import numpy as np
import cv2, math
from matplotlib import pyplot as plt
import utils
cap = cv2.VideoCapture(0)
while True:
success, img = cap.read()
imgcont, conts, _ = utils.getContours(img,
cThr=[150, 175],
showCanny=False,
filter=4,
draw=False) #Selecting the White box
if len(conts) != 0:
biggest = conts[0][2]
imgWarp = utils.warpImg(img, biggest, 350,
350) #warping the Image to Region of Interest
imgCont2, cont2, imgThre = utils.getContours(
imgWarp, cThr=[50, 50], showCanny=False, filter=7,
draw=False) #Finding the Countours of Arrow
if len(cont2) != 0:
tip = tuple(cont2[0][2][0][0])
#tip2=tuple(cont2[0][2][3][0])
M = cv2.moments(cont2[0][2])
cX = int(M["m10"] / M["m00"]) #Finding the centroid of the arrow
print("Can't receive frame. Exiting...")
break
frame_counter += 1
# If the last frame is reached, reset the capture and the frame_counter
if frame_counter == cap.get(cv2.CAP_PROP_FRAME_COUNT):
frame_counter = 0 # Or whatever as long as it is the same as next line
cap.set(cv2.CAP_PROP_POS_FRAMES, 0)
for dl in toDrawLists:
dl.clear()
for bl in ballPathsToDraw:
bl.clear()
imgRaw = cv2.resize(imgRaw, (0, 0), None, 0.7, 0.7)
deskArea = None
img, contours = utils.getContours(imgRaw, showCanny=debugMode, draw=debugMode)
if len(contours) != 0:
contourMax = contours[0]
approxCorners = contourMax[2]
deskArea = approxCorners
imgWarp, newMatrix = utils.warpImg(img, approxCorners, wBirdseye, hBirdseye,
prevMatrix=warpMatrix, prevWeight=curMatrixWeight)
img, redPos = detection.detectBall(img, deskArea, 'red')
img, yellowPos = detection.detectBall(img, deskArea, 'yellow')
img, whitePos = detection.detectBall(img, deskArea, 'white')
img, greenPos = detection.detectBall(img, deskArea, 'green')
ballPositions = [redPos, yellowPos, whitePos, greenPos]
for i in range(len(ballPositions)):
if ballPositions[i] is not None:
webcam = True
path = '1.jpg'
cap = cv2.VideoCapture(0)
cap.set(10, 160)
cap.set(3, 1920)
cap.set(4, 1080)
scale = 3
wP = 210 * scale
hP = 297 * scale
###################################
while True:
if webcam: success, img = cap.read()
else: img = cv2.imread(path)
imgContours, conts = utils.getContours(img, minArea=50000, filter=4)
if len(conts) != 0:
biggest = conts[0][2]
#print(biggest)
imgWarp = utils.warpImg(img, biggest, wP, hP)
imgContours2, conts2 = utils.getContours(imgWarp,
minArea=2000,
filter=4,
cThr=[50, 50],
draw=False)
if len(conts) != 0:
for obj in conts2:
cv2.polylines(imgContours2, [obj[2]], True, (0, 255, 0), 2)
nPoints = utils.reorder(obj[2])
nW = round((utils.findDis(nPoints[0][0] // scale,
nPoints[1][0] // scale) / 10), 1)
import cv2
import numpy as np
import utils
webcam = False
cap = cv2.VideoCapture(0)
img = cv2.imread('battery.jpg')
cap.set(10, 160)
cap.set(3, 1920)
cap.set(4, 1080)
while True:
if webcam:
success, img = cap.read()
else:
img = cv2.imread('battery.jpg')
img = cv2.resize(img, (0, 0), None, 0.5, 0.5)
img, conts = utils.getContours(img, showC=True, minArea=50000, filter=4)
if len(conts) != 0:
biggest = conts[0][2]
print(biggest)
img = cv2.resize(img, (0, 0), None, 0.5, 0.5)
cv2.imshow('image', img)
cv2.waitKey(1)
cv2.destroyAllWindows()
scale = 4
warpMatrix = np.zeros((3, 3))
curWeight = 0
while cap.isOpened():
if stream:
success, img = cap.read()
else:
success, img = True, cv2.imread(path)
if not success:
print("Can't receive frame. Exiting...")
break
img, contours = utils.getContours(img, showCanny=True, draw=True)
if len(contours) != 0:
contourMax = contours[0]
approxCorners = contourMax[2]
imgWarp, newMatrix = utils.warpImg(img,
approxCorners,
wTable * scale,
hTable * scale,
prevMatrix=warpMatrix,
prevWeight=curWeight)
warpMatrix = newMatrix
curWeight += 1
cv2.imshow('Warped Table', imgWarp)
img = cv2.resize(img, (0, 0), None, 0.7, 0.7)
cv2.imshow('Original', img)
def Ellipse(sciimg,
mskimg=None,
ps=None,
E=None,
img=False,
pick=1,
extrapolate=0.,
tol=1,
sclip=True,
minCt=10,
pfsam=0.5,
cen=None,
rcmin=5.):
def tomin(x, y, P, T, X=None):
#T gives the limits of the angle range
#X gives the limits of the center range
x0, y0, q, theta, c0 = np.array(P).astype(float)
X = [np.min(x), np.max(x), np.min(y), np.max(y)] if X is None else X
if q > 1. or q < 0.: return 1e100
if c0 > 5 or c0 < -1.9: return 1e100
if x0 > X[1] or x0 < X[0]: return 1e100
if y0 > X[3] or y0 < X[2]: return 1e100
if theta > T[1] or theta < T[0]: return 1e100
r, th = gell(x, y, x0, y0, q, theta, c0, reth=True)
if (np.max(th) - np.min(th)) / np.pi < 1.7: return 1e100
rm = np.median(r)
# if rm>5*(np.max([np.max(x)-np.min(x),np.max(y)-np.min(y)])): return 1e100
return np.sum((r - np.median(r))**2)
def tomin2(x, y, P, T, X=None):
#Add th limit, add X limit, add rm limit (?),
x0, y0, q, theta = np.array(P[:-1]).astype(float)
a = P[-1]
if (np.abs(np.array(a)) > 0.1).any(): return 1e100
if q > 1. or q < 0.: return 1e100
if x0 > np.max(x) or x0 < np.min(x): return 1e100
if y0 > np.max(y) or y0 < np.min(y): return 1e100
if theta > T[1] or theta < T[0]: return 1e100
r = gella4(x, y, x0, y0, q, theta, a)
return np.sum((r - np.median(r))**2)
# sciimg is a 2D array
# pick is 0 for elliptical profile, 1 for c0 profile, and 2 for a4 profile
# retfun returns a linear interpolation function of the profiles
# Extrapolate is the sky level until which one wants to extrapolate after ellipse cannot measure it anymore
if E is None:
E = [0, sciimg.shape[1], 0, sciimg.shape[0]]
xx, yy = np.meshgrid(
UU.middlebin(np.linspace(E[0], E[1], sciimg.shape[1] + 1)),
UU.middlebin(np.linspace(E[2], E[3], sciimg.shape[0] + 1)))
dx = xx[0][1] - xx[0][0]
dy = yy[1][0] - yy[0][0]
if mskimg is None:
mskimg = np.ones(sciimg.shape)
# pit=UU.getWP(sciimg[mskimg==1],sciimg[mskimg==1])
whtmin = np.abs(np.min(sciimg[mskimg == 1]))
pit = UU.getWP(sciimg[mskimg == 1], sciimg[mskimg == 1] + whtmin)
y = {} # Summary info [ps,<x0>,<y0>,<q>,c0,a4,<theta>]
Ctout = []
# for key in ['ps','x0','y0','q','theta','x0_m','y0_m','q_m','theta_m','c0','a4','val','r1','r2','r3','DL']: #,'Ct'
for key in [
'ps', 'x0', 'y0', 'q', 'theta', 'val', 'r', 'DL', 'rc2', 'ellval'
]:
y[key] = []
if pick == 1:
y['c0'] = []
elif pick == 2:
y['a4'] = []
y['a'] = []
if ps is None:
#Finding the points based on the pit curve
def safepit(x):
if x < 0: return effpit(0)
elif x > 100: return effpit(100)
else: return np.arcsinh(effpit(x)) #CHANGED Log10 for arcsinh!!
##Finding the gradient##
#To find a better description of the gradient, first I simplify y
idxs = (pit.x > 0) & (pit.x <= 100)
effy, b = np.unique(np.round(np.arcsinh(pit.y[idxs]), 3),
return_inverse=True) #CHANGED Log10 for arcsinh!!
effx = np.array(
[np.min(pit.x[idxs][b == i]) for i in range(len(effy))])
effpit = interp1d(
effx, [np.max(pit.y[idxs][b == i]) for i in range(len(effy))],
bounds_error=False,
fill_value='extrapolate'
) #pit is affected by the points removed above, it is very rare but it happens
#Analytic approximation of the log10 pit curve
# ly=np.polyfit(np.append([effx[-1]+i*(effx[-1]-effx[-2]) for i in range(5)],effx),np.append([effy[-1]-i*(effy[-2]-effy[-1]) for i in range(5)],effy),10)
# gr=np.poly1d(np.polyder(ly))
effpitash = lambda x: np.arcsinh(effpit(x))
gr = lambda x: derivative(effpitash, x)
ps = [float(effx[-1])]
# gdown=lambda a,x:np.abs(safepit(x-a*gr(x))-(safepit(x)+a*gr(x)))
gdown = lambda a, x: np.abs(
safepit(x - a * gr(x)) -
(safepit(x) + a * gr(x))) if a > 0 else 1e100
pk = 1.
# tol=1
while ps[-1] > 0:
# print ps[-1]
# efftol=tol/gr(ps[-1]) #absolute value
# efftol=tol #gradient times value
# efftol=tol/gr(ps[-1])/safepit(ps[-1]) #relative to current value
efftol = tol / gr(
ps[-1]) / ps[-1] #relative to current value - nani?
# if gr(ps[-1])<0:ps.append(pit.x[pit.x<ps[-1]][-1])
# print ps[-1]
# print np.min(effx)
# print effx[effx<ps[-1]]
# print '##############################################'
if gr(ps[-1]) < 0:
tap = 0. if len(
effx[effx < ps[-1]]) == 0 else effx[effx < ps[-1]][-1]
ps.append(tap)
else:
x1 = minimize(lambda x: np.abs(gdown(x, ps[-1]) - efftol),
pk,
tol=1e-3,
method='Nelder-Mead')
pk = x1['x'][0]
ps.append(ps[-1] - x1['x'][0] * gr(ps[-1]))
# print pk,ps[-1]
############################
# plt.clf()
# plt.plot(pit.x,np.log10(pit.y))
# plt.plot(pit.x,np.poly1d(ly)(pit.x))
# plt.scatter(pit.x,np.log10(pit.y),c=gr(pit.x))
# plt.scatter(ps,poly1d(ly)(ps),c='red')
############################
ps = 100 - np.array(ps)
# ps=np.append(interp1d(range(len(ps)),ps)(np.arange(0,len(ps)-1,1./pssamp)),ps[-1])
ps = ps[ps <= 100]
# print len(ps)
# return
pCt = None
px0 = None
pctf1 = None
minmax = lambda x: np.max(x) - np.min(x)
scieff = np.zeros(sciimg.shape) + sciimg
scieff[
mskimg ==
0] = 0. #TRYING ZEROS HERE. It might be better than nans, but I am not sure yet.
for pi, p in enumerate(ps):
# print pi
if p == ps[0]:
effp1 = (p + ps[1]) / 2
effp2 = (
(100. - effpit.x[effpit.x.searchsorted(100. - p)]) +
np.min([(100. - effpit.x[effpit.x.searchsorted(100. - p) - 1]),
ps[pi + 1]])) / 2
effp = np.min([effp1, effp2])
else:
if 100 - p in effpit.x and pi + 1 != len(ps):
effp = (
(100. - effpit.x[effpit.x.searchsorted(100. - p)]) +
np.min([(100. - effpit.x[effpit.x.searchsorted(100. - p) -
1]), ps[pi + 1]])) / 2
else:
effp = p
Ct = UU.getContours(scieff, effpit(100 - effp), E)
Ct = [np.array([x for x in C if not np.isnan(x).any()])
for C in Ct] #Remove nans
Ct = [C for C in Ct if len(C) != 0] #Remove nans
Ct = [
C for C in Ct
if np.min(C[:, 0]) > E[0] + 1. and np.min(C[:, 1]) > E[2] +
1. and np.max(C[:, 0]) < E[1] - 1 and np.min(C[:, 0]) < E[3] - 1
] # only Contours away from border
if pCt is not None:
Ct = [
C for C in Ct
if Path(C).contains_points([np.median(pCt, 0)]).all()
] # Should contain the previous one
if len(Ct) == 0:
print 'Finishing here, you hit the background'
break
if cen is not None and p == ps[0]:
#Sometimes there is more than 1 contour to choose from at the beggining, right now the pick is random...
Ct = [
C for C in Ct
if np.sqrt(np.sum((np.median(C, 0) -
(np.array(cen) + 0.5))**2)) < np.sqrt(2)
]
ict = np.argmax([len(C) for C in Ct]) #picking the longest contour
Cteff = Ct[ict]
#If too few points in the contours, weird fits can happen, so I will have a minimum.
if len(Cteff) < minCt:
iz = int(float(minCt) / (len(Cteff) - 1)) + 1
nx = np.array([
Cteff[:-1, 0] + i * (Cteff[1:, 0] - Cteff[:-1, 0]) / iz
for i in range(iz)
]).T.ravel()
ny = np.array([
Cteff[:-1, 1] + i * (Cteff[1:, 1] - Cteff[:-1, 1]) / iz
for i in range(iz)
]).T.ravel()
Cteff = np.array([nx, ny]).T
#It is of no purpose to interpolate within the same pixels
if pCt is not None and pfsam != 0:
idxc = np.unique(np.array([(Cteff[:, 0] / pfsam).astype("int"),
(Cteff[:, 1] / pfsam).astype("int")]).T,
axis=0)
idxp = np.unique(np.array([(pCt[:, 0] / pfsam).astype("int"),
(pCt[:, 1] / pfsam).astype("int")]).T,
axis=0)
if np.all(idxc == idxp):
# print idxc,idxp
continue
pCt = Cteff
#First guess
if px0 is None:
x00 = np.median(Cteff[:, 0])
y00 = np.median(Cteff[:, 1])
t0 = []
t1 = []
t2 = []
for theta in np.linspace(-np.pi / 2, np.pi / 2, 100):
theta = theta - np.pi / 2
M1 = np.array([(Cteff[:, 0] - x00), (Cteff[:, 1] - y00)])
c = np.array([[np.cos(theta), np.sin(theta)],
[-np.sin(theta), np.cos(theta)]])
M2 = np.dot(c, M1)
t0.append(theta)
# t1.append(np.max([np.max(M2[0,:])-np.min(M2[0,:]),np.max(M2[1,:])-np.min(M2[1,:])]))
t1.append(np.max(M2[0, :]) - np.min(M2[0, :]))
t2.append((np.max(M2[1, :]) - np.min(M2[1, :])) /
(np.max(M2[0, :]) - np.min(M2[0, :])))
############
q0 = t2[np.argmax(t1)] if t2[np.argmax(t1)] < 1. else 1.
et0 = t0[np.argmax(t1)]
else:
x00, y00, q0, et0 = px0
###########
#Sigma clipping
if sclip and len(Cteff) > 10:
thr = np.arctan2((Cteff[:, 1].ravel() - y00),
(Cteff[:, 0].ravel() - x00) * q0)
rr = gell(Cteff[:, 0], Cteff[:, 1], x00, y00, q0, et0, 0.)
ly = np.polyfit(thr, rr, 5)
rf = rr - np.poly1d(ly)(thr)
rf = (rf - np.median(rf)) / np.std(rf)
idxs = np.where(np.abs(rf) > 3)[0]
grps = np.split(idxs, np.where(np.diff(idxs) != 1)[0] + 1)
ctmsk = np.ones(Cteff[:, 0].shape).astype(bool)
for g in grps:
if len(g) == 0: continue
g0 = np.min(g) - np.argmin(
(rf[:np.min(g)] > 1)[::-1]) if np.min(g) != 0 else 0
g1 = np.max(g) + np.argmin(
(rf[np.max(g):] > 1
)) if np.max(g) != len(Cteff) - 1 else len(Cteff) - 1
ctmsk[g0:g1] = 0
Cteff = Cteff[ctmsk, :]
###########
X = None if pctf1 is None else [
np.min(pctf1[0]),
np.max(pctf1[0]),
np.min(pctf1[1]),
np.max(pctf1[1])
]
x2a = minimize(lambda x: tomin(Cteff[:, 0], Cteff[:, 1], [
x[0], x[1], x[2], x[3], 0.
], [et0 - np.pi / 2, et0 + np.pi / 2], X), [x00, y00, q0, et0],
method='Powell',
options={'maxiter': 100000})
x2b = minimize(lambda x: tomin(Cteff[:, 0], Cteff[:, 1], [
x[0], x[1], x[2], x[3], 0.
], [x2a['x'][3] - np.pi / 2, x2a['x'][3] + np.pi / 2], X),
x2a['x'],
method='Nelder-Mead',
options={'maxiter': 100000})
if pick == 0:
xf = x2b
r, th = gell(Cteff[:, 0],
Cteff[:, 1],
x2b['x'][0],
x2b['x'][1],
x2b['x'][2],
x2b['x'][3],
0.,
reth=True)
elif pick == 1:
x3a = minimize(lambda x: tomin(Cteff[:, 0], Cteff[:, 1], [
x[0], x[1], x[2], x[3], x[4]
], [x2b['x'][3] - np.pi / 2, x2b['x'][3] + np.pi / 2], X),
np.append(x2b['x'], [0.]),
method='Powell',
options={'maxiter': 100000})
xf = minimize(lambda x: tomin(Cteff[:, 0], Cteff[:, 1], [
x[0], x[1], x[2], x[3], x[4]
], [x3a['x'][3] - np.pi / 2, x3a['x'][3] + np.pi / 2], X),
np.append(x3a['x'], [0.]),
method='Nelder-Mead',
options={'maxiter': 100000})
r, th = gell(Cteff[:, 0],
Cteff[:, 1],
xf['x'][0],
xf['x'][1],
xf['x'][2],
xf['x'][3],
xf['x'][4],
reth=True)
elif pick == 2:
x3a = minimize(lambda x: tomin2(Cteff[:, 0], Cteff[:, 1], [
x[0], x[1], x[2], x[3], [0., x[4], x[5], 0.]
], [x2b['x'][3] - np.pi / 2, x2b['x'][3] + np.pi / 2], X),
np.append(x2b['x'], [0., 0.]),
method='Powell',
options={'maxiter': 100000})
xf = minimize(lambda x: tomin2(Cteff[:, 0], Cteff[:, 1], [
x[0], x[1], x[2], x[3], [0., x[4], x[5], 0.]
], [x3a['x'][3] - np.pi / 2, x3a['x'][3] + np.pi / 2], X),
x3a['x'],
method='Nelder-Mead',
options={'maxiter': 100000})
r, th = gella4(Cteff[:, 0],
Cteff[:, 1],
xf['x'][0],
xf['x'][1],
xf['x'][2],
xf['x'][3], [0., xf['x'][4], xf['x'][5], 0.],
reth=True)
#TESTING
# if xf['fun']/len(Cteff[:,0])>rcmin:
# print 'Very Bad fit, lets stop here...'
# continue
# break
# print np.abs(np.sum(np.diff(th/np.pi))-2)
# print xf
thd = np.diff(th / np.pi)
if np.abs(np.sum(thd[np.abs(thd) < 0.8]) -
2) > 0.5 or xf['fun'] > 1e99:
print 'This fit is probably bad, continue'
# break
continue
#ENDTEST
px0 = [xf['x'][0], xf['x'][1], xf['x'][2], xf['x'][3]]
y['ps'].append(p)
y['x0'].append(xf['x'][0])
y['y0'].append(xf['x'][1])
y['q'].append(xf['x'][2])
tt = xf['x'][3]
y['theta'].append(tt)
if pick == 1:
y['c0'].append(xf['x'][4])
elif pick == 2:
y['a4'].append(xf['x'][5])
y['a'].append([0., xf['x'][4], xf['x'][5], 0.])
y['val'].append(effpit(100 - p))
y['r'].append(np.median(r))
y['DL'].append(x2b['fun'] / xf['fun'])
y['rc2'].append(xf['fun'] / len(Cteff[:, 0]))
Ctout.append(Cteff)
#A goodness of fit:
if pick == 0:
Ctf1 = getell(np.median(r), xf['x'][0], xf['x'][1], xf['x'][2],
xf['x'][3], 0.)
elif pick == 1:
Ctf1 = getell(np.median(r), xf['x'][0], xf['x'][1], xf['x'][2],
xf['x'][3], xf['x'][4])
elif pick == 2:
Ctf1 = getella4(np.median(r), xf['x'][0], xf['x'][1], xf['x'][2],
xf['x'][3], [0., xf['x'][4], xf['x'][5], 0.])
pctf1 = Ctf1
idxx = np.array((Ctf1[0]) / dx).astype("int")
idxx = idxx[(idxx < E[1]) | (idxx >= E[0])]
idxy = np.array((Ctf1[1]) / dy).astype("int")
# idxy[(idxy>=E.shape[0]) | (idxy<0)]=0
idxy = idxy[(idxy < E[3]) | (idxy >= E[2])]
y['ellval'].append(np.percentile(scieff[idxy, idxx],
[15.9, 50., 84.1]))
if img:
# if pick==0:
# ri=gell(xx,yy,xf['x'][0],xf['x'][1],xf['x'][2],xf['x'][3],0.)
# Ctf1=getell(np.median(r),xf['x'][0],xf['x'][1],xf['x'][2],xf['x'][3],0.)
# elif pick==1:
# ri=gell(xx,yy,xf['x'][0],xf['x'][1],xf['x'][2],xf['x'][3],xf['x'][4])
# Ctf1=getell(np.median(r),xf['x'][0],xf['x'][1],xf['x'][2],xf['x'][3],xf['x'][4])
# elif pick==2:
# ri=gella4(xx,yy,xf['x'][0],xf['x'][1],xf['x'][2],xf['x'][3],[0.,xf['x'][4],xf['x'][5],0.])
# Ctf1=getella4(np.median(r),xf['x'][0],xf['x'][1],xf['x'][2],xf['x'][3],[0.,xf['x'][4],xf['x'][5],0.])
plt.imshow(np.arcsinh(sciimg), extent=E, origin='lower')
plt.plot(Cteff[:, 0], Cteff[:, 1], color='red', lw=2)
plt.plot(Ctf1[0], Ctf1[1], c='black', lw=1.)
y['val0'] = np.max(sciimg[mskimg == 1])
keys = ['r', 'val', 'x0', 'y0', 'theta', 'q', 'ellval']
if pick == 1: keys.append('c0')
elif pick == 2:
keys.append('a4')
keys.append('a')
if extrapolate is not None:
#Extrapolate after I cannot measure ellipse
#Rollback first
ir = -1
#TEST###
# while True:
# if pick==0:
# Ctf1=getell(y['r'][ir],y['x0'][ir-1],y['y0'][ir-1],y['q'][ir-1],y['theta'][ir-1],0.)
# elif pick==1:
# Ctf1=getell(y['r'][ir],y['x0'][ir-1],y['y0'][ir-1],y['q'][ir-1],y['theta'][ir-1],y['c0'][ir-1])
# elif pick==2:
# Ctf1=getella4(y['r'][ir],y['x0'][ir-1],y['y0'][ir-1],y['q'][ir-1],y['theta'][ir-1],y['a'][ir-1])
# idxx=np.array((Ctf1[0])/dx).astype("int")
# idxx=idxx[(idxx<E[1]) | (idxx>=E[0])]
# idxy=np.array((Ctf1[1])/dy).astype("int")
# # idxy[(idxy>=E.shape[0]) | (idxy<0)]=0
# idxy=idxy[(idxy<E[3]) | (idxy>=E[2])]
# if np.diff(np.percentile(scieff[idxy,idxx],[15.9,84.1]))-np.diff(y['ellval'][ir][[0,2]])>0:break
# ir-=1
# print ir
########
if pick == 0:
rl = gell(xx, yy, y['x0'][ir], y['y0'][ir], y['q'][ir],
y['theta'][ir], 0.)
if pick == 1:
rl = gell(xx, yy, y['x0'][ir], y['y0'][ir], y['q'][ir],
y['theta'][ir], y['c0'][ir])
if pick == 2:
rl = gella4(xx, yy, y['x0'][ir], y['y0'][ir], y['q'][ir],
y['theta'][ir], y['a'][ir])
dr = np.max(
[np.abs(y['r'][ir - 1] - y['r'][ir]), 2 * (xx[0][1] - xx[0][0])])
rmax = y['r'][ir] + dr
pvalm = 1e100
pvn = 1e100
while True:
# valm=np.median(sciimg[(mskimg==1) & (rl<rmax) & (rl>rmax-dr)]) #Minimize
n = len(
np.where((mskimg == 1) & (rl < rmax) & (rl > rmax - dr))[0])
if n == 0:
print "something is wrong here, aborting extrapolation"
break
valm = np.percentile(sciimg[(mskimg == 1) & (rl < rmax) &
(rl > rmax - dr)],
[15.9, 50., 84.1]) #Minimize
if valm[1] > extrapolate and (np.sqrt(valm[1]) / n -
pvn) / pvn < 1.:
for key in keys:
if key == 'r': y[key].append(rmax - dr / 2)
elif key == 'val': y[key].append(valm[1])
elif key == 'ellval': y[key].append(valm)
else: y[key].append(y[key][-1])
else:
valm = lambda rmax: np.abs(
np.median(sciimg[
(mskimg == 1) & (rl < rmax) &
(rl > rmax - dr)]) - extrapolate) #Minimize
xv = minimize(
lambda x: valm(x)
if valm(x) == valm(x) and x >= y['r'][-1] else 1e100,
[rmax],
method='Nelder-Mead')
if valm(xv['x'][0]) == valm(xv['x'][0]):
for key in keys:
if key == 'r': y[key].append(xv['x'][0] - dr / 2)
elif key == 'val': y[key].append(valm(xv['x'][0]))
elif key == 'ellval':
y[key].append(
np.percentile(
sciimg[(mskimg == 1) & (rl < xv['x'][0]) &
(rl > xv['x'][0] - dr)],
[15.9, 50., 84.1]))
else:
y[key].append(y[key][-1])
break
pvalm = valm[1]
pvn = np.sqrt(valm[1]) / n
rmax += dr
for key in y:
y[key] = np.array(y[key])
#Transform theta to common angle
tt = np.median(y['theta'])
y['theta'][y['theta'] > tt + np.pi / 2] -= np.pi
y['theta'][y['theta'] < tt - np.pi / 2] += np.pi
rett = [y, Ctout, eeint(y)]
# if Cts: rett.append(Ctout)
# ellarr2=
# rett.append(ellarr2)
return rett
sc = 2
wp = 210 * sc
hp = 297 * sc
# Define the codec and create VideoWriter object
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output1.avi', -1, fourcc, 20.0, (640, 480))
while True:
if webcam:
# img_arr = np.array(bytearray(urllib.request.urlopen(URL).read()), dtype=np.uint8)
# img = cv2.imdecode(img_arr, -1)
success, img = cap.read()
else:
img = cv2.imread(path)
imgCnt, finalCnt = utils.getContours(img, min_area=50000, filter=4)
if len(finalCnt) != 0:
biggest = finalCnt[0][2]
#print(biggest)
imgWrap = utils.warpImg(img, biggest, wp, hp)
imgCnt2, finalCnt2 = utils.getContours(imgWrap,
min_area=200,
filter=4,
draw=False)
if len(finalCnt) != 0:
for obj in finalCnt2:
cv2.polylines(imgCnt2, [obj[2]], True, (0, 0, 255), 2)
nPoints = utils.reorder(obj[2])
path = 'cards.jpg'
ImageWidth = 500
ImageHeight = 500
cap = cv2.VideoCapture(0)
cap.set(10, 160)
cap.set(3, 1920)
cap.set(4, 1080)
scale = 3
wp = 210 * scale
hp = 297 * scale
while True:
if webcam: success, img = cap.read()
else: img = cv2.imread(path)
img, conts = utils.getContours(img,
showCanny=True,
minArea=50000,
filter=4)
if len(conts) != 0:
biggest = conts[0][2]
imgWrap = utils.warpImg(img, biggest, wp, hp)
imgContours2, conts2 = utils.getContours(imgWrap,
minArea=2000,
filter=4,
cThr=[50, 50],
draw=False)
if len(conts) != 0:
for obj in conts2:
cv2.polylines(imgContours2, [obj[2]], True, (0, 255, 0), 2)
nPoints = utils.reorder(obj[2])
import numpy as np
import utils
webcam = False
path = 'img.jpeg'
cap = cv2.VideoCapture(0)
cap.set(10, 160)
cap.set(3, 1920)
cap.set(4, 1080)
scale = 3
wP = 210 * scale
hP = 297 * scale
while True:
if webcam: success, img = cap.read()
else: img = cv2.imread(path)
img, conts = utils.getContours(img, draw=True, minArea=50000, filter=4)
if len(conts) != 0:
biggest = conts[0][2]
# print (biggest)
imgWarp = utils.warp(img, biggest, wP, hP)
cv2.imshow('A4', imgWarp)
img2, conts2 = utils.getContours(imgWarp,
draw=False,
cThreshold=[50, 50],
minArea=2000,
filter=4)
if (len(conts2) != 0):
for obj in conts2:
cv2.polylines(img2, [obj[2]], True, (0, 255, 0), 2)
newPoints = utils.reorder(obj[2])
nW = round((utils.findDistance(newPoints[0][0] // scale,
from sensor_msgs.msg import Image
from std_msgs.msg import String
import utils
cap = cv2.VideoCapture(0)
while True:
pub = rospy.Publisher("Image", Image, queue_size=10)
pub2 = rospy.Publisher("Output", String, queue_size=1)
rospy.init_node('arrow_publisher', anonymous=True)
rate = rospy.Rate(10)
success, img = cap.read()
imgcont, conts, _ = utils.getContours(img,
cThr=[150, 175],
showCanny=False,
filter=4,
draw=False)
if len(conts) != 0:
biggest = conts[0][2]
imgWarp = utils.warpImg(img, biggest, 350,
350) #warping the Image to Region of Interest
imgCont2, cont2, imgThre = utils.getContours(imgWarp,
cThr=[50, 50],
showCanny=False,
filter=7,
draw=False)
if len(cont2) != 0:
c = utils.direction(imgWarp)
cv2.imshow("cut", imgThre)
