def main(self):
if not self.without_robot:
self.last_time = time.time()
print "[!!] capture white face first"
while self.facenum < 6:
if not self.without_robot and (time.time() - self.last_time >
ROTATE_DELAY):
self.save_color()
frame = cv.QueryFrame(self.capture)
if not frame:
raise IOError, "Camera Error"
cv.Resize(frame, self.img)
cv.CvtColor(self.img, self.hsv, cv.CV_RGB2HSV)
for iy in xrange(3):
for ix in xrange(3):
lefttop = (int(self.left_top[0] +
self.one_side * 3 / 2 * ix),
int(self.left_top[1] +
self.one_side * 3 / 2 * iy))
rightbottom = (int(self.left_top[0] +
self.one_side * 3 / 2 * ix +
self.one_side),
int(self.left_top[1] +
self.one_side * 3 / 2 * iy +
self.one_side))
col = cv.Avg(self.img[lefttop[1]:rightbottom[1],
lefttop[0]:rightbottom[0]])
cv.Rectangle(self.img, lefttop, rightbottom, (0, 0, 0),
cv.CV_FILLED)
cv.Rectangle(self.img, (lefttop[0] + 3, lefttop[1] + 3),
(rightbottom[0] - 3, rightbottom[1] - 3), col,
cv.CV_FILLED)
hsv_col = cv.Avg(self.hsv[lefttop[1]:rightbottom[1],
lefttop[0]:rightbottom[0]])
#print hsv_col
self.colors[iy][ix] = hsv_col[:]
cv.ShowImage("cube_capture.py", self.img)
c = cv.WaitKey(10) % 0x100
if c == 27: # ESC
break
elif self.without_robot and chr(c) == " ":
self.save_color()
#print self.colors_list
if self.colors_list[-1]:
r = self.process_colors()
else:
r = None
cv.DestroyWindow("cube_capture.py")
return r
def sample_frame(self, frame):
# Get an average of the green channel in on the forehead
cv.SetImageROI(frame, self.face_tracker.get_forehead())
sample = cv.Avg(frame)[1]
cv.ResetImageROI(frame)
return sample
def get_predator_distance(self, bb, depth):
self.logger.debug("Bounding Box: " + str(bb))
if bb[0] < 0:
bb[0] = 0
if bb[2] >= self.res['width']:
bb[2] = self.res['width'] - 1
if bb[1] < 0:
bb[1] = 0
if bb[3] >= self.res['height']:
bb[3] = self.res['height'] - 1
dist_rect = cv.CreateImage((bb[2] - bb[0], bb[3] - bb[1]),
cv.IPL_DEPTH_8U, 1)
dist_rect = cv.GetSubRect(depth,
(bb[0], bb[1], bb[2] - bb[0], bb[3] - bb[1]))
return cv.Avg(dist_rect)[0]
hsvcs = []
den = 2
for i, p in enumerate(ep):
if p[0] > rad and p[0] < W - rad and p[1] > rad and p[1] < H - rad:
#valavg=val[int(p[1]-rad/3):int(p[1]+rad/3),int(p[0]-rad/3):int(p[0]+rad/3)]
#mask=cv.CreateImage(cv.GetDims(valavg), 8, 1 )
print "p", p
p = (int(round(p[0])), int(round(p[1])))
print "p", p
print "sg", sg
rad = int(rad)
print "rad", rad
col = cv.Avg(sgc[int(p[1] - rad / den):int(p[1] + rad / den),
int(p[0] - rad / den):int(p[0] + rad / den)])
col = cv.Avg(sgc[int(p[1] - rad / den):int(p[1] + rad / den),
int(p[0] - rad / den):int(p[0] + rad / den)])
cv.Circle(sg, p, rad, col, -1)
if i == 4:
cv.Circle(sg, p, rad, (0, 255, 255), 2)
else:
cv.Circle(sg, p, rad, (255, 255, 255), 2)
hueavg = cv.Avg(
hue[int(p[1] - rad / den):int(p[1] + rad / den),
int(p[0] - rad / den):int(p[0] + rad / den)])
satavg = cv.Avg(
sat[int(p[1] - rad / den):int(p[1] + rad / den),
int(p[0] - rad / den):int(p[0] + rad / den)])
def main():
cap = cv.CaptureFromCAM(0)
cv.NamedWindow("camera", cv.CV_WINDOW_NORMAL)
cv.SetCaptureProperty(cap, cv.CV_CAP_PROP_FRAME_WIDTH, 720)
cv.SetCaptureProperty(cap, cv.CV_CAP_PROP_FRAME_HEIGHT, 540)
cols = int(cv.GetCaptureProperty(cap, cv.CV_CAP_PROP_FRAME_WIDTH))
rows = int(cv.GetCaptureProperty(cap, cv.CV_CAP_PROP_FRAME_HEIGHT))
grey = cv.CreateImage((cols, rows), 8, 1)
cumulated = cv.CreateImage((cols, rows), 8, 1)
equalize = True
laplace = False
settings = {
"canny_avg": 10,
}
threshold1 = 600
threshold2 = 200
settings_names = sorted(settings.keys())
setting_current = 0
setting_name = settings_names[setting_current]
while True:
im = cv.QueryFrame(cap)
cv.CvtColor(im, grey, cv.CV_BGR2GRAY)
if equalize:
cv.Smooth(grey, grey, param1=5, param2=5)
cv.EqualizeHist(grey, grey)
if laplace:
cv.Canny(grey, grey, threshold1, threshold2)
avg = cv.Avg(cumulated)[0]
if avg > settings["canny_avg"] * 1.2:
threshold1 *= 1.1
threshold2 = threshold1 / 2.5
if avg < settings["canny_avg"] / 1.2:
threshold1 /= 1.1
threshold2 = threshold1 / 2.5
cv.ShowImage("camera", grey)
key = cv.WaitKey(1)
if key not in (-1, 1114085, 1245157): # None, block
print("Key %d" % key)
if key in ( # Capture one frame
1048675, # c
99, # c
):
filenames = save_image(cap, 1)
print("Capturing: %s" % ", ".join(list(filenames)))
if key in ( # Capture ten frames
1114179, # C
1179715, # C (block)
65603, # C
131139, # C (block)
):
filenames = save_image(cap, 10)
print("Capturing: %s" % ", ".join(list(filenames)))
elif key in ( # Toggle equalization
1114181, # e
1048677, # E
1179717, # E (block)
1245285, # e (block)
101, # e
65605, # E
131141, # E (block)
196709, # e (block)
):
equalize = not equalize
print("Equalize: %s" % equalize)
elif key in ( # Toggle laplace
1179724, # l
1048684, # L (block(
1114188, # L
108,
65612,
131148,
196716,
):
laplace = not laplace
print("Laplace: %s" % laplace)
elif key in ( # Increment value
1113938, # Up
65362,
):
settings[setting_name] += 1
print("%s := %d" % (setting_name, settings[setting_name]))
elif key in ( # Decrement value
1113940, # Down
65364,
):
settings[setting_name] -= 1
print("%s := %d" % (setting_name, settings[setting_name]))
elif key in ( # Next setting
1113939, # Right
65363,
):
setting_current = (setting_current + 1) % len(settings_names)
setting_name = settings_names[setting_current]
print("%s : %d" % (setting_name, settings[setting_name]))
elif key in ( # Prev setting
1113937, # Left
65361,
):
setting_current = (setting_current - 1) % len(settings_names)
setting_name = settings_names[setting_current]
print("%s : %d" % (setting_name, settings[setting_name]))
elif key in ( # Exit
27, # ESC
1048603, # ESC
1114193, # q
1048689, # Q
1179729, # Q (block)
1245297, # q (block)
113,
65617,
131153,
196721,
):
break
cv.NamedWindow('right')
cv.SetMouseCallback("cam", on_mouse)
on_mouse(cv.CV_EVENT_LBUTTONDOWN, centerX, centerY, None, None)
font = cv.InitFont(cv.CV_FONT_HERSHEY_PLAIN, 1.0, 1.0)
M = 60
while True:
img = cv.QueryFrame(capture)
cv.CvtColor(img, im, cv.CV_RGB2GRAY)
#cv.LogPolar(img, polar, (centerX, centerY), M+1, cv.CV_INTER_NN + cv.CV_WARP_FILL_OUTLIERS )
cv.And(im, lm, lt)
leftBrightness = cv.Avg(im, mask=lm)
cv.Rectangle(lt, (0, 0), (32, 32), leftBrightness, thickness=-1)
cv.PutText(lt, "%3.0f" % leftBrightness[0], (3,20), font, cv.RealScalar(0))
cv.And(im, rm, rt)
rightBrightness = cv.Avg(im, mask=rm)
cv.Rectangle(rt, (0, 0), (32, 32), rightBrightness, thickness=-1)
cv.PutText(rt, "%3.0f" % rightBrightness[0], (3,20), font, cv.RealScalar(0))
cv.ShowImage('cam', im)
cv.ShowImage('left', lt)
cv.ShowImage('right', rt)
key = cv.WaitKey(10)
#print "key ",key
if key == 27: