def DotCount():
Red_Dot = IsolateRedDot()
DotArea = cv.ContourArea(contours[0])
DotFrame = cv.boundingRect(contours[0])
FrameArea = (DotFrame[1] - DotFrame[0]) * (DotFrame[2] - DotFrame[1])
DotCount = int(FrameArea / DotArea)
return DotCount
def update(self, image):
locs = []
if self.avg is None:
self.avg = image.astype("float")
return locs
cv2.accumWeighted(image, self.avg, self.accumWeight)
diff = cv2.absdiff(image, cv2.convertScaleAbs(self.avg))
thresh = cv2.threshold(image, self.delta, 255, cv2.THRESH_BINARY)[1]
thresh = cv2.dilate(thresh, None, iterations=2)
cnts = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
for c in cnts:
if cv2.ContourArea(c) > self.minArea:
locs.append(c)
return locs
def somethingHasMoved(self):
# Find contours
storage = cv.CreateMemStorage(0)
contours = cv.FindContours(self.gray_frame, storage,
cv.CV_RETR_EXTERNAL,
cv.CV_CHAIN_APPROX_SIMPLE)
self.currentcontours = contours # Save contours
while contours: # For all contours compute the area
self.currentsurface += cv.ContourArea(contours)
contours = contours.h_next()
avg = (
self.currentsurface * 100
) / self.surface # Calculate the average of contour area on the total size
self.currentsurface = 0 # Put back the current surface to 0
if avg > self.threshold:
return True
else:
return False
def marker_points(image):
stamp = time.time()
## convert rgb to grayscale and blur it
gray_image = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
gray_image = cv2.GaussianBlur(gray_image, (11,11),0)
(minVal, maxVal, minLoc, maxLoc) = cv2.minMaxLoc(gray_image)
##threshold the image to reveal light regions in the blurred image
thresh = cv2.threshold(gray_image,120,255,cv2.THRESH_BINARY)[1]
## perform a series of erosions and dilations to remove any small blobs of noise from the thresholded image
cv2.Dilate(thresh, thresh, None, 18)
cv2.Erode(thresh, thresh, None, 10)
thr = thresh.copy()
#Create Kalman Filter
kalman = cv2.CreateKalman(4,2,0)
kalman_state = cv2.CreateMat(4, 1, cv2.CV_32FC1)
kalman_process_noise = cv2.CreateMat(4, 1, cv2.CV_32FC1)
kalman_measurement = cv2.CreateMat(2, 1, cv2.CV_32FC1)
cp1 = []
cp11 = []
points = []
#find the bright contours
(_,cnts, _) = cv2.findContours(thr, cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
print "Found %d LEDs" % (len(cnts))
while cnts:
##find area and compute the blob centers
area=cv2.ContourArea(list(cnts))
for c in range(len(cnts)):
M = cv2.moments(cnts[c])
cp1 = (int(M["m10"]/M["m00"]),int(M["m01"]/M["m00"]))
cp11.append(cp1)
# set previous state for prediction
kalman.state_pre[0,0] = cp1
kalman.state_pre[1,0] = 0
# set Kalman Filter
cv2.SetIdentity(kalman.measurement_matrix, cv2.RealScalar(1))
cv2.SetIdentity(kalman.process_noise_cov, cv2.RealScalar(1e-5))
cv2.SetIdentity(kalman.measurement_noise_cov, cv2.RealScalar(1e-1))
cv2.SetIdentity(kalman.error_cov_post, cv2.RealScalar(1))
#Prediction
kalman_prediction = cv2.KalmanPredict(kalman)
predict_pt = (int(kalman_prediction[0,0]),int( kalman_prediction[1,0]))
predict_pt1.append(predict_pt)
#Correction
kalman_estimated = cv2.KalmanCorrect(kalman, kalman_measurement)
state_pt = (kalman_estimated[0,0], kalman_estimated[1,0])
#Measurement
kalman_measurement[0, 0] = cp11[0]
if len(cnts)==6:
#draw circle around brightest blobs
#for i in cnts:
#cv2.circle(image, (i[1],i[0]), 3, (0, 0, 255), -1)
#cv2.imshow("IMAGE", image)
cv2.waitKey(0)
cv2.destroyAllWindows()
#return np.array(pixels,dtype = "double")
return np.array(cp11,dtype = "double")
elif len(cnts)>6:
print ("No marker")
return marker_points(image)
else:
print("No marker")
return marker_points(image)
def choose_land(img,rect,contours):
white_l = 0.0
black_l = 0.0
white_r = 0.0
black_r = 0.0
white_u = 0.0
black_u = 0.0
white_d = 0.0
black_d = 0.0
white_black = 0
area_land = 0.0
area_land = cv2.ContourArea(contours)
rect_center_x = rect[0] + rect[2] / 2
rect_center_y = rect[1] + rect[3] / 2
center_value = img[rect_center_y, rect_center_x][0]
left_up = img[rect[1], rect[0]][0]
left_down = img[rect[1] + rect[3], rect[0]][0]
right_up = img[rect[1], rect[0] + rect[2]][0]
right_down = img[rect[1] + rect[3], rect[0] + rect[2]][0]
fourpoints = left_down + left_up + right_down + right_up
Area = float(rect[2])*rect[3]
for i in range(rect[0], (rect[0] + rect[2] / 2), 1):
for j in range(rect[1], rect[1] + rect[3], 1):
if img[j, i][0] == 255.0:
white_l = white_l + 1
else:
black_l = black_l + 1
for i in range((rect[0] + rect[2] / 2), (rect[0] + rect[2]), 1):
for j in range(rect[1], rect[1] + rect[3], 1):
if img[j, i][0] == 255.0:
white_r = white_r + 1
else:
black_r = black_r + 1
for i in range(rect[0], (rect[0] + rect[2]), 1):
for j in range(rect[1], (rect[1] + rect[3] / 2), 1):
if img[j, i][0] == 255.0:
white_u = white_u + 1
else:
black_u = black_u + 1
for i in range(rect[0], (rect[0] + rect[2]), 1):
for j in range((rect[1] + rect[3] / 2), (rect[1] + rect[3]), 1):
if img[j, i][0] == 255.0:
white_d = white_d + 1
else:
black_d = black_d + 1
#根据黑白像素比筛选，大于0.5，小于1.5
white = (white_r + white_l + white_d + white_u) / 2
black = (black_d + black_u + black_r + black_l) / 2
radio_b_w = black/white
if radio_b_w > 0.5:
if radio_b_w < 1.5:
white_black = 1
p = area_land/Area #p值为矩形框的面积与球的圆形面积的比值
if p > 0.65:
if p < 0.88:
p = 1
R1 = area_land/3.14159
#R1 = math.sqrt(R1)
R2 = (rect[2]*rect[3])/4
R = R1 - R2
R = abs(R) #R为圆形的半径与矩形框边长的一半的差值
if R < 60:
R = 1
ret = 0
if white_black == 1:
if p == 1:
if center_value == 255.0:
if fourpoints >1000 :
if R == 1:
ret = 1
return ret
def run(self):
# Capture first frame to get size
frame = cv.QueryFrame(self.capture)
frame_size = cv.GetSize(frame)
width = frame.width
height = frame.height
surface = width * height #Surface area of the image
cursurface = 0 #Hold the current surface that have changed
grey_image = cv.CreateImage(cv.GetSize(frame), cv.IPL_DEPTH_8U, 1)
moving_average = cv.CreateImage(cv.GetSize(frame), cv.IPL_DEPTH_32F, 3)
difference = None
while True:
color_image = cv.QueryFrame(self.capture)
cv.Smooth(color_image, color_image, cv.CV_GAUSSIAN, 3,
0) #Remove false positives
if not difference: #For the first time put values in difference, temp and moving_average
difference = cv.CloneImage(color_image)
temp = cv.CloneImage(color_image)
cv.ConvertScale(color_image, moving_average, 1.0, 0.0)
else:
cv.RunningAvg(color_image, moving_average, 0.020,
None) #Compute the average
# Convert the scale of the moving average.
cv.ConvertScale(moving_average, temp, 1.0, 0.0)
# Minus the current frame from the moving average.
cv.AbsDiff(color_image, temp, difference)
#Convert the image so that it can be thresholded
cv.CvtColor(difference, grey_image, cv.CV_RGB2GRAY)
cv.Threshold(grey_image, grey_image, 70, 255, cv.CV_THRESH_BINARY)
cv.Dilate(grey_image, grey_image, None, 18) #to get object blobs
cv.Erode(grey_image, grey_image, None, 10)
# Find contours
storage = cv.CreateMemStorage(0)
contours = cv.FindContours(grey_image, storage,
cv.CV_RETR_EXTERNAL,
cv.CV_CHAIN_APPROX_SIMPLE)
backcontours = contours #Save contours
while contours: #For all contours compute the area
cursurface += cv.ContourArea(contours)
contours = contours.h_next()
avg = (
cursurface * 100
) / surface #Calculate the average of contour area on the total size
if avg > self.ceil:
print("Something is moving !")
#print avg,"%"
cursurface = 0 #Put back the current surface to 0
#Draw the contours on the image
_red = (0, 0, 255)
#Red for external contours
_green = (0, 255, 0)
# Gren internal contours
levels = 1 #1 contours drawn, 2 internal contours as well, 3 ...
cv.DrawContours(color_image, backcontours, _red, _green, levels, 2,
cv.CV_FILLED)
cv.ShowImage("Target", color_image)
# Listen for ESC or ENTER key
c = cv.WaitKey(7) % 0x100
if c == 27 or c == 10:
break
