def collectCheckboardPoints(self):
self.pointsArray1 = np.zeros((nimages, num_pts, 2))
self.pointsArray2 = np.zeros((nimages, num_pts, 2))
cv.NamedWindow("camera")
cv.NamedWindow("camera2")
i = 0
while True :
frame = cv.QueryFrame(self.video1)
# print type(frame)
# [rows1, cols] = cv.GetSize(frame)
image = cv.CreateImage(cv.GetSize(frame), cv.IPL_DEPTH_8U, frame.nChannels)
cv.Copy(frame, image)
cv.ShowImage("camera", frame)
grayScaleFullImage = cv.CreateImage((image.width, image.height), 8, 1)
cv.CvtColor(image, grayScaleFullImage, cv.CV_BGR2GRAY)
frame2 = cv.QueryFrame(self.video2)
image2 = cv.CreateImage(cv.GetSize(frame2), cv.IPL_DEPTH_8U, frame2.nChannels)
cv.Copy(frame2, image2)
cv.ShowImage("camera2", frame2)
grayScaleFullImage2 = cv.CreateImage((image2.width, image2.height), 8, 1)
cv.CvtColor(image2, grayScaleFullImage2, cv.CV_BGR2GRAY)
found, points = cv.FindChessboardCorners(grayScaleFullImage, dims, cv.CV_CALIB_CB_ADAPTIVE_THRESH)
if found != 0:
print "found chess board " + str(np.shape(points))
cv.DrawChessboardCorners(image, dims, points, found)
cv.ShowImage("win2", image)
cv.WaitKey(2)
# else:
# print "no chess"
found2, points2 = cv.FindChessboardCorners(grayScaleFullImage2, dims, cv.CV_CALIB_CB_ADAPTIVE_THRESH)
if found2 != 0:
print "found chess board2"
cv.DrawChessboardCorners(image2, dims, points2, found2)
cv.ShowImage("win3", image2)
cv.WaitKey(2)
if found and found2:
print "entered here!!!!!"
self.pointsArray1[i, :] = points
self.pointsArray2[i, :] = points2
i = i + 1
if i == nimages:
self.size = cv.GetSize(image)
break
if cv.WaitKey(10) == 27:
break
cv.DestroyWindow("Camera 1")
cv.DestroyWindow("Camera 2")
def _mixImageAlphaMask(self, wipeSettings, level, image1, image2, image2mask, mixMat):
if(level < 0.99):
wipeMode, wipePostMix, wipeConfig = wipeSettings
if((wipeMode == WipeMode.Fade) or (wipeMode == WipeMode.Default)):
valueCalc = int(256 * (1.0 - level))
rgbColor = cv.CV_RGB(valueCalc, valueCalc, valueCalc)
whiteColor = cv.CV_RGB(255, 255, 255)
cv.Set(mixMat, whiteColor)
cv.Set(mixMat, rgbColor, image2mask)
cv.Mul(image1, mixMat, image1, 0.004)
valueCalc = int(256 * level)
rgbColor = cv.CV_RGB(valueCalc, valueCalc, valueCalc)
cv.Zero(mixMat)
cv.Set(mixMat, rgbColor, image2mask)
cv.Mul(image2, mixMat, image2, 0.004)
cv.Add(image1, image2, image1)
return image1
else:
if(wipePostMix == False):
image2, image2mask = self._wipeImage(wipeMode, wipeConfig, level, image2, image2mask, mixMat, False)
cv.Copy(image2, image1, image2mask)
return image1
else:
cv.Copy(image1, mixMat)
cv.Copy(image2, mixMat, image2mask)
return self._wipeMix(wipeMode, wipeConfig, level, image1, mixMat, image2)
cv.Copy(image2, image1, image2mask)
return image1
def __call__(self):
'''
Returns true if motion is detected
'''
started = time.time()
counter = 0
thresh = 7
skipFrames = int(cv2.VideoCapture(self.file).get(cv.CV_CAP_PROP_FRAME_COUNT)/self.numFrameCheck)
for i in tqdm(range(self.numFrameCheck)):
ret, curframe = self.capture.read()
for i in range(skipFrames-1):
ret, curframe = self.capture.read()
if not self.getFrame():
break
curframe = self.conv(curframe)
instant = time.time() #Get timestamp o the frame
self.processImage(curframe) #Process the image
if self.somethingHasMoved():
counter += 1
if counter >= thresh:
return True
cv.Copy(self.frame2gray, self.frame1gray)
c=cv.WaitKey(1) % 0x100
if c==27 or c == 10: #Break if user enters 'Esc'.
break
return False
def url_jpg_contours(url):
position = 100
filedata = urllib2.urlopen(url).read()
imagefiledata = cv.CreateMatHeader(1, len(filedata), cv.CV_8UC1)
cv.SetData(imagefiledata, filedata, len(filedata))
im = cv.DecodeImage(imagefiledata, cv.CV_LOAD_IMAGE_COLOR)
col_edge = cv.CreateImage((im.width, im.height), 8, 3)
# convert to grayscale
gray_im = cv.CreateImage((im.width, im.height), 8, 1)
edge_im = cv.CreateImage((im.width, im.height), 8, 1)
cv.CvtColor(im, gray_im, cv.CV_BGR2GRAY)
cv.Canny(gray_im, edge_im, position, position * 3, 3)
cv.SetZero(col_edge)
# copy edge points
cv.Copy(im, col_edge, edge_im)
edge_im_array = np.asarray(edge_im[:])
ret, edge_im_array = cv2.threshold(edge_im_array, 127, 255,
cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(edge_im_array, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
scale = 10000.0
points = []
for contour in contours:
for i in contour:
for j in i:
lng_offset = j[0] / scale
lat_offset = j[1] / scale
points.append([lng_offset, lat_offset])
return points
def render_with_histogram(img):
'''Just a utility to draw a grayscale histogram next to an image.'''
_, _, width, height = cv.GetImageROI(img)
canvas = cv.CreateImage((width + 200, max(height, 255)), cv.IPL_DEPTH_8U, 1)
cv.Rectangle(canvas, (width, 0), (width + 200, height), (0), cv.CV_FILLED)
cv.SetImageROI(canvas, (0, 0, width, height))
cv.Copy(img, canvas)
cv.SetImageROI(canvas, (width, 0, 200, canvas.height))
hist = cv.CreateHist([255], cv.CV_HIST_ARRAY, [(0,255)], 1)
cv.CalcHist([img], hist)
values = [cv.QueryHistValue_1D(hist, n) for n in range(255)]
max_value = max(values)
for n, value in enumerate(values):
cv.Rectangle(canvas,
(0, n),
(int((value / max_value) * 200), n + 1),
(255), cv.CV_FILLED)
cv.SetImageROI(canvas, (0, 0, canvas.width, canvas.height))
return canvas
def area_to_image(self, lat, lon, width, height, ground_width, zoom=None, ordered=True): '''return an RGB image for an area of land, with ground_width in meters, and width/height in pixels. lat/lon is the top left corner. The zoom is automatically chosen to avoid having to grow the tiles''' img = cv.CreateImage((width,height),8,3) tlist = self.area_to_tile_list(lat, lon, width, height, ground_width, zoom) # order the display by distance from the middle, so the download happens # close to the middle of the image first if ordered: (midlat, midlon) = self.coord_from_area(width/2, height/2, lat, lon, width, ground_width) tlist.sort(key=lambda d: d.distance(midlat, midlon), reverse=True) for t in tlist: scaled_tile = self.scaled_tile(t) w = min(width - t.dstx, scaled_tile.width - t.srcx) h = min(height - t.dsty, scaled_tile.height - t.srcy) if w > 0 and h > 0: cv.SetImageROI(scaled_tile, (t.srcx, t.srcy, w, h)) cv.SetImageROI(img, (t.dstx, t.dsty, w, h)) cv.Copy(scaled_tile, img) cv.ResetImageROI(img) cv.ResetImageROI(scaled_tile) # return as an RGB image cv.CvtColor(img, img, cv.CV_BGR2RGB) return img
def run(self):
started = time.time()
while True:
curframe = cv.QueryFrame(self.capture)
instant = time.time() #Get timestamp o the frame
self.processImage(curframe) #Process the image
if not self.isRecording:
if self.somethingHasMoved():
self.trigger_time = instant #Update the trigger_time
if instant > started +5:#Wait 5 second after the webcam start for luminosity adjusting etc..
print "Something is moving !"
if self.doRecord: #set isRecording=True only if we record a video
self.isRecording = True
else:
if instant >= self.trigger_time +10: #Record during 10 seconds
print "Stop recording"
self.isRecording = False
else:
cv.PutText(curframe,datetime.now().strftime("%b %d, %H:%M:%S"), (25,30),self.font, 0) #Put date on the frame
cv.WriteFrame(self.writer, curframe) #Write the frame
if self.show:
cv.ShowImage("Image", curframe)
cv.ShowImage("Res", self.res)
cv.Copy(self.frame2gray, self.frame1gray)
c=cv.WaitKey(1)
if c==27 or c == 1048603: #Break if user enters 'Esc'.
break
def run(self):
started = time.time()
while True:
curframe = cv.QueryFrame(self.capture)
instant = time.time() #Get timestamp o the frame
self.processImage(curframe) #Process the image
if self.somethingHasMoved():
self.trigger_time = instant #Update the trigger_time
if instant > started + 5: #Wait 5 second after the webcam start for luminosity adjusting etc..
print datetime.now().strftime(
"%b %d, %H:%M:%S"), "Something is moving !"
os.system("cvlc --play-and-exit --fullscreen ./movie.mp4")
started = time.time()
if self.show:
cv.ShowImage("Image", curframe)
cv.ShowImage("Res", self.res)
cv.Copy(self.frame2gray, self.frame1gray)
c = cv.WaitKey(1) % 0x100
if c == 27 or c == 10: #Break if user enters 'Esc'.
break
def Xihua(image, array, num=10):
iXihua = cv.CreateImage(cv.GetSize(image), 8, 1)
cv.Copy(image, iXihua)
for i in range(num):
VThin(iXihua, array)
HThin(iXihua, array)
return iXihua
def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
backproject_mode = True
while True:
frame = cv.QueryFrame(self.capture)
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.CalcArrBackProject([self.hue], backproject, hist)
# Run the cam-shift (if the a window is set and != 0)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window,
crit) #Call the camshift !!
self.track_window = rect #Put the current rectangle as the tracked area
# If mouse is pressed, highlight the current selected rectangle and recompute histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection) #Get specified area
#Make the effect of background shadow when selecting a window
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
#Draw temporary rectangle
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
#Take the same area but in hue image to calculate histogram
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], hist, 0)
#Used to rescale the histogram with the max value (to draw it later on)
(_, max_val, _, _) = cv.GetMinMaxHistValue(hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(
self.track_window): #If window set draw an elipseBox
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3,
cv.CV_AA, 0)
cv.ShowImage("CamShiftDemo", frame)
cv.ShowImage("Backprojection", backproject)
cv.ShowImage("Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
break
def load_tile_lowres(self, tile):
'''load a lower resolution tile from cache to fill in a
map while waiting for a higher resolution tile'''
if tile.zoom == self.min_zoom:
return None
# find the equivalent lower res tile
(lat, lon) = tile.coord()
width2 = TILES_WIDTH
height2 = TILES_HEIGHT
for zoom2 in range(tile.zoom - 1, self.min_zoom - 1, -1):
width2 /= 2
height2 /= 2
if width2 == 0 or height2 == 0:
break
tile_info = self.coord_to_tile(lat, lon, zoom2)
# see if its in the tile cache
key = tile_info.key()
if key in self._tile_cache:
img = self._tile_cache[key]
if img == self._unavailable:
continue
else:
path = self.tile_to_path(tile_info)
try:
img = cv.LoadImage(path)
# add it to the tile cache
self._tile_cache[key] = img
while len(self._tile_cache) > self.cache_size:
self._tile_cache.popitem(0)
except IOError as e:
continue
# copy out the quadrant we want
availx = min(TILES_WIDTH - tile_info.offsetx, width2)
availy = min(TILES_HEIGHT - tile_info.offsety, height2)
if availx != width2 or availy != height2:
continue
cv.SetImageROI(
img, (tile_info.offsetx, tile_info.offsety, width2, height2))
img2 = cv.CreateImage((width2, height2), 8, 3)
try:
cv.Copy(img, img2)
except Exception:
continue
cv.ResetImageROI(img)
# and scale it
scaled = cv.CreateImage((TILES_WIDTH, TILES_HEIGHT), 8, 3)
cv.Resize(img2, scaled)
#cv.Rectangle(scaled, (0,0), (255,255), (0,255,0), 1)
return scaled
return None
def run(self):
hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0, 180)], 1)
backproject_mode = False
while True:
frame = 0
frame = self.capture #cv.QueryFrame( self.capture )
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject([self.hue], backproject, hist)
# if self.track_window and is_rect_nonzero(self.track_window):
# crit = ( cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
# (iters, (area, value, rect), track_box) = cv.CamShift(backproject, self.track_window, crit)
# self.track_window = rect
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
#cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue(hist)
if max_val != 0:
cv.ConvertScale(hist.bins, hist.bins, 255. / max_val)
# elif self.track_window and is_rect_nonzero(self.track_window):
# cv.EllipseBox( frame, track_box, cv.CV_RGB(255,0,0), 3, cv.CV_AA, 0 )
if not backproject_mode:
cv.ShowImage("SelectROI", frame)
else:
cv.ShowImage("SelectROI", backproject)
cv.ShowImage("Histogram", self.hue_histogram_as_image(hist))
c = cv.WaitKey(7) % 0x100
if c == 27:
f = open('newtree.yaml', "w")
yaml.dump(self.selection, f)
f.close()
break
elif c == ord("b"):
backproject_mode = not backproject_mode
def crop(self, image, subRect):
cv.SetImageROI(image, subRect)
img2 = cv.CreateImage(cv.GetSize(image), image.depth, image.nChannels)
#img3 = cv.CreateImage(cv.GetSize(image), image.depth, image.nChannels);
cv.Copy(image, img2)
#img3 = self.equilizer.normalize(img2)
cv.ResetImageROI(image)
return img2
class FaceDetect:
def __init__(self, DEBUG=False):
# Constructor for the videocapture, 0 because there is only one webcam connected
# instead of 0, a video file could be passed as parameter
self.vidCap = cv2.VideoCapture(0)
#self.vidCap = cv2.VideoCapture(VIDEO_FILE)
self.DEBUG = DEBUG
print 'FaceDetect : DEBUG set to', self.DEBUG
def getFrame(self):
_, frame = self.vidCap.read(
) # tuple contains a return value and image
return frame
def detectFaces(self, img):
img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) # image to grayscale
img = cv2.equalizeHist(img) # image equalized
# cascade classifier for object detectio
# HAAR_FRONTAL_FACE is the path to the file from which the classifier is loaded
casClassif = cv2.CascadeClassifier(HAAR_FRONTAL_FACE)
rectangles = casClassif.detectMultiScale(img,
scaleFactor=1.3,
minNeighbors=4,
minSize=(30, 30),
flags=cv.CV_HAAR_SCALE_IMAGE)
if len(rectangles) == 0:
return
if len(rectangles) > 1:
for i in range(0, len(rectangles)):
re = rectangles[i]
if self.DEBUG:
print re
re[:, :2] += re[:, 2]
rectangles[i] = re
else:
rectangles[:, :2] += rectangles[:, 2]
return rectangles
def cropRectangle(self, (x1, y1), (x2, y2), original):
width = x2 - x1
height = y2 - y1
size = (width, height)
if self.DEBUG:
print 'W:', width, 'H:', height
cropped = cv.CreateImage(
(size), 8,
3) # CreateImage( CvSize size, int depth, int channels )
src_region = cv.GetSubRect(
cv.fromarray(original),
(x1, y1, width,
height)) # GetSubRect( img, (pos_left, pos_top, width, height) )
cv.Copy(src_region, cropped)
cropped = np.asarray(cropped[:, :])
return cropped
def get_working(self):
(width, height) = cv.GetSize(self.image)
dest = cv.CreateMat(height, width, cv.CV_8UC3)
mask8x1 = cv.CreateImage(cv.GetSize(self.image), 8, 1)
cv.Zero(mask8x1)
cv.FillConvexPoly(mask8x1, self.cur_contour, cv.ScalarAll(255))
# Could 8x3 mask copy but histogram mask will take care of it
cv.Copy(self.image, dest)
return (dest, mask8x1)
def resize(self, frame):
img = cv.GetMat(frame)
for _ in range(self.resize_num):
w, h = cv.GetSize(img)
small = cv.CreateMat((h + 1) / 2, (w + 1) / 2, img.type)
cv.PyrDown(img, small)
img = cv.CreateMat((h + 1) / 2, (w + 1) / 2, img.type)
cv.Copy(small, img)
return small
def cvShiftDFT(src_arr, dst_arr):
size = cv.GetSize(src_arr)
dst_size = cv.GetSize(dst_arr)
if dst_size != size:
cv.Error(cv.CV_StsUnmatchedSizes, "cv.ShiftDFT",
"Source and Destination arrays must have equal sizes",
__FILE__, __LINE__)
if (src_arr is dst_arr):
tmp = cv.CreateMat(size[1] / 2, size[0] / 2, cv.GetElemType(src_arr))
cx = size[0] / 2
cy = size[1] / 2 # image center
q1 = cv.GetSubRect(src_arr, (0, 0, cx, cy))
q2 = cv.GetSubRect(src_arr, (cx, 0, cx, cy))
q3 = cv.GetSubRect(src_arr, (cx, cy, cx, cy))
q4 = cv.GetSubRect(src_arr, (0, cy, cx, cy))
d1 = cv.GetSubRect(src_arr, (0, 0, cx, cy))
d2 = cv.GetSubRect(src_arr, (cx, 0, cx, cy))
d3 = cv.GetSubRect(src_arr, (cx, cy, cx, cy))
d4 = cv.GetSubRect(src_arr, (0, cy, cx, cy))
if (src_arr is not dst_arr):
if (not cv.CV_ARE_TYPES_EQ(q1, d1)):
cv.Error(
cv.CV_StsUnmatchedFormats, "cv.ShiftDFT",
"Source and Destination arrays must have the same format",
__FILE__, __LINE__)
cv.Copy(q3, d1)
cv.Copy(q4, d2)
cv.Copy(q1, d3)
cv.Copy(q2, d4)
else:
cv.Copy(q3, tmp)
cv.Copy(q1, q3)
cv.Copy(tmp, q1)
cv.Copy(q4, tmp)
cv.Copy(q2, q4)
cv.Copy(tmp, q2)
def find_rectangles(self,input_img):
""" Find contours in the input image.
input_img: Is a binary image
"""
contours_img=cv.CreateMat(input_img.height, input_img.width, cv.CV_8UC1) # Image to draw the contours
copied_img=cv.CreateMat(input_img.height, input_img.width, input_img.type) # Image to draw the contours
cv.Copy(input_img, copied_img)
contours = cv.FindContours(copied_img,cv.CreateMemStorage(),cv.CV_RETR_TREE,cv.CV_CHAIN_APPROX_SIMPLE)
cv.DrawContours(contours_img,contours,255,0,10)
return contours_img
def test_2686307(self):
lena = cv.LoadImage(find_sample("lena.jpg"), 1)
dst = cv.CreateImage((512,512), 8, 3)
cv.Set(dst, (128,192,255))
mask = cv.CreateImage((512,512), 8, 1)
cv.Zero(mask)
cv.Rectangle(mask, (10,10), (300,100), 255, -1)
cv.Copy(lena, dst, mask)
self.snapL([lena, dst, mask])
m = cv.CreateMat(480, 640, cv.CV_8UC1)
print "ji", m
print m.rows, m.cols, m.type, m.step
def rgb2gray(img, grayscale):
'''
convert img to grayscale
@param img: image to convert
@param grayscale: target
'''
# cv.CvtColor(img,self.img,cv.CV_RGB2HLS)
cv.CvtColor(img, grayscale, cv.CV_RGB2GRAY)
return
cv.SetImageCOI(img, 2)
cv.Copy(img, grayscale)
cv.SetImageCOI(img, 0)
def find_squares4(color_img):
"""
Finds multiple squares in image
Steps:
-Use Canny edge to highlight contours, and dilation to connect
the edge segments.
-Threshold the result to binary edge tokens
-Use cv.FindContours: returns a cv.CvSequence of cv.CvContours
-Filter each candidate: use Approx poly, keep only contours with 4 vertices,
enough area, and ~90deg angles.
Return all squares contours in one flat list of arrays, 4 x,y points each.
"""
#select even sizes only
width, height = (color_img.width & -2, color_img.height & -2)
timg = cv.CloneImage(color_img) # make a copy of input image
gray = cv.CreateImage((width, height), 8, 1)
# select the maximum ROI in the image
cv.SetImageROI(timg, (0, 0, width, height))
# down-scale and upscale the image to filter out the noise
pyr = cv.CreateImage((width / 2, height / 2), 8, 3)
cv.PyrDown(timg, pyr, 7)
cv.PyrUp(pyr, timg, 7)
tgray = cv.CreateImage((width, height), 8, 1)
squares = []
# Find squares in every color plane of the image
# Two methods, we use both:
# 1. Canny to catch squares with gradient shading. Use upper threshold
# from slider, set the lower to 0 (which forces edges merging). Then
# dilate canny output to remove potential holes between edge segments.
# 2. Binary thresholding at multiple levels
N = 11
for c in [0, 1, 2]:
#extract the c-th color plane
cv.SetImageCOI(timg, c + 1)
cv.Copy(timg, tgray, None)
cv.Canny(tgray, gray, 0, 50, 5)
cv.Dilate(gray, gray)
squares = squares + find_squares_from_binary(gray)
# Look for more squares at several threshold levels
for l in range(1, N):
cv.Threshold(tgray, gray, (l + 1) * 255 / N, 255,
cv.CV_THRESH_BINARY)
squares = squares + find_squares_from_binary(gray)
return squares
def compute_ref(self):
'''Compute a reference histogram that matched regions should approximate'''
(image, polygon) = self.get_ref()
(width, height) = cv.GetSize(image)
# (rows, cols,...)
dest = cv.CreateMat(height, width, cv.CV_8UC3)
mask8x1 = cv.CreateImage(cv.GetSize(image), 8, 1)
cv.Zero(mask8x1)
cv.FillConvexPoly(mask8x1, polygon, cv.ScalarAll(255))
cv.Copy(image, dest)
self.ref_hist = hs_histogram(dest, mask8x1)
def detect_and_draw(self, imgmsg):
if self.pause:
return
# frame = cv.QueryFrame( self.capture )
frame = self.br.imgmsg_to_cv(imgmsg, "bgr8")
# Convert to HSV and keep the hue
hsv = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, hsv, cv.CV_BGR2HSV)
self.hue = cv.CreateImage(cv.GetSize(frame), 8, 1)
cv.Split(hsv, self.hue, None, None, None)
# Compute back projection
backproject = cv.CreateImage(cv.GetSize(frame), 8, 1)
# Run the cam-shift
cv.CalcArrBackProject([self.hue], backproject, self.hist)
if self.track_window and is_rect_nonzero(self.track_window):
crit = (cv.CV_TERMCRIT_EPS | cv.CV_TERMCRIT_ITER, 10, 1)
(iters, (area, value, rect),
track_box) = cv.CamShift(backproject, self.track_window, crit)
self.track_window = rect
x, y, w, h = rect
self.bbpub.publish(RegionOfInterest(x, y, w, h, False))
proba_msg = self.br.cv_to_imgmsg(backproject)
proba_msg.header = imgmsg.header
self.bppub.publish(proba_msg)
# If mouse is pressed, highlight the current selected rectangle
# and recompute the histogram
if self.drag_start and is_rect_nonzero(self.selection):
sub = cv.GetSubRect(frame, self.selection)
save = cv.CloneMat(sub)
cv.ConvertScale(frame, frame, 0.5)
cv.Copy(save, sub)
x, y, w, h = self.selection
cv.Rectangle(frame, (x, y), (x + w, y + h), (255, 255, 255))
sel = cv.GetSubRect(self.hue, self.selection)
cv.CalcArrHist([sel], self.hist, 0)
(_, max_val, _, _) = cv.GetMinMaxHistValue(self.hist)
if max_val != 0:
cv.ConvertScale(self.hist.bins, self.hist.bins, 255. / max_val)
elif self.track_window and is_rect_nonzero(self.track_window):
cv.EllipseBox(frame, track_box, cv.CV_RGB(255, 0, 0), 3, cv.CV_AA,
0)
self.frame = frame
self.backproject = backproject
def cvCopy(src, dst, mask=None):
width1 = cv.GetImageROI(src)[2]
height1 = cv.GetImageROI(src)[3]
width2 = cv.GetImageROI(dst)[2]
height2 = cv.GetImageROI(dst)[3]
if not (src.depth == dst.depth and width1 == width2 and height1 == height2):
print 'cvCopy argument error'
print (width1, height1, src.depth), (width2, height2, dst.depth)
raise RuntimeError
cv.Copy(src, dst, mask)
return
def blend_views(bldIm, frame, mask, frec, max_rec):
maskMat = cv.fromarray(mask)
dispX = int(np.round(frec.left - max_rec.left))
dispY = int(np.round(frec.top - max_rec.top))
bldROI = cv.GetImage(bldIm)
cv.SetImageROI(bldROI, (dispX, dispY, int(np.round(
frec.width())), int(np.round(frec.height()))))
cv.Add(bldROI, cv.fromarray(frame), bldROI, maskMat)
cv.ResetImageROI(bldROI)
cv.Copy(bldROI, bldIm)
return bldIm
def process_image(self): """Process the image from the camera in order to remove noise.""" cv.CvtColor(self.colorFrame, self.currentGrayFrame, cv.CV_RGB2GRAY) # remove noise, etc. self.currentGrayFrame = self.reduce_image_noise(self.currentGrayFrame) # find the difference between the current and previous frame cv.AbsDiff(self.currentGrayFrame, self.previousGrayFrame, self.resultImage) # calculate the binary image that shows where there is change in the image cv.Threshold(self.resultImage, self.resultImage, 10, 255, cv.CV_THRESH_BINARY_INV) cv.Copy(self.currentGrayFrame, self.previousGrayFrame)
def on_trackbar(position):
cv.Smooth(gray, edge, cv.CV_BLUR, 3, 3, 0)
cv.Not(gray, edge)
# run the edge dector on gray scale
cv.Canny(gray, edge, position, position * 3, 3)
# reset
cv.SetZero(col_edge)
# copy edge points
cv.Copy(im, col_edge, edge)
# show the im
cv.ShowImage(win_name, col_edge)
def on_trackbar(self, position):
cv.Smooth(self.source_image, self.edge, cv.CV_BLUR, 3, 3, 0)
cv.Not(self.source_image, self.edge)
# run the edge dector on gray scale
cv.Canny(self.source_image, self.edge, position, position * 3, 3)
# reset
cv.SetZero(self.col_edge)
# copy edge points
cv.Copy(self.source_color, self.col_edge, self.edge)
# show the im
cv.ShowImage(win_name, self.col_edge)
self.process_image(position)
def addText(self, frame, textTop, textBottom): s = cv.GetSize(frame) offset = 8 ## add space for text notations textSize = cv.GetTextSize(textTop, self._font) textframe = cv.CreateImage( (s[0], s[1] + 4*textSize[1] + 2*offset), frame.depth, frame.channels) cv.Set(textframe, 0) cv.SetImageROI(textframe, (0, 2*textSize[1] + offset, s[0], s[1])) cv.Copy(frame, textframe) cv.ResetImageROI(textframe) ## write text cv.PutText(textframe, textTop, (5, 2*textSize[1] + offset/2), self._font, self._fontcolor) cv.PutText(textframe, textBottom, (5, int(s[1] + 4*textSize[1] + 1.5 * offset)), self._font, self._fontcolor) return textframe
def findImage(img):
#Set up storage for images
frame_size = cv.GetSize(img)
img2 = cv.CreateImage(frame_size,8,3)
tmp = cv.CreateImage(frame_size,8,cv.CV_8U)
h = cv.CreateImage(frame_size,8,1)
#copy original image to do work on
cv.Copy(img,img2)
#altering the image a bit for smoother processing
cv.Smooth(img2,img2,cv.CV_BLUR,3)
cv.CvtColor(img2,img2,cv.CV_BGR2HSV)
#make sure temp is empty
cv.Zero(tmp)
#detection based on HSV value
#30,100,90 lower limit on pic 41,255,255 on pic
#cv.InRangeS(img2,cv.Scalar(25,100,87),cv.Scalar(50,255,255),tmp)
#Range for green plate dot in my Living room
#cv.InRangeS(img2,cv.Scalar(55,80,60),cv.Scalar(65,95,90),tmp)
#classroom
#cv.InRangeS(img2,cv.Scalar(55,80,60),cv.Scalar(70,110,70),tmp)
#Kutztowns Gym
cv.InRangeS(img2,cv.Scalar(65,100,112),cv.Scalar(85,107,143),tmp)
elmt_shape=cv.CV_SHAPE_ELLIPSE
pos = 3
element = cv.CreateStructuringElementEx(pos*2+1, pos*2+1, pos, pos, elmt_shape)
cv.Dilate(tmp,tmp,element,6)
cv.Erode(tmp,tmp,element,2)
cv.Split(tmp,h,None,None,None)
storage = cv.CreateMemStorage()
scan = sc.FindContours(h,storage)
xyImage=drawCircles(scan,img)
if xyImage != None:
return (xyImage,tmp)
else:
return None