def redraw_monocular(self, drawable):
width, height = cv.GetSize(drawable.scrib)
display = cv.CreateMat(max(480, height), width + 100, cv.CV_8UC3)
cv.Zero(display)
cv.Copy(drawable.scrib, cv.GetSubRect(display, (0, 0, width, height)))
cv.Set(cv.GetSubRect(display, (width, 0, 100, height)),
(255, 255, 255))
self.buttons(display)
if not self.c.calibrated:
if drawable.params:
for i, (label, lo, hi, progress) in enumerate(drawable.params):
(w, _), _ = cv.GetTextSize(label, self.font)
cv.PutText(display, label,
(width + (100 - w) / 2, self.y(i)), self.font,
(0, 0, 0))
color = (0, 255, 0)
if progress < 1.0:
color = (0, int(progress * 255.), 255)
cv.Line(display, (int(width + lo * 100), self.y(i) + 20),
(int(width + hi * 100), self.y(i) + 20), color, 4)
else:
cv.PutText(display, "lin.", (width, self.y(0)), self.font,
(0, 0, 0))
linerror = drawable.linear_error
if linerror < 0:
msg = "?"
else:
msg = "%.2f" % linerror
#print "linear", linerror
cv.PutText(display, msg, (width, self.y(1)), self.font, (0, 0, 0))
self.show(display)
def onNewFrame(frame):#use this to modify the image before printing frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR) msg = "processed frame" font = cv.InitFont(cv.CV_FONT_HERSHEY_DUPLEX, 1.0, 1.0) tsize, baseline = cv.GetTextSize(msg, font) h,w = frame.shape[:2] tpt = (w - tsize[0]) / 2, (h - tsize[1]) / 2
def getShape(self): ((buttonWidth,buttonHeight),baseline) = cv.GetTextSize(self.getText(),self.getFont()) origin = self.getBottomLeft() xMin = origin.x()-4 xMax = origin.x() + buttonWidth yMin = origin.y() - buttonHeight yMax = origin.y()+4 return Geometry2D.Polygon(Geometry2D.Point(xMin,yMin),Geometry2D.Point(xMin,yMax),Geometry2D.Point(xMax,yMax),Geometry2D.Point(xMax,yMin))
def button(self, dst, label, enable):
cv.Set(dst, (255, 255, 255))
size = cv.GetSize(dst)
if enable:
color = cv.RGB(155, 155, 80)
else:
color = cv.RGB(224, 224, 224)
cv.Circle(dst, (size[0] / 2, size[1] / 2), min(size) / 2, color, -1)
((w, h), _) = cv.GetTextSize(label, self.font)
cv.PutText(dst, label, ((size[0] - w) / 2, (size[1] + h) / 2),
self.font, (255, 255, 255))
def add_text(image, text, good = True):
if good:
color = (0, 255, 0)
else:
color = (0, 0, 255)
w = image.cols
h = image.rows
for i in range(len(text)):
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.30, float(w)/350, thickness = 1)
((text_w, text_h), _) = cv.GetTextSize(text[i], font)
cv.PutText(image, text[i], (w/2-text_w/2, h/2-text_h/2 + i*text_h*2), font, color)
return image
def splash_screen(self, s1, s2):
splash_array = numpy.zeros((self.height, self.width, 3), numpy.uint8)
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 3.0, 3.0, 9)
((text_x, text_y), baseline) = cv.GetTextSize(s1, font)
org = ((self.width - text_x) / 2, (self.height / 3) + (text_y / 2))
cv2.putText(splash_array, s1, org, cv.CV_FONT_HERSHEY_SIMPLEX, 3.0, \
self.white, thickness = 7)
((text_x, text_y), baseline) = cv.GetTextSize(s2, font)
org = ((self.width - text_x) / 2,
((2 * self.height) / 3) + (text_y / 2))
cv2.putText(splash_array, s2, org, cv.CV_FONT_HERSHEY_SIMPLEX, 3.0, \
self.white, thickness = 7)
splash_image = cv.fromarray(splash_array)
# 3ms wait
cv2.waitKey(3)
msg = cv_bridge.CvBridge().cv_to_imgmsg(splash_image, encoding="bgr8")
self.pub.publish(msg)
def redraw_stereo(self, drawable):
width, height = cv.GetSize(drawable.lscrib)
display = cv.CreateMat(max(480, height), 2 * width + 100, cv.CV_8UC3)
cv.Zero(display)
cv.Copy(drawable.lscrib, cv.GetSubRect(display, (0, 0, width, height)))
cv.Copy(drawable.rscrib,
cv.GetSubRect(display, (width, 0, width, height)))
cv.Set(cv.GetSubRect(display, (2 * width, 0, 100, height)),
(255, 255, 255))
self.buttons(display)
if not self.c.calibrated:
if drawable.params:
for i, (label, lo, hi, progress) in enumerate(drawable.params):
(w, _), _ = cv.GetTextSize(label, self.font)
cv.PutText(display, label,
(2 * width + (100 - w) / 2, self.y(i)),
self.font, (0, 0, 0))
color = (0, 255, 0)
if progress < 1.0:
color = (0, int(progress * 255.), 255)
cv.Line(display,
(int(2 * width + lo * 100), self.y(i) + 20),
(int(2 * width + hi * 100), self.y(i) + 20), color,
4)
else:
cv.PutText(display, "epi.", (2 * width, self.y(0)), self.font,
(0, 0, 0))
if drawable.epierror == -1:
msg = "?"
else:
msg = "%.2f" % drawable.epierror
cv.PutText(display, msg, (2 * width, self.y(1)), self.font,
(0, 0, 0))
# TODO dim is never set anywhere. Supposed to be observed chessboard size?
if drawable.dim != -1:
cv.PutText(display, "dim", (2 * width, self.y(2)), self.font,
(0, 0, 0))
cv.PutText(display, "%.3f" % drawable.dim,
(2 * width, self.y(3)), self.font, (0, 0, 0))
self.show(display)
def writetext(img, textupper=None, textbottom=None):
padding = 2
cvfont = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1, 1)
textsize, baseline = cv.GetTextSize(textupper, cvfont)
fontheight = textsize[1]
fontheight = fontheight + (padding * 2)
if textupper:
cv.Rectangle(img, (0, 0), (img.width, fontheight), cv.RGB(30, 30, 50),
cv.CV_FILLED)
cv.PutText(img, textupper, (0, textsize[1] + padding), cvfont,
cv.RGB(255, 255, 255))
if textbottom:
cv.Rectangle(img,
(0, img.height), (img.width, img.height - fontheight),
cv.RGB(30, 30, 50), cv.CV_FILLED)
cv.PutText(img, textbottom, (0, img.height - padding), cvfont,
cv.RGB(255, 255, 255))
def _composite(self, img, pos, imgNum):
'''
Internal method to composite the thumbnail of a given image into the
correct position, given by (row,col).
@param img: The image from which a thumbnail will be composited onto the montage
@param pos: A tuple (row,col) for the position in the montage layout
@param imgNum: The image number used to draw a text label in the lower left corner
of each thumbnail.
'''
(row,col) = pos
tile = img.resize(self._tileSize)
pos_x = col*(self._tileSize[0] + self._gutter) + self._gutter + self._xpad
pos_y = row*(self._tileSize[1] + self._gutter) + self._gutter + self._ypad
cvImg = self._cvMontageImage
cvTile = tile.asOpenCV()
cv.SetImageROI(cvImg, (pos_x,pos_y,self._tileSize[0],self._tileSize[1]))
depth = cvTile.nChannels
if depth==1:
cvTileBGR = cv.CreateImage(self._tileSize, cv.IPL_DEPTH_8U, 3)
cv.CvtColor(cvTile, cvTileBGR, cv.CV_GRAY2BGR)
cv.Copy(cvTileBGR,cvImg) #should respect the ROI
else:
cv.Copy(cvTile,cvImg) #should respect the ROI
if not self._nolabels:
#draw image number in lower left corner, respective to ROI
((tw,th),_) = cv.GetTextSize("%d"%imgNum, self._txtfont)
#print "DEBUG: tw, th = %d,%d"%(tw,th)
if tw>0 and th>0:
cv.Rectangle(cvImg, (0,self._tileSize[1]-1),(tw+1,self._tileSize[1]-(th+1)-self._gutter), (0,0,0), thickness=cv.CV_FILLED )
font = self._txtfont
color = self._txtcolor
cv.PutText(cvImg, "%d"%imgNum, (1,self._tileSize[1]-self._gutter-2), font, color)
#reset ROI
cv.SetImageROI(cvImg, (0,0,self._size[0],self._size[1]))
def getSize(self): ((width,height),baseline) = cv.GetTextSize(self.getText(),self.getFont()) return (width+8,height + baseline+8)
import time
def playlist(args):
for f in args:
r = CVreader(f)
for d in r:
yield d + (f,)
framecounter = 0
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1, 1)
cv.NamedWindow("tv", 1)
for cam,l_image,r_image,label in playlist(sys.argv[1:]):
ipl = l_image
msg = "%4d" % framecounter
(w,h),baseline = cv.GetTextSize(msg, font)
(_, imageh) = cv.GetSize(l_image)
if 0:
# Gray out the top-left rectangle
cv.SetImageROI(ipl, (0, imageh+baseline, w + 1, imageh))
cv.ConvertScale(ipl, ipl, 0.75)
cv.ResetImageROI(ipl)
# Draw the time
cv.PutText(ipl, msg, (0,imageh+baseline), font, (255,255,255))
cv.ShowImage("tv", ipl)
cmd = cv.WaitKey(10)
# Space is pause
random.randrange(0, 100) * 0.05 + 0.01,
random.randrange(0, 5) * 0.1,
random.randrange(0, 10),
line_type)
cv.PutText(image, "Testing text rendering!",
pt1, font,
random_color(random))
cv.ShowImage(window_name, image)
cv.WaitKey(delay)
# prepare a text, and get it's properties
font = cv.InitFont(cv.CV_FONT_HERSHEY_COMPLEX,
3, 3, 0.0, 5, line_type)
text_size, ymin = cv.GetTextSize("OpenCV forever!", font)
pt1 = ((width - text_size[0]) / 2, (height + text_size[1]) / 2)
image2 = cv.CloneImage(image)
# now, draw some OpenCV pub ;-)
for i in range(0, 512, 2):
cv.SubS(image2, cv.ScalarAll(i), image)
(r, g, b) = colorsys.hsv_to_rgb((i % 100) / 100., 1, 1)
cv.PutText(image, "OpenCV forever!",
pt1, font, cv.RGB(255 * r, 255 * g, 255 * b))
cv.ShowImage(window_name, image)
cv.WaitKey(delay)
# wait some key to end
cv.WaitKey(0)
def _composite(self, img, pos, imgNum):
"""
Internal method to composite the thumbnail of a given image into the
correct position, given by (row,col).
@param img: The image from which a thumbnail will be composited onto the montage
@param pos: A tuple (row,col) for the position in the montage layout
@param imgNum: The image index of the tile being drawn, this helps us display the
appropriate label in the lower left corner if self._labels is not None.
"""
(row, col) = pos
if self._keep_aspect:
# Get the current size
w, h = img.size
# Find the scale
scale = min(1.0 * self._tileSize[0] / w, 1.0 * self._tileSize[1] / h)
w = int(scale * w)
h = int(scale * h)
# Resize preserving aspect
img2 = img.resize((w, h)).asPIL()
# Create a new image with the old image centered
x = (self._tileSize[0] - w) / 2
y = (self._tileSize[1] - h) / 2
pil = PIL.Image.new('RGB', self._tileSize, "#000000")
pil.paste(img2, (x, y, x + w, y + h))
# Generate the tile
tile = pv.Image(pil)
else:
tile = img.resize(self._tileSize)
pos_x = col * (self._tileSize[0] + self._gutter) + self._gutter + self._xpad
pos_y = row * (self._tileSize[1] + self._gutter) + self._gutter + self._ypad
cvImg = self._cvMontageImage
cvTile = tile.asOpenCV()
cv.SetImageROI(cvImg, (pos_x, pos_y, self._tileSize[0], self._tileSize[1]))
# Save the position of this image
self._image_positions.append(
[self._images[imgNum], imgNum, pv.Rect(pos_x, pos_y, self._tileSize[0], self._tileSize[1])])
depth = cvTile.nChannels
if depth == 1:
cvTileBGR = cv.CreateImage(self._tileSize, cv.IPL_DEPTH_8U, 3)
cv.CvtColor(cvTile, cvTileBGR, cv.CV_GRAY2BGR)
cv.Copy(cvTileBGR, cvImg) #should respect the ROI
else:
cv.Copy(cvTile, cvImg) #should respect the ROI
if self._labels == 'index':
#draw image number in lower left corner, respective to ROI
lbltext = "%d" % imgNum
elif type(self._labels) == list:
lbltext = str(self._labels[imgNum])
else:
lbltext = None
if not lbltext is None:
((tw, th), _) = cv.GetTextSize(lbltext, self._txtfont)
#print "DEBUG: tw, th = %d,%d"%(tw,th)
if tw > 0 and th > 0:
cv.Rectangle(cvImg, (0, self._tileSize[1] - 1), (tw + 1, self._tileSize[1] - (th + 1) - self._gutter),
(0, 0, 0), thickness=cv.CV_FILLED)
font = self._txtfont
color = self._txtcolor
cv.PutText(cvImg, lbltext, (1, self._tileSize[1] - self._gutter - 2), font, color)
if self._highlighted and (imgNum in self._selected_tiles):
#draw a highlight around this image
cv.Rectangle(cvImg, (0, 0), (self._tileSize[0], self._tileSize[1]), (0, 255, 255), thickness=4)
#reset ROI
cv.SetImageROI(cvImg, (0, 0, self._size[0], self._size[1]))
