs.shape[1], .5))
large_image = tile_images(15, 15, tile_width, tile_width, patches, 3)
return large_image
show_pca = False
save_pca_bases = False
process_inputs = False
separate_negatives_positives = True
dataset = load_pickle('PatchClassifier.dataset.pickle')
hg.cvNamedWindow('image', 1)
hg.cvNamedWindow('context', 1)
pca_basis = normalize_for_display(dataset.projection_basis)
if show_pca:
for i in range(pca_basis.shape[1]):
print 'basis', i
display(pca_basis[:, i], 'pca_basis' + str(i))
if save_pca_bases:
large_image = tile_nsave(pca_basis)
large_image = scale_image(large_image, 8)
hg.cvSaveImage('pca_large_image.png', large_image)
if process_inputs:
large_image = tile_nsave(dataset.inputs)
if len(sys.argv) > 1:
filename = sys.argv[1]
# load the image gived on the command line
image = highgui.cvLoadImage(filename)
if not image:
print "Error loading image '%s'" % filename
sys.exit(-1)
# create the output image
col_edge = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 3)
# convert to grayscale
gray = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
edge = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
cv.cvCvtColor(image, gray, cv.CV_BGR2GRAY)
# create the window
highgui.cvNamedWindow(win_name, highgui.CV_WINDOW_AUTOSIZE)
# create the trackbar
highgui.cvCreateTrackbar(trackbar_name, win_name, 1, 100, on_trackbar)
# show the image
on_trackbar(0)
# wait a key pressed to end
highgui.cvWaitKey(0)
def main():
a_window = highgui.cvNamedWindow('a_window', highgui.CV_WINDOW_AUTOSIZE)
'''
image=cv.LoadImage('desktopBlue.jpg', cv.CV_LOAD_IMAGE_COLOR)
dst = cv.cvCreateImage((600,200), 8, 3)
cv.cvLine(dst,(100,200),(100,100),(0,0,1))
cv.cvCircle(dst,(-10,-10),10,(0,0,0))
highgui.cvShowImage('a_window',dst)
highgui.cvWaitKey(10000)
'''
dst = cv.cvCreateImage((700, 700), 8, 3)
cv.cvLine(dst, (20, 20), (20, 680), (0xFF, 0xFF, 0xFF), 2, 0)
cv.cvLine(dst, (20, 680), (680, 680), (0xFF, 0xFF, 0xFF), 2, 0)
no = int(raw_input("Enter total no. of points"))
a = []
for i in range(no):
no1 = int(raw_input("Enter x coord: "))
no2 = int(raw_input("Enter y coord: "))
a.append([no1, no2, 0])
print a
slope = []
for i in range(no):
a[i][2] = 1
j = 0
slope = [[find_slope(a[i][0], a[i][1], a[j][0], a[j][1]), j]]
j = j + 1
while (j < no):
slope.append([find_slope(a[i][0], a[i][1], a[j][0], a[j][1]), j])
j = j + 1
slope.sort()
j = 1
temp_arr = []
temp_arr.append(slope[0])
while (j < no):
# print "temparr:"+str(temp_arr)
if (i == slope[j][1]):
j = j + 1
continue
if (slope[j][0] == temp_arr[0][0]):
if (a[slope[j][1]][2] == 0):
temp_arr.append(slope[j])
else:
if (len(temp_arr) >= 2):
print "Following points are in a line:"
for k in range(len(temp_arr)):
print "[" + str(a[temp_arr[k][1]][0]) + "," + str(
a[temp_arr[k][1]][1]) + "]"
a[temp_arr[k][1]][2] = 1
print "[" + str(a[i][0]) + "," + str(a[i][1]) + "]"
for k in range(len(temp_arr) - 1):
cv.cvLine(dst, (20 + a[temp_arr[k][1]][0] * 10,
680 - a[temp_arr[k][1]][1] * 10),
(20 + a[temp_arr[k + 1][1]][0] * 10,
680 - a[temp_arr[k + 1][1]][1] * 10),
(0, 0, 0xFF), 2, 0)
cv.cvLine(dst, (20 + a[i][0] * 10, 680 - a[i][1] * 10),
(20 + a[temp_arr[k + 1][1]][0] * 10,
680 - a[temp_arr[k + 1][1]][1] * 10),
(0, 0, 0xFF), 2, 0)
temp_arr = []
temp_arr.append(slope[j])
j = j + 1
if (len(temp_arr) >= 2):
print "Following points are in a line:"
for k in range(len(temp_arr)):
print "[" + str(a[temp_arr[k][1]][0]) + "," + str(
a[temp_arr[k][1]][1]) + "]"
a[temp_arr[k][1]][2] = 1
print "[" + str(a[i][0]) + "," + str(a[i][1]) + "]"
for k in range(len(temp_arr) - 1):
cv.cvLine(dst, (20 + a[temp_arr[k][1]][0] * 10,
680 - a[temp_arr[k][1]][1] * 10),
(20 + a[temp_arr[k + 1][1]][0] * 10,
680 - a[temp_arr[k + 1][1]][1] * 10), (0, 0, 0xFF),
2, 0)
cv.cvLine(dst, (20 + a[i][0] * 10, 680 - a[i][1] * 10),
(20 + a[temp_arr[k + 1][1]][0] * 10,
680 - a[temp_arr[k + 1][1]][1] * 10), (0, 0, 0xFF),
2, 0)
slope = []
for k in range(no):
cv.cvLine(dst, (20 + a[k][0] * 10, 680 - a[k][1] * 10),
(20 + a[k][0] * 10, 680 - a[k][1] * 10), (0xFF, 0, 0), 4, 0)
highgui.cvShowImage('a_window', dst)
highgui.cvWaitKey(90000)
def main():
usage = "%s [options] <imgfile> " % (sys.argv[0])
version = "%prog 0.2\n Longbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d',
'--display',
action="store_true",
dest='display',
default=False,
help='display the image')
oparser.add_option('-c',
'--contour',
action="store_true",
dest='contour',
default=False,
help='show object contour')
oparser.add_option('-i',
'--image',
action="store_true",
dest='image',
default=False,
help='show original images')
oparser.add_option('-n',
'--number',
dest='num',
type='int',
default=200,
help='the number of feature points')
oparser.add_option('-x',
'--enlarge',
dest='enlarge',
default=1.0,
type=float,
help='resize images, default:1.0')
oparser.add_option('-o',
'--output',
dest='output',
default=None,
help='output file')
oparser.add_option('-p',
'--pointfile',
dest='pointfile',
default=None,
help='use pointfile ')
oparser.add_option('-r',
'--harris',
dest='harris',
default=False,
action="store_true",
help='use harris detector')
oparser.add_option('-s',
'--save',
dest='save',
default=None,
help='save the img file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 2:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
if (options.pointfile == None and options.harris == None):
print >> sys.stderr, "either of pointfile and harris can be valid"
sys.exit(1)
highgui.cvNamedWindow("Corner1", 1)
ct = Linker(options.contour, options.image, options.enlarge, options.num)
if (options.pointfile):
ct.LoadPoints(options.pointfile)
ct.LinkPoints(args[1])
else:
ct.HarrisPoints(args[1])
ct.LinkPoints(args[1])
highgui.cvShowImage("Corner1", ct.drawimg)
highgui.cvWaitKey(0)
if (options.save):
highgui.cvSaveImage(options.save, ct.drawimg)
if (options.output):
f = open(options.output, "w")
f.write(OUT.getvalue())
f.close()
OUT.close()
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()
def main():
ct1 = CurvePoint()
ct2 = CurvePoint()
sc = CntSC()
ang = CntAngle()
usage = "%prog [options] <imgfile1> <imgfile2>"
version = "%prog 0.2\nLongbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d',
'--display',
action="store_true",
dest='display',
default=False,
help='display the image')
oparser.add_option('-n',
'--number',
dest='num',
type="int",
default=200,
help='the number of feature points')
oparser.add_option('-s',
'--save',
dest='save',
default=None,
help='save the img file')
oparser.add_option('-o',
'--output',
dest='output',
default=None,
help='output file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 3:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
ct1.GetContour(args[1], options.num)
allkeys = []
for c in ct1.allselected:
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
ang.ExtractFeature(allkeys, 0)
allkeys = []
ct2.GetContour(args[2], options.num)
for c in ct2.allselected:
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
ang.ExtractFeature(allkeys, 0)
sumscore = []
matcher = SmithWaterman()
ct1.bDrawNumber = 0
ct2.bDrawNumber = 0
if (options.display):
ct1.DrawKeyPoints()
ct2.DrawKeyPoints()
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
idx = -1
putoriginal(args[1], ct1.drawimg)
putoriginal(args[2], ct2.drawimg)
cv.cvNot(ct1.drawimg, ct1.drawimg)
cv.cvNot(ct2.drawimg, ct2.drawimg)
for c1 in ct1.allselected:
idx += 1
cscore = -100000000
cpt1 = getdata(c1)
bX = []
bY = []
bestcurve = None
for c2 in ct2.allselected:
cpt2 = getdata(c2)
cost, align, X, Y = matcher.Align(cpt1, cpt2)
normalized_score = cost - log10(len(c2) + 1) * 1000
print len(c1), len(c2), cost, normalized_score, cscore
if (normalized_score > cscore):
cscore = normalized_score
bX = X[:]
bY = Y[:]
bestcurve = c2
if (options.display):
ptcount = 0
for i in range(len(bX)):
xi = bX[i]
yi = bY[i]
#if (xi == -1):
#cv.cvDrawCircle(ct2.drawimg, cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),4, cv.cvScalar(255,0,0,0))
#cv.cvPutText(ct2.drawimg, 'O', cv.cvPoint(int(c2[yi].x), int(c2[yi].y)), myfont, cv.cvScalar(255, 0, 0,0))
#if (yi == -1):
#cv.cvDrawCircle(ct1.drawimg, cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),4, cv.cvScalar(255,0,0,0))
#cv.cvPutText(ct1.drawimg, 'O', cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvDrawCircle(ct1.drawimg,
cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),
2, clrs[idx])
cv.cvPutText(ct1.drawimg, str(ptcount),
cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),
myfont, clrs[idx])
cv.cvDrawCircle(
ct2.drawimg,
cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),
2, clrs[idx])
cv.cvPutText(
ct2.drawimg, str(ptcount),
cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),
myfont, clrs[idx])
sumscore.append(cscore)
print sumscore
if (options.display):
highgui.cvNamedWindow("contour1", 1)
highgui.cvNamedWindow("contour2", 1)
highgui.cvShowImage("contour1", ct1.drawimg)
highgui.cvShowImage("contour2", ct2.drawimg)
highgui.cvWaitKey(0)
if (options.save):
mergeimg = mergeimage_83(ct1.drawimg, ct2.drawimg)
highgui.cvSaveImage("_sw_result.bmp", mergeimg)
if len(sys.argv)>1:
filename = sys.argv[1]
# load the image gived on the command line
image = highgui.cvLoadImage (filename)
if not image:
print "Error loading image '%s'" % filename
sys.exit(-1)
# create the output image
col_edge = cv.cvCreateImage (cv.cvSize (image.width, image.height), 8, 3)
# convert to grayscale
gray = cv.cvCreateImage (cv.cvSize (image.width, image.height), 8, 1)
edge = cv.cvCreateImage (cv.cvSize (image.width, image.height), 8, 1)
cv.cvCvtColor (image, gray, cv.CV_BGR2GRAY)
# create the window
highgui.cvNamedWindow (win_name, highgui.CV_WINDOW_AUTOSIZE)
# create the trackbar
highgui.cvCreateTrackbar (trackbar_name, win_name, 1, 100, on_trackbar)
# show the image
on_trackbar (0)
# wait a key pressed to end
highgui.cvWaitKey (0)
# -*- coding:utf8 -*-
import opencv
from opencv import highgui as hg
capture = hg.cvCreateCameraCapture(0)
hg.cvNamedWindow("Snapshot")
frames = []
for i in range(10):
frame = hg.cvQueryFrame(capture)
frames.append(opencv.cvClone(frame))
hg.cvShowImage("Snapshot", frame)
hg.cvWaitKey(1000)
hg.cvNamedWindow("hello")
for i in range(10):
hg.cvShowImage("hello", frames[i])
hg.cvWaitKey(1000)
"""
import copy
dst=copy.copy(frames[1])
opencv.cvSub(frames[2], frames[1], dst)
hg.cvShowImage("Snapshot", dst)
from IPython.Shell import IPShellEmbed
IPShellEmbed()()
hg.cvWaitKey(10000)
"""
import pyrob.util
#def callback_array(iar):
# left = iar.images[0]
# right = iar.images[1]
#
# start = time.time()
# leftcv = to_cv(left)
# rightcv = to_cv(right)
# print '%.4f' % (time.time() - start)
#
# print iar.header.seq,
# hg.cvShowImage('left', leftcv)
# hg.cvShowImage('right', rightcv)
# hg.cvWaitKey(5)
def callback_image(im):
t = time.time()
cvim = pyrob.util.ros2cv(im)
hg.cvShowImage('left', cvim)
hg.cvWaitKey(5)
print 'total', time.time() - t
if __name__ == '__main__':
hg.cvNamedWindow('left', 1)
rospy.TopicSub('image', Image, callback_image)
rospy.ready('test_pycv')
rospy.spin()
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)
#############################################################################
# so, here is the main part of the program
if __name__ == '__main__':
highgui.cvNamedWindow('Blob View', highgui.CV_WINDOW_AUTOSIZE)
import sys
try:
# try to get the device number from the command line
device = int(sys.argv[1])
# got it ! so remove it from the arguments
del sys.argv[1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = highgui.CV_CAP_ANY
if len(sys.argv) == 1:
# no argument on the command line, try to use the camera
brightness = 1.0
contrast = 1.0
shots = 0
# so, here is the main part of the program
if __name__ == '__main__':
# a small welcome
print "OpenCV Python capture video"
# first, create the necessary window
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Color Segmentation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Canny', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow('Camera', 10, 10)
try:
# try to get the device number from the command line
device = int(sys.argv[1])
# got it ! so remove it from the arguments
del sys.argv[1]
except (IndexError, ValueError):
return cv.cvScalar (rgb [2], rgb [1], rgb [0], 0)
#############################################################################
# so, here is the main part of the program
if __name__ == '__main__':
# a small welcome
print "OpenCV Python wrapper test"
print "OpenCV version: %s (%d, %d, %d)" % (cv.CV_VERSION,
cv.CV_MAJOR_VERSION,
cv.CV_MINOR_VERSION,
cv.CV_SUBMINOR_VERSION)
# first, create the necessary windows
highgui.cvNamedWindow ('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow ('Histogram', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow ('Camera', 10, 40)
highgui.cvMoveWindow ('Histogram', 10, 270)
try:
# try to get the device number from the command line
device = int (sys.argv [1])
# got it ! so remove it from the arguments
del sys.argv [1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = 0
filename = sys.argv[1]
slider_pos = 70
# load image and force it to be grayscale
image03 = highgui.cvLoadImage(filename, 0)
if not image03:
print "Could not load image " + filename
sys.exit(-1)
# Create the destination images
image02 = cv.cvCloneImage(image03)
image04 = cv.cvCloneImage(image03)
# Create windows.
highgui.cvNamedWindow("Source", 1)
highgui.cvNamedWindow("Result", 1)
# Show the image.
highgui.cvShowImage("Source", image03)
# Create toolbars. HighGUI use.
highgui.cvCreateTrackbar("Threshold", "Result", slider_pos, 255,
process_image)
process_image(1)
#Wait for a key stroke; the same function arranges events processing
print "Press any key to exit"
highgui.cvWaitKey(0)
for j in range(1,5):
sum = sum + cv.cvGet2D(image,i,j)[0]
print sum
#print cv.cvmGet(iimg.integralImage,size.height-1,size.width-1)
print calcBox(iimg.integralImage,1,1,4)
boxSize = 16
bestValue = -999999.9
best_i = 0
best_j = 0
for i in range(size.height-boxSize):
for j in range(size.width-boxSize):
box1 = calcBox(iimg.integralImage,i,j,boxSize)
box2 = calcBox(iimg.integralImage,i+6,j+6,4)
value = box2*box2/box1
if(value > bestValue):
bestValue = value
best_i = i
best_j = j
print "Best I",best_i,"Best j",best_j
draw_target(image,best_i,best_j)
print calcBox(iimg.integralImage,160,230,16)
print calcBox(iimg.integralImage,152,222,32)
highgui.cvNamedWindow("Original",1)
highgui.cvShowImage("Original",image)
highgui.cvWaitKey()
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit(1)
# display a small howto use it
print "Hot keys: \n" \
"\tESC - quit the program\n" \
"\tr - auto-initialize tracking\n" \
"\tc - delete all the points\n" \
"\tn - switch the \"night\" mode on/off\n" \
"To add/remove a feature point click it\n"
# first, create the necessary windows
highgui.cvNamedWindow('LkDemo', highgui.CV_WINDOW_AUTOSIZE)
# register the mouse callback
highgui.cvSetMouseCallback('LkDemo', on_mouse, None)
while 1:
# do forever
# 1. capture the current image
frame = highgui.cvQueryFrame(capture)
if frame is None:
# no image captured... end the processing
break
if image is None:
# create the images we need
