def normalize(img):
"""Utility function to normalize the image and return the new normalized image using opencv."""
norm = cvCreateImage(cvSize(img.width, img.height), IPL_DEPTH_32F, 1)
cvCopy(img, norm)
cvNormalize(norm, norm, 1, 0, CV_MINMAX)
norm_u = cvCreateImage(cvSize(img.width, img.height), IPL_DEPTH_8U, 1)
cvConvertScale(norm, norm_u, 255)
return norm_u
def IplGrayToRGB( i_image ):
"""Convert RGB Ipl image to gray scale, returns copy of image if the format is already right."""
o_image = cv.cvCreateImage( cv.cvSize( i_image.width, i_image.height ), 8 ,3)
if (i_image.depth == 8) and (i_image.nChannels == 3) :
cv.cvCopy( i_image, o_image )
else:
#cv.cvCvtColor(i_image, o_image , cv.CV_BGR2GRAY )
cv.highgui.cvConvertImage( i_image, o_image )
return o_image
def IplGrayToRGB(i_image):
"""Convert RGB Ipl image to gray scale, returns copy of image if the format is already right."""
o_image = cv.cvCreateImage(cv.cvSize(i_image.width, i_image.height), 8, 3)
if (i_image.depth == 8) and (i_image.nChannels == 3):
cv.cvCopy(i_image, o_image)
else:
#cv.cvCvtColor(i_image, o_image , cv.CV_BGR2GRAY )
cv.highgui.cvConvertImage(i_image, o_image)
return o_image
def next(self):
vd.set_exposure(self.camera.capture, 55)
frames_wait = 3
for i in range(frames_wait):
self.camera.process_frames()
cv.cvCopy(self.camera.left_debayered, self.low_exposure_left)
cv.cvCopy(self.camera.right_debayered, self.low_exposure_right)
vd.set_exposure(self.camera.capture, 255)
for i in range(frames_wait):
self.camera.process_frames()
return (self.low_exposure_left, self.low_exposure_right, self.camera.left_debayered, self.camera.right_debayered)
def next(self):
vd.set_exposure(self.camera.capture, 55)
frames_wait = 3
for i in range(frames_wait):
self.camera.process_frames()
cv.cvCopy(self.camera.left_debayered, self.low_exposure_left)
cv.cvCopy(self.camera.right_debayered, self.low_exposure_right)
vd.set_exposure(self.camera.capture, 255)
for i in range(frames_wait):
self.camera.process_frames()
return (self.low_exposure_left, self.low_exposure_right,
self.camera.left_debayered, self.camera.right_debayered)
def tile_images(img_width, img_height, num_width, num_height, images, channels=3):
w = img_width * num_width
h = img_height * num_height
image = cv.cvCreateImage(cv.cvSize(int(w), int(h)), 8, channels)
cv.cvSet(image, cv.cvScalar(255,255,255))
while len(images) > 0:
try:
for y in range(int(num_height)):
for x in range(int(num_width)):
small_tile = images.pop()
img_x = x * img_width
img_y = y * img_height
cropped = cv.cvGetSubRect(image, cv.cvRect(img_x, img_y, img_width,img_height))
cv.cvCopy(small_tile, cropped)
except exceptions.IndexError, e:
break
def tile_images(img_width,
img_height,
num_width,
num_height,
images,
channels=3):
w = img_width * num_width
h = img_height * num_height
image = cv.cvCreateImage(cv.cvSize(int(w), int(h)), 8, channels)
cv.cvSet(image, cv.cvScalar(255, 255, 255))
while len(images) > 0:
try:
for y in range(int(num_height)):
for x in range(int(num_width)):
small_tile = images.pop()
img_x = x * img_width
img_y = y * img_height
cropped = cv.cvGetSubRect(
image, cv.cvRect(img_x, img_y, img_width, img_height))
cv.cvCopy(small_tile, cropped)
except exceptions.IndexError, e:
break
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 CropImage(i_ipl_image, i_ipl_roi):
src_region = cv.cvGetSubRect( i_ipl_image, i_ipl_roi)
cropped_image = cv.cvCreateImage( cv.cvSize( i_ipl_roi.width, i_ipl_roi.height) , 8 , 1)
cv.cvCopy(src_region, cropped_image)
return cropped_image
def CropImage(i_ipl_image, i_ipl_roi):
src_region = cv.cvGetSubRect(i_ipl_image, i_ipl_roi)
cropped_image = cv.cvCreateImage(
cv.cvSize(i_ipl_roi.width, i_ipl_roi.height), 8, 1)
cv.cvCopy(src_region, cropped_image)
return cropped_image
def crop(self, i_image):
src_region = cv.cvGetSubRect(i_image, self.__roi)
self.__cropped_image = cv.cvCreateImage(
cv.cvSize(self.__roi.width, self.__roi.height), 8, 1)
cv.cvCopy(src_region, self.__cropped_image)
return self.__cropped_image
def crop(self, i_image):
src_region = cv.cvGetSubRect(i_image, self.__roi)
self.__cropped_image = cv.cvCreateImage( cv.cvSize(self.__roi.width, self.__roi.height) , 8 , 1)
cv.cvCopy(src_region, self.__cropped_image)
return self.__cropped_image
