def doTask(self, image):
"""Compute difference between given image and accumulation,
then accumulate and return the difference. Initialize accumulation
if needed (if opacity is 100%.)"""
# Compute the alpha value.
alpha, self.tstamp_prev = util.getAlpha(self.tstamp_prev)
# Initalize accumulation if so indicated.
if self.image_acc is None:
self.image_acc = np.empty(np.shape(image))
# Compute difference.
image_diff = cv2.absdiff(
self.image_acc.astype(image.dtype),
image,
)
# Accumulate.
hello = cv2.accumulateWeighted(
image,
self.image_acc,
alpha,
)
return image_diff
def doTask(self, image):
"""Compute difference between given image and accumulation,
then accumulate and return the difference. Initialize accumulation
if needed (if opacity is 100%.)"""
# Compute the alpha value.
alpha, self.tstamp_prev = util.getAlpha(self.tstamp_prev)
# Initalize accumulation if so indicated.
if self.image_acc is None:
self.image_acc = np.empty(np.shape(image))
# Compute difference.
image_diff = cv2.absdiff(
self.image_acc.astype(image.dtype),
image,
)
# Accumulate.
hello = cv2.accumulateWeighted(
image,
self.image_acc,
alpha,
)
return image_diff
def doTask(self, tstamp):
"""Compute difference between given image and accumulation,
then accumulate and set result with the difference.
Initialize accumulation if needed (if opacity is 100%.)"""
# Compute the alpha value.
alpha, self.tstamp_prev = util.getAlpha(self.tstamp_prev)
image = common[tstamp]['image_in']
# Initalize accumulation if so indicated.
if self.image_acc is None:
self.image_acc = np.empty(np.shape(image))
# Allocate shared memory for the diff image.
shape = np.shape(image)
dtype = image.dtype
image_diff = sharedmem.empty(shape, dtype)
# Compute difference.
cv2.absdiff(
self.image_acc.astype(image.dtype),
image,
image_diff,
)
# Write the framerate on top of the image.
fps_text = '{:.2f}, {:.2f}, {:.2f} fps process'.format(*self.framerate.tick())
util.writeOSD(image_diff, ('', fps_text,)) # First line is blank (written to later.)
# Write diff image (actually, reference thereof) to process-shared table.
hello = common[tstamp]
hello['image_diff'] = image_diff
common[tstamp] = hello
# Propagate result to the next stage.
self.putResult(tstamp)
# Accumulate.
hello = cv2.accumulateWeighted(
image,
self.image_acc,
alpha,
)
def doTask(self, tstamp):
"""Compute difference between given image and accumulation,
then accumulate and return the difference. Initialize accumulation
if needed (if opacity is 100%.)"""
# Compute the alpha value.
alpha, self.tstamp_prev = util.getAlpha(self.tstamp_prev)
image = common[tstamp]['image_in']
# Initalize accumulation if so indicated.
if self.image_acc is None:
self.image_acc = np.empty(np.shape(image))
# Allocate shared memory for the diff image.
image_diff = sharedmem.empty(np.shape(image), image.dtype)
# Compute difference.
cv2.absdiff(
self.image_acc.astype(image.dtype),
image,
image_diff,
)
# Write diff image (actually, reference thereof) to process-shared table.
hello = common[tstamp]
hello['image_diff'] = image_diff
common[tstamp] = hello
# Propagate result to the next stage.
self.putResult(tstamp)
# Accumulate.
hello = cv2.accumulateWeighted(
image,
self.image_acc,
alpha,
)
def doTask(self, tstamp):
"""Compute difference between given image and accumulation,
then accumulate and return the difference. Initialize accumulation
if needed (if opacity is 100%.)"""
# Compute the alpha value.
alpha, self.tstamp_prev = util.getAlpha(self.tstamp_prev)
image = common[tstamp]['image_in']
# Initalize accumulation if so indicated.
if self.image_acc is None:
self.image_acc = np.empty(np.shape(image))
# Allocate shared memory for the diff image.
image_diff = sharedmem.empty(np.shape(image), image.dtype)
# Compute difference.
cv2.absdiff(
self.image_acc.astype(image.dtype),
image,
image_diff,
)
# Write diff image (actually, reference thereof) to process-shared table.
hello = common[tstamp]
hello['image_diff'] = image_diff
common[tstamp] = hello
# Propagate result to the next stage.
self.putResult(tstamp)
# Accumulate.
hello = cv2.accumulateWeighted(
image,
self.image_acc,
alpha,
)
# Keep track of previous iteration's timestamp.
tstamp_prev = None
# Monitor framerates for the given seconds past.
framerate = coils.RateTicker((1, 5, 10))
# Run the loop for designated amount of time.
end = datetime.datetime.now() + datetime.timedelta(seconds=DURATION)
while end > datetime.datetime.now():
# Take a snapshot and mark the snapshot time.
hello, image = cap.read()
# Compute alpha value.
alpha, tstamp_prev = util.getAlpha(tstamp_prev)
# Initalize accumulation if so indicated.
if image_acc is None:
image_acc = np.empty(np.shape(image))
# Compute difference.
image_diff = cv2.absdiff(
image_acc.astype(image.dtype),
image,
)
# Accumulate.
hello = cv2.accumulateWeighted(
image,
image_acc,
def __call__(self):
tau = util.tau
# Positions des billes après tau
up = []
for i in range(len(self.billes)):
temp = self.billes[i].testUpdate(tau)
up.append([i, temp[0], temp[1], temp[2], temp[3]])
# On regarde s'il y a des conflits
conflits = []
# 1. Chocs entre billes
tests = []
for elem in up:
for j in range(len(up)):
if elem[0] != j and [elem[0], j] not in tests and [j, elem[0]] not in tests:
tests.append([elem[0], j])
if not self.billes[up[j][0]].rentre:
if util.choc([[up[elem[0]][1], up[elem[0]][2]], [up[j][1], up[j][2]]]):
conflits.append(["choc", elem[0], j])
# 2. Bille qui s'arrête
for elem in up:
if not self.billes[elem[0]].rentre:
if elem[3] <= 0 and self.billes[elem[0]].v[0] > 0:
conflits.append(["v0", elem[0]])
elif elem[4] <= 0 and self.billes[elem[0]].v[1] > 0:
conflits.append(["v1", elem[0]])
# 3. Bords du billard
for elem in up:
if not self.billes[elem[0]].rentre:
if util.oob(elem[1:3]):
conflits.append(["oob", elem[0]])
if len(conflits) > 0:
# On résout le conflit et on récupère le tau correspondant
solver(self.billes, conflits)
tau = solver.solved[0]
# MAJ des billes
for b in self.billes:
b.update(tau)
if len(conflits) > 0:
solution = solver.solved[1]
# Problème résolu : annulation de la vitesse de glissement
if solution[0] == self.V0:
self.billes[solution[1]].v[0] = 0
self.billes[solution[1]].glissement = False
# Problème résolu : annulation de la vitesse de roulement
elif solution[0] == self.V1:
self.billes[solution[1]].v[1] = 0
if self.billes[solution[1]].v[0] == 0:
self.billes[solution[1]].arret = True
# Problème résolu : choc avec les bords
elif solution[0] == self.OOB:
pos = self.billes[solution[1]].pos
# La bille ne tombe pas dans un trou
pR = util.t_m * 0.85
gR = util.t_b * 1.5
if not (util.b_d / 2 - pR <= pos[0] <= util.b_d / 2 + pR) \
and not (pos[0] <= util.holes[0][0] + gR and pos[1] <= util.holes[0][1] + gR) \
and not (pos[0] >= util.holes[1][0] - gR and pos[1] <= util.holes[1][1] + gR) \
and not (pos[0] <= util.holes[2][0] + gR and pos[1] >= util.holes[2][1] - gR) \
and not (pos[0] >= util.holes[3][0] - gR and pos[1] >= util.holes[3][1] - gR):
dists = [[0, (pos[0] - util.b_g) ** 2], [1, (pos[1] - util.b_h) ** 2],
[2, (pos[0] - util.b_d) ** 2], [3, (pos[1] - util.b_b) ** 2]]
dists.sort(key=lambda x: x[1])
if dists[0][0] % 2 == 0:
self.billes[solution[1]].alpha = np.pi - \
self.billes[solution[1]].alpha
else:
self.billes[solution[1]].alpha = - \
self.billes[solution[1]].alpha
self.billes[solution[1]].v /= np.sqrt(2)
# La bille tombe dans un trou
else:
self.billes[solution[1]].arret = True
self.billes[solution[1]].rentre = True
# Problème résolu : choc entre bille
elif solution[0] == self.CHOC:
v1o, v2o = util.getOrth(
self.billes[solution[1]], self.billes[solution[2]])
v1p, v2p = util.getPar(
self.billes[solution[1]], self.billes[solution[2]])
# Choc
v1of = v2o
v2of = v1o
v1pf = v1p
v2pf = v2p
alpha = util.getAlpha(
self.billes[solution[1]], self.billes[solution[2]])
self.billes[solution[1]].alpha = np.pi - \
alpha - np.arctan2(v1pf, v1of)
self.billes[solution[2]].alpha = alpha - \
np.pi / 2 + np.arctan2(v2of, v2pf)
self.billes[solution[1]].v[0] = 0
self.billes[solution[2]].v[0] = 0
self.billes[solution[1]].glissement = False
self.billes[solution[1]].glissement = False
self.billes[solution[1]].v[1] = np.sqrt(v1of ** 2 + v1pf ** 2)
self.billes[solution[2]].v[1] = np.sqrt(v2of ** 2 + v2pf ** 2)
if self.billes[solution[1]].v[1] <= 0:
self.billes[solution[1]].arret = True
else:
self.billes[solution[1]].arret = False
if self.billes[solution[2]].v[1] <= 0:
self.billes[solution[2]].arret = True
else:
self.billes[solution[2]].arret = False
self.lastTau = tau
