a = len(src_pts1)/2
a = int (a)
c = src_pts1.ravel()
d = dst_pts1.ravel()
canvas1 = gray1.copy()
canvas2 = gray2.copy()
for k in range(1,a):
cv2.circle(canvas1, (c[2*k],c[2*k-1]), 80, (255, 255, 255), -1)
cv2.circle(canvas2, (d[2*k],d[2*k-1]), 80, (255, 255, 255), -1)
blurred1 = cv2.GaussianBlur(canvas1, (9, 9),0)
blurred2 = cv2.GaussianBlur(canvas2, (9, 9),0)
gradX1 = cv2.Sobel(blurred1, ddepth=cv2.CV_32F, dx=1, dy=0)
gradY1 = cv2.Sobel(blurred1, ddepth=cv2.CV_32F, dx=0, dy=1)
gradient1 = cv2.subtract(gradX1, gradY1)
gradient1 = cv2.convertScaleAbs(gradient1)
gradX2 = cv2.Sobel(blurred2, ddepth=cv2.CV_32F, dx=1, dy=0)
gradY2 = cv2.Sobel(blurred2, ddepth=cv2.CV_32F, dx=0, dy=1)
gradient2 = cv2.subtract(gradX2, gradY2)
gradient2 = cv2.convertScaleAbs(gradient2)
blurred = cv2.GaussianBlur(gradient1, (9, 9),0)
(_, thresh) = cv2.threshold(blurred, 225, 0, 4)
(_, thresh) = cv2.threshold(thresh, 30, 0, 3)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (25, 25))
def gradient(image):
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
sobelx = cv2.Sobel(gray, cv2.CV_8U, 1, 0, ksize=5)
sobely = cv2.Sobel(gray, cv2.CV_8U, 0, 1, ksize=5)
return sobelx, sobely
def circle_dectet(image):
penalty = []
#t1 = time.time()
shrink = 2
image = cv2.resize(image, (math.ceil(
image.shape[1] / shrink), math.ceil(image.shape[0] / shrink)))
th = 30 # 边缘检测后大于th的才算边界
gray = cv2.cvtColor(image, cv2.COLOR_BGRA2GRAY)
gray = cv2.GaussianBlur(gray, (5, 5), 0)
x = cv2.Sobel(gray, cv2.CV_16S, 1, 0) # x方向梯度
y = cv2.Sobel(gray, cv2.CV_16S, 0, 1) # y方向梯度
absX = cv2.convertScaleAbs(x) # 转回uint8
absY = cv2.convertScaleAbs(y)
edges = cv2.addWeighted(absX, 0.5, absY, 0.5, 0) # 各0.5的权重将两个梯度叠加
#t2 = time.time()
#print('t1:',t2-t1)
# edges = skeletonize(edges / 255)
# print(type(edges))
# edges = edges.astype('uint8')*255
# st = time.time()
# lines = cv2.HoughLinesP(edges, 1, np.pi / 180, 255, minLineLength=min(gray.shape[0], gray.shape[1])/3,
# maxLineGap=20)
# x_all = []
# y_all = []
# if lines is not None:
# for line in lines:
# x1, y1, x2, y2 = line[0]
# cv2.line(edges, (x1, y1), (x2, y2), (0, 0, 0), 1) # 画线
# # x_all.append(x1)
# # x_all.append(x2)
# # y_all.append(y1)
# # y_all.append(y2)
# # # plt.imshow(img_line)
# # # plt.show()
# REMOVE THE NOISE
# area_obj = cv2.contourArea(d)
# if area_obj / (w*h) >0.2:
# edges[y:y+h,x:x+w] = np.zeros((h,w))
# print('4', time.time() - st)
shrink2 = 2
edges = cv2.resize(edges, (math.ceil(
edges.shape[1] / shrink2), math.ceil(edges.shape[0] / shrink2)))
dst, edges = cv2.threshold(edges, th, 255,
cv2.THRESH_BINARY) # 大于th的赋值255（白色）
kernel = np.ones((3, 3), np.uint8)
edges = cv2.dilate(edges, kernel, iterations=1)
# edges = cv2.erode(edges,kernel,iterations= 2 )
contours_person, hier = cv2.findContours(edges, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
for d in contours_person:
x, y, w, h = cv2.boundingRect(d)
if d.shape[0] < math.ceil(100 / shrink2):
edges[y:y + h, x:x + w] = np.zeros((h, w))
t3 = time.time()
#print('t2:',t3-t2)
# 霍夫圆变换
# dp累加器分辨率与图像分辨率的反比默认1.5，取值范围0.1-10,越小越准
dp = 2
# minDist检测到的圆心之间的最小距离。如果参数太小，则除了真实的圆圈之外，还可能会错误地检测到多个邻居圆圈。 如果太大，可能会错过一些圈子。取值范围10-500
minDist = 100
circles = cv2.HoughCircles(edges,
cv2.HOUGH_GRADIENT,
dp,
minDist,
param1=45,
param2=10,
minRadius=math.ceil(60 / (shrink * shrink2)),
maxRadius=math.ceil(300 / (shrink * shrink2)))
circles = np.uint16(np.around(circles))
if circles is not None:
circles = np.uint16(np.around(circles))
else:
return 0, [0, 0, 0, 0]
t4 = time.time()
#print('t3:',t4-t3)
# c = []
# for circle in circles[0]:
# # circle = circles[0]
# cir = np.zeros((edges.shape[0],edges.shape[1]))
# # 绘制外圆
# cv2.circle(cir, (circle[0], circle[1]), circle[2], (255, 255, 255), 1)
# # 绘制圆心
# # cv2.circle(cir, (circle[0], circle[1]), 2, (255, 255, 255), 2)
# cir = cv2.bitwise_and(cir,cir,mask=edges)
# c.append(len(cir[cir == 255])/(2*math.pi*circle[2]))
# index = c.index(max(c))
index = 0
#只取中间的圆
for circle in circles[0]:
if abs(circle[0] - edges.shape[1] // 2) > 20:
if index < circles.shape[1] - 1:
#print(circles.shape[1])
index = index + 1
else:
index = 0
else:
penalty.append([
circle[0] * shrink * shrink2, circle[1] * shrink * shrink2,
circle[2] * shrink * shrink2, shrink * shrink2
])
penalty.append([
circles[0][index][0] * shrink * shrink2,
circles[0][index][1] * shrink * shrink2,
circles[0][index][2] * shrink * shrink2, shrink * shrink2
])
# cv2.imshow('edge', edges)
return 1, penalty
import cv2
o = cv2.imread('yuko.jpg', cv2.IMREAD_GRAYSCALE)
Sobelx = cv2.Sobel(o, cv2.CV_64F, 1, 0)
Sobely = cv2.Sobel(o, cv2.CV_64F, 0, 1)
Sobelx = cv2.convertScaleAbs(Sobelx)
Sobely = cv2.convertScaleAbs(Sobely)
Sobelxy = cv2.addWeighted(Sobelx, 0.5, Sobely, 0.5, 0)
Sobelxyll = cv2.Sobel(o, cv2.CV_64F, 1, 1)
Sobelxyll = cv2.convertScaleAbs(Sobelxyll)
cv2.imshow('o', o)
cv2.imshow('xy', Sobelxy)
cv2.imshow('xyll', Sobelxyll)
cv2.waitKey()
cv2.destroyAllWindows()
def process_image(self, input_image, output_image):
width = input_image.shape[1]
height = input_image.shape[0]
current_page = self.ui.mainTabs.currentIndex()
print("current_page_index: ", current_page)
if current_page == BILATERAL_FILTER_PAGE:
output_image = cv2.bilateralFilter(input_image,
self.ui.bilateral_dia_spin.value(),
self.ui.bilateral_sigma_color_spin.value(),
self.ui.bilateral_sigma_space_spin.value(),
self.ui.bilateral_border_type_combo.currentIndex())
return output_image
elif current_page == BLUR_FILTER_PAGE:
print("kernel: ", self.ui.blur_kernel_spin.value())
# print("anchor: ", self.ui.blur_anchor_x_spin.value(), self.ui_blur anchor_y_spin.value())
output_image = cv2.blur(input_image,
(self.ui.blur_kernel_spin.value(),
self.ui.blur_kernel_spin.value()),
output_image,
(self.ui.blur_anchor_x_spin.value(),
self.ui.blur_anchor_y_spin.value()),
self.ui.blur_border_type_combo.currentIndex())
return output_image
elif current_page == BOX_FILTER_PAGE:
print("normalize: ", self.ui.box_normalize_check.isChecked())
output_image = cv2.boxFilter(src=input_image,
ddepth=self.ui.box_depth_spin.value(),
ksize=(self.ui.box_kernel_spin.value(),
self.ui.box_kernel_spin.value()),
dst=output_image,
anchor=(self.ui.box_anchor_x_spin.value(),
self.ui.box_anchor_y_spin.value()),
normalize=self.ui.box_normalize_check.isChecked(),
borderType=self.ui.box_border_type_combo.currentIndex())
return output_image
elif current_page == GAUSSIAN_FILTER_PAGE:
output_image = cv2.GaussianBlur(input_image,
ksize=(self.ui.gaussian_kernel_spin.value(),
self.ui.gaussian_kernel_spin.value()),
sigmaX=self.ui.gaussian_sig_x_spin.value(),
dst=output_image,
sigmaY=self.ui.gaussian_sig_y_spin.value(),
borderType=self.ui.gaussian_border_type_combo.currentIndex())
return output_image
elif current_page == MEDIAN_FILTER_PAGE:
output_image = cv2.medianBlur(input_image,
self.ui.median_kernel_spin.value())
return output_image
elif current_page == FILTER2D_FILTER_PAGE:
f2dkernel = (0, 1.5, 0,
1.5, -6, 1.5,
0, 1.5, 0)
output_image = cv2.filter2D(input_image,
output_image,
-1,
f2dkernel,
(-1, -1))
return output_image
elif current_page == DERIVATIVES_FILTER_PAGE:
if self.ui.derivatives_sobel_radio.isChecked():
cv2.Sobel(src=input_image,
ddepth=self.ui.derivatives_ddepth_spin.value(),
dx=self.ui.derivatives_dx_spin.value(),
dy=self.ui.derivatives_dy_spin.value(),
dst=output_image,
ksize=self.ui.derivatives_kernel_spin.value(),
scale=self.ui.derivatives_scale_spin.value(),
delta=self.ui.derivatives_delta_spin.value(),
borderType=self.ui.derivatives_border_type_combo.currentIndex())
elif self.ui.derivatives_scharr_radio.isChecked():
cv2.Scharr(src=input_image,
ddepth=self.ui.derivatives_ddepth_spin.value(),
dx=self.ui.derivatives_dx_spin.value(),
dy=self.ui.derivatives_dy_spin.value(),
dst=output_image,
ksize=self.derivatives_kernel_spin.value(),
scale=self.ui.derivatives_scale_spin.value(),
delta=self.ui.derivatives_delta_spin.value(),
borderType=self.ui.derivatives_border_type_combo.currentIndex())
elif self.ui.derivatives_laplacian_radio.isChecked():
output_image = cv2.Laplacian(src=input_image,
ddepth=self.ui.derivatives_ddepth_spin.value(),
dst=output_image,
ksize=self.ui.derivatives_kernel_spin.value(),
scale=self.ui.derivatives_scale_spin.value(),
delta=self.ui.derivatives_delta_spin.value(),
borderType=self.ui.derivatives_border_type_combo.currentIndex())
return output_image
elif current_page == MORPH_FILTER_PAGE:
if self.ui.morph_erode_radio.isChecked():
cv2.erode(input_image,
output_image,
cv2.getStructuringElement(self.ui.morph_shape_combo.currentIndex(),
(5, 5)),
(-1, -1),
self.ui.morph_iteration_spin.value())
elif self.ui.morph_dilate_radio.isChecked():
cv2.dilate(input_image,
output_image,
cv2.getStructingElement(self.ui.morph_shape_combo.currentIndex(),
(5,5)),
(-1,-1),
self.ui.morph_iteration_spin.value())
elif self.ui.morph_morph_radio.isChecked():
m_anchor = (self.ui.morph_anchor_x_spin.value(),
self.ui.morph_anchor_y_spin.value())
m_kernel = self.ui.morph_kernel_spin.value(), self.ui.morph_kernel_spin.value()
output_image = cv2.morphologyEx(input_image,
self.ui.morph_type_combo.currentIndex(),
cv2.getStructuringElement(self.ui.morph_shape_combo.currentIndex(),
m_kernel),
anchor=m_anchor,
iterations=self.ui.morph_iteration_spin.value(),
borderType=self.ui.morph_border_type_combo.currentIndex()
# borderValue=
)
# return outputImage
return output_image
def filteringHoughLines(img, ori_img, houghLinesArrary):
filteredHoughLines = []
# First gradients along x & y direction and then calculate magnitude
dx = cv2.Sobel(img, cv2.CV_32F, 1, 0) # Gradient along x direction
dy = cv2.Sobel(img, cv2.CV_32F, 0, 1) # Gradient along y direction
magnitude = np.absolute(cv2.magnitude(dx, dy)) # Magnitude of the image
meanValue = np.mean(magnitude)
for line in houghLinesArrary:
points = bresenham_line(
(line[0][0], line[0][1]),
(line[1][0],
line[1][1])) # Call Bresenham algorithm to get the points
tempPoint1 = [(line[0][0] - line[1][0]), (line[0][1] - line[1][1])
] # Store the point for dot product
threshold = 0
# Removing the Vertical and Horizontal lines
if line[1][0] == 0 or line[0][0] == 0 or line[1][0] - line[0][0] == 0:
lineSlope = 1
lineAngle = 0
continue
else:
lineSlope = (line[1][1] - line[0][1]) / (line[1][0] - line[0][0])
lineAngle = np.absolute(np.arctan(lineSlope) * 180.0 / np.pi)
# Check for Vertical Lines
if lineAngle > 85 and lineAngle < 95:
continue
# Check for Horizontal Lines
if lineAngle >= 0 and lineAngle < 10:
continue
# Iterate through all the points
for a, b in points:
if a < 1200 and b < 1600:
xVal = np.absolute(dx[a, b]) # Get gradient for point at X
yVal = np.absolute(dy[a, b]) # Get gradient for point at Y
# Save point 2 only if the magnitude is greater than the threshold
if magnitude[a, b] > 30:
tempPoint2 = [xVal, yVal]
else:
continue
else:
continue
#Get the dot product of the two points
resDotProduct = np.dot(tempPoint1, tempPoint2)
point1Mag = np.dot(tempPoint1, tempPoint1)**0.5
point2Mag = np.dot(tempPoint2, tempPoint2)**0.5
if point1Mag == 0 or point2Mag == 0:
continue
# Get the cosine of the angle
cosAngle = math.cos(resDotProduct / point2Mag / point1Mag)
angleMod = math.degrees(cosAngle) % 360
if angleMod - 180 >= 0:
angleMod = 360 - angleMod
else:
angleMod = angleMod
# Increase thresholdValue if the angle is between 85 & 95
if not (angleMod > 85 and angleMod < 95):
threshold += 1
# Plot Line on the original image and add it to the array
if threshold > 45:
cv2.line(ori_img, (line[0][0], line[0][1]),
(line[1][0], line[1][1]), (255, 0, 0), 2)
filteredHoughLines.append(
((line[0][0], line[0][1]), (line[1][0], line[1][1])))
cv2.imwrite("FilteredHoughLines.jpg", ori_img)
return filteredHoughLines
y1, y2, x1, x2 = corner[0][0] - w, corner[0][0] + w, corner[0][
1] - w, corner[0][1] + w
if x1 < 0:
x1 = 0
elif x2 > X_len:
x2 = X_len
elif y1 > Y_len:
y1 = Y_len
elif y2 < 0:
y2 = 0
# print(corner[0][0],corner[0][1])
# print(x1,x2,y1,y2)
image_patch = img[x1:x2, y1:y2]
#cv2.imshow('patches', image_patch)
#cv2.waitKey()
gx = cv2.Sobel(image_patch, cv2.CV_32F, 1, 0, ksize=1)
gy = cv2.Sobel(image_patch, cv2.CV_32F, 0, 1, ksize=1)
# print(gx,gy)
mag, angle = cv2.cartToPolar(gx, gy, angleInDegrees=True)
# mag, angle = np.array(mag, dtype=int), np.array(angle, dtype=int)
blue_bin = [0] * 9
blue_bin = np.array(blue_bin, dtype=float)
green_bin = [0] * 9
green_bin = np.array(green_bin, dtype=float)
red_bin = [0] * 9
red_bin = np.array(red_bin, dtype=float)
# print(mag)
# print("next")
# print(angle)
# -------------- BGR CHANNEL------------
# @Author : cap
# @FileName: myOpencvEdge.py
# @Software: PyCharm Community Edition
# @introduction: 边缘检测
import cv2 as cv
# image = cv.imread('./data/chair.jpg', cv.IMREAD_GRAYSCALE)
image = cv.imread('./data/J01_2018.06.17 15_30_49.jpg', cv.IMREAD_GRAYSCALE)
image = cv.resize(image, None, fx=0.2, fy=0.2, interpolation=cv.INTER_LINEAR)
print(image.shape)
print(image.dtype)
cv.imshow('chair', image)
# 1 索贝尔边缘检测
# 检测水平梯度变化, ksize:卷积框
hor = cv.Sobel(image, cv.CV_64F, 1, 0, ksize=5)
cv.imshow('Hor', hor)
# 检测垂直梯度变化
ver = cv.Sobel(image, cv.CV_64F, 0, 1, ksize=5)
cv.imshow('Ver', ver)
# 检测两个方向
hor_ver = cv.Sobel(image, cv.CV_64F, 1, 1, ksize=5)
cv.imshow('Hor_Ver', hor_ver)
# 2 拉普拉斯边缘检测
lap = cv.Laplacian(image, cv.CV_64F)
cv.imshow('Lap', lap)
# 3 Canny 50:
canny = cv.Canny(image, 50, 240)
cv.imshow('Canny', canny)
ap = argparse.ArgumentParser()
ap.add_argument("-i", "--image", required=True, help="Path to the image")
ap.add_argument("-l", "--lower-angle", type=float, default=175.0,
help="Lower orientation angle")
ap.add_argument("-u", "--upper-angle", type=float, default=180.0,
help="Upper orientation angle")
args = vars(ap.parse_args())
# load the image, convert it to grayscale, and display the original
# image
image = cv2.imread(args["image"])
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
cv2.imshow("Original", image)
# compute gradients along the X and Y axis, respectively
gX = cv2.Sobel(gray, cv2.CV_64F, 1, 0)
gY = cv2.Sobel(gray, cv2.CV_64F, 0, 1)
# compute the gradient magnitude and orientation respectively
mag = np.sqrt((gX ** 2) + (gY ** 2))
orientation = np.arctan2(gY, gX) * (180 / np.pi) % 180
# find all pixels that are within the upper and low angle boundaries
idxs = np.where(orientation >= args["lower_angle"], orientation, -1)
idxs = np.where(orientation <= args["upper_angle"], idxs, -1)
mask = np.zeros(gray.shape, dtype="uint8")
mask[idxs > -1] = 255
# show the images
cv2.imshow("Mask", mask)
cv2.waitKey(0)
import cv2
import numpy as np
import matplotlib.pyplot as plt
hourseImg = cv2.imread("../../../gallery/logo.png", cv2.IMREAD_GRAYSCALE)
# xGrad = cv2.Sobel(hourseImg, cv2.CV_64F, 1, 0, ksize=3)
# yGrad = cv2.Sobel(hourseImg, cv2.CV_64F, 0, 1, ksize=3)
Grad = cv2.Sobel(hourseImg, cv2.CV_64F, 1, 1, ksize=3)
lapGrads = cv2.Laplacian(hourseImg, cv2.CV_64F, ksize=3)
edges = cv2.bitwise_or(Grad, lapGrads)
canny = cv2.Canny(hourseImg, 100, 200)
gradMorph = cv2.morphologyEx(hourseImg, cv2.MORPH_GRADIENT,
np.ones((5, 5), dtype=np.uint8))
cv2.imshow("sobel & laplacian", edges)
cv2.waitKey(0)
cv2.imshow("canny", canny)
cv2.waitKey(0)
cv2.imshow("morph", gradMorph)
cv2.waitKey(0)
cv2.destroyAllWindows()
# Problem 2:
# For grey histograms:
for imagePath in glob.glob("ST2MainHall4" + "/*.jpg"):
# extract the image filename (assumed to be unique)
filename = imagePath[imagePath.rfind("/") + 1:]
# Read the image as grey image
image = cv2.imread(imagePath, 0)
# Use canny edge detector to select edge points
cannyImageMask = cv2.Canny(image, 100, 250)
# To create the 8-bit mask
cannyImageMask = np.uint8(cannyImageMask)
# Apply bitwise and on the image to mask it
maskedImage = cv2.bitwise_and(image, image, mask=cannyImageMask)
# Compute gradients in x and y direction
sobelXDir = cv2.Sobel(maskedImage, cv2.CV_64F, 1, 0, ksize=5)
sobelYDir = cv2.Sobel(maskedImage, cv2.CV_64F, 0, 1, ksize=5)
# Compute magnitude and theta angle using the gradients
magnitude, theta = cv2.cartToPolar(sobelXDir,
sobelYDir,
angleInDegrees=True)
# To turn theta into hist index
theta = np.round(np.divide(theta, 10))
theta = np.uint8(theta)
# flatten the theta and magnitude arrays
flattenedTheta = hist_bins(theta)
flattenedMagnitude = hist_bins(magnitude)
# Build 36-bin histograms
hist, bins = np.histogram(flattenedTheta,
range(37),
weights=flattenedMagnitude)
import cv2 as cv
import numpy as np
from matplotlib import pyplot as plt
img = cv.imread('sudoku.png', cv.IMREAD_GRAYSCALE)
lap = cv.Laplacian(img, cv.CV_64F, ksize=3)
lap = np.uint8(np.absolute(lap))
sobelX = cv.Sobel(img, cv.CV_64F, 1, 0, ksize=1)
sobelY = cv.Sobel(img, cv.CV_64F, 0, 1, ksize=1)
sobelX = np.uint8(np.absolute(sobelX))
sobelY = np.uint8(np.absolute(sobelY))
sobelCombined = cv.bitwise_or(sobelY, sobelX)
titles = ['image', 'lap', 'sobelX', 'sobelY', 'sobel']
images = [img, lap, sobelX, sobelY, sobelCombined]
for i in range(5):
plt.subplot(2, 3, i + 1), plt.imshow(images[i], 'gray')
plt.title(titles[i])
plt.xticks([]), plt.yticks([])
plt.show()
def preprocess(curr_frame, size=(640, 480), thres_condi=0.3):
"""
function:
preprocess(curr_frame[, size=(640, 480)[, thres_condi=0.2]]): 設定 curr_frame 為 size 大小去做預處理
parameter:
curr_frame: 當前要處理的幀(一張圖片)
size: 將圖片設定成 width * height 大小 (width, height), tuple
thres_condi: 設定二值化的條件, 預設為 0.2, 範圍 [0, 1), float
method:
1. 先使用找出影片的 ROI 區域
(邊界的灰階值如果在 10 以下則濾掉)
2. 先重新設定 curr_frame 大小
(判斷該影片為直的或橫的, 根據方向不同做出適合的縮放)
3. 轉灰階
4. 高斯濾波
(kernel 大小設定 5*5, SD = 0)
5. Sobel
(dx, dy = 1, kernel 大小設定 5*5)
6. 二值化
(f(x) = (max(sobel) - min(sobel)) * thres_condi)
(255 if sobel >= f(x) else 0)
return:
frame: 傳回重塑過後的 3 通道圖片
gray: 傳回重塑過後的灰階圖片
frame_pre: 傳回二值化的圖片
"""
# 1.
gray = cv2.cvtColor(curr_frame, cv2.COLOR_BGR2GRAY)
gray[gray < 10] = 0
contour, hierarchy = cv2.findContours(gray.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
all_area = list()
for cnt in contour:
area = cv2.contourArea(cnt)
all_area.append(area)
index = all_area.index(max(all_area))
del all_area
x, y, w, h = cv2.boundingRect(contour[index])
frame_roi = curr_frame[y:y + h, x:x + w]
# 2.
re_y, re_x, _ = frame_roi.shape
size = (size[1], size[0]) if re_y > re_x else (size[0], size[1])
frame = cv2.resize(frame_roi, size, cv2.INTER_AREA)
# 3.
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# 4.
blur = cv2.GaussianBlur(gray, (5, 5), 0)
# 5.
frame_sobel = cv2.Sobel(blur, ddepth=-1, dx=1, dy=1, ksize=5)
frame_pre = frame_sobel.copy()
# 6.
thres = ((np.max(frame_sobel) - np.min(frame_sobel)) * thres_condi).astype(
np.uint8)
frame_pre[frame_sobel >= thres] = 255
frame_pre[frame_sobel < thres] = 0
return frame, gray, frame_pre
#median filter
median_image = cv2.medianBlur(gray_image, 5)
cv2.imshow("Over the Clouds - median", median_image)
cv2.imwrite('median.jpg', median_image)
#min filter
kernel = np.ones((5, 5), np.uint8)
min_image = cv2.erode(gray_image, kernel, iterations=1)
cv2.imshow("Over the Clouds - min", min_image)
cv2.imwrite('min.jpg', min_image)
#max filter
max_image = cv2.dilate(gray_image, kernel, iterations=1)
cv2.imshow("Over the Clouds - max", max_image)
cv2.imwrite('max.jpg', max_image)
#laplacian filter
laplace_image = cv2.Laplacian(median_image, cv2.CV_64F)
cv2.imwrite('laplace.jpg', laplace_image)
#sobel horizontal filter
sobelh_image = cv2.Sobel(median_image, cv2.CV_64F, 1, 0, ksize=5)
cv2.imwrite('sobel_h.jpg', sobelh_image)
#sobel vertical filter
sobelv_image = cv2.Sobel(median_image, cv2.CV_64F, 0, 1, ksize=5)
cv2.imwrite('sobel_v.jpg', sobelv_image)
cv2.waitKey(0)
cv2.destroyAllWindows()
def exact_feature(self):
gradient_x = cv2.Sobel(self.img, cv2.CV_32F, 1, 0, ksize=3)
gradient_y = cv2.Sobel(self.img, cv2.CV_32F, 0, 1, ksize=3)
gradient_magnitude = np.sqrt(gradient_x**2 + gradient_y**2)
gradient_angle = cv2.phase(gradient_x, gradient_y, angleInDegrees=True)
return gradient_magnitude, gradient_angle
plt.subplot(4, 2, 3)
plt.imshow(dst_prewitt, cmap='gray')
plt.title('$f\'_x$: image filtered with Prewitt')
#######################################
# cv2.Sobel() also exist
kernel = 1 / 8 * np.array([[-1, 0, +1], [-2, 0, +2], [-1, 0, +1]])
dst_sobel = cv2.filter2D(img, -1, kernel)
plt.subplot(4, 2, 4)
plt.imshow(dst_sobel, cmap='gray')
plt.title('$f\'_x$: image filtered with Sobel')
#######################################
dst_cv2_sobel = cv2.Sobel(img, -1, 1, 0) #cv2.Sobel(img,ddepth,x_size,y_size)
plt.subplot(4, 2, 5)
plt.imshow(dst_cv2_sobel, cmap='gray')
plt.colorbar()
plt.title('cv2.Sobel X')
#######################################
plt.subplot(4, 2, 6)
plt.imshow(np.abs(dst_sobel - dst_sym))
plt.colorbar()
plt.title('|sobel-symmetric|')
#######################################
plt.subplot(4, 2, 7)
plt.imshow(np.abs(dst_sobel - dst_prewitt))
# if event == cv2.EVENT_LBUTTONDOWN:
# print('x = %d, y = %d'%(x, y))
# count = count + 1
# if(len(coordinate)==4):
# coordinate.clear()
# else:
# coordinate.append(x)
# coordinate.append(y)
# if count %2 == 0 and count > 0 :
# cropimg(coordinate)
#cv2.imshow('res2',res2)
sobely = cv2.Sobel(res2, cv2.CV_8U, 0, 1, ksize=5)
counter = 0
#cv2.imshow('sobely',sobely)
print(sobely.shape)
height, width = sobely.shape
for x in range(0, width):
for y in range(0, height):
if (sobely[y, x] < 255):
sobely[y, x] = 0
else:
if (counter == 0):
counter = counter + 1
print(y, x)
cv2.imshow("masked", sobely)
def combine_thresh_debug(img, sobel_kernel=3, mag_thresh=(0, 255)):
bgr = img
R = bgr[:, :, 2]
G = bgr[:, :, 1]
B = bgr[:, :, 0]
cv2.imshow('R', R)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('G', G)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('B', B)
cv2.waitKey(0)
cv2.destroyAllWindows()
hls = cv2.cvtColor(img, cv2.COLOR_RGB2HLS)
H = hls[:, :, 0]
L = hls[:, :, 1]
S = hls[:, :, 2]
cv2.imshow('H', H)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('L', L)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('S', S)
cv2.waitKey(0)
cv2.destroyAllWindows()
# Convert to grayscale
# gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
gray = img
# Take both Sobel x and y gradients
sobelx = cv2.Sobel(gray, cv2.CV_64F, 1, 0, ksize=sobel_kernel)
abs_sobel = np.absolute(sobelx)
scaled_sobel = np.uint8(255 * abs_sobel / np.max(abs_sobel))
print(scaled_sobel.shape)
cv2.imshow('img', scaled_sobel)
cv2.waitKey(0)
cv2.destroyAllWindows()
bgr = scaled_sobel
R = bgr[:, :, 2]
G = bgr[:, :, 1]
B = bgr[:, :, 0]
cv2.imshow('H', R)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('L', G)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('S', B)
cv2.waitKey(0)
cv2.destroyAllWindows()
hls = cv2.cvtColor(scaled_sobel, cv2.COLOR_BGR2HLS)
H = hls[:, :, 0]
L = hls[:, :, 1]
S = hls[:, :, 2]
cv2.imshow('H', H)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('L', L)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imshow('S', S)
cv2.waitKey(0)
cv2.destroyAllWindows()
thresh = (105, 255)
binary_output = np.zeros_like(L)
binary_output[(L > thresh[0]) & (L <= thresh[1])] = 1
# Return the binary image
return binary_output
x, y, z = deproject_pixel_to_ros_point(cX, cY, frame_set.depth[cY, cX])
a, b, c = self.get_normal_vector(frame_set, (startX, startY, endX, endY))
normal_arctan = math.atan2(b, a)
r = math.degrees(normal_arctan)
return (x, y, r)
def get_normal_vector(self, frame_set, (startX, startY, endX, endY)):
depth_frame_16 = frame_set.depth
df_dp = np.expand_dims(depth_frame_16, axis=-1).astype(np.uint8)
df_dp = np.tile(df_dp, (1, 1, 3))
depth_frame = depth_frame_16.astype(np.float32)
cX = startX + (endX - startX) / 2
cY = startY + (endY - startY) / 2
sample = depth_frame[cY-20: cY+20, cX-20: cX+20]
cv.rectangle(df_dp, (cX-20, cY-20), (cX+20, cY+20), (255,0,0), 2)
dzdx = cv.Sobel(sample,cv.CV_32F,1,0,ksize=5)
dzdy = cv.Sobel(sample,cv.CV_32F,0,1,ksize=5)
dzdx = np.median(dzdx)
dzdy = np.median(dzdy)
#Convert to ros coordinates:
# z->a, -dzdx->b, -dzdy->c
return (1.0, -dzdx, -dzdy)
def latest_meas(self):
return self._latest_meas
def lost_target(self):
return self._target_lost
class SoldierTow(Alignment):
def detect(self, frame_set):
sqKernel = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
#读取输入图像，预处理
image = cv2.imread(args["image"])
cv_show('image', image)
image = myutils.resize(image, width=300)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
cv_show('gray', gray)
#礼帽操作，突出更明亮的区域
tophat = cv2.morphologyEx(gray, cv2.MORPH_TOPHAT, rectKernel)
cv_show('tophat', tophat)
#
gradX = cv2.Sobel(
tophat,
ddepth=cv2.CV_32F,
dx=1,
dy=0, #ksize=-1相当于用3*3的
ksize=-1)
gradX = np.absolute(gradX)
(minVal, maxVal) = (np.min(gradX), np.max(gradX))
gradX = (255 * ((gradX - minVal) / (maxVal - minVal)))
gradX = gradX.astype("uint8")
print(np.array(gradX).shape)
cv_show('gradX', gradX)
#通过闭操作（先膨胀，再腐蚀）将数字连在一起
gradX = cv2.morphologyEx(gradX, cv2.MORPH_CLOSE, rectKernel)
cv_show('gradX', gradX)
#THRESH_OTSU会自动寻找合适的阈值，适合双峰，需把阈值参数设置为0
def findCenterline(gray):
#showg(gray)
sobel_kernel = 7
thresh = (0.6, 1.3)
# normalize
t.s('normalize')
gray = normalize(gray)
t.e('normalize')
# Calculate the x and y gradients
t.s('sobel\t')
sobelx = cv2.Sobel(gray, cv2.CV_32F, 1, 0, ksize=sobel_kernel)
sobely = cv2.Sobel(gray, cv2.CV_32F, 0, 1, ksize=sobel_kernel)
t.e('sobel\t')
#graddir = np.arctan2(sobely, sobelx)
# find the norm (magnitute) of gradient
norm = np.sqrt(np.square(sobelx) + np.square(sobely))
norm = normalize(norm)
#norm > 1 to get good edges
# find left edges of while lanes
t.s('find left edges')
binary_output = np.zeros_like(gray, dtype=np.uint8)
# XXX gray>1.5 is a sketchy solution that cut data size in half
binary_output[(gray > 1.5) & (sobelx > 0) & (norm > 1)] = 1
#showg(binary_output)
#label connected components
connectivity = 8
output = cv2.connectedComponentsWithStats(binary_output, connectivity,
cv2.CV_32S)
# The first cell is the number of labels
num_labels = output[0]
# The second cell is the label matrix
labels = output[1]
# The third cell is the stat matrix
stats = output[2]
# The fourth cell is the centroid matrix
centroids = output[3]
'''
# for DEBUG
# Map component labels to hue val
label_hue = np.uint8(179*labels/np.max(labels))
blank_ch = 255*np.ones_like(label_hue)
labeled_img = cv2.merge([label_hue, blank_ch, blank_ch])
# cvt to BGR for display
labeled_img = cv2.cvtColor(labeled_img, cv2.COLOR_HSV2BGR)
# set bg label to black
labeled_img[label_hue==0] = 0
showg(labeled_img)
'''
# find the two longest left edges
line_labels = np.argsort(stats[:, cv2.CC_STAT_AREA][1:])[-2:] + 1
# list of centroids with corresponding left/right edge (of a white line)
long_edge_centroids = []
long_edge_lr = ""
long_edge_label = []
#XXX error: out of bond
if (stats[line_labels[0], cv2.CC_STAT_AREA] > 300):
long_edge_centroids.append(centroids[line_labels[0], 0])
long_edge_lr += 'L'
long_edge_label.append(labels == line_labels[0])
if (stats[line_labels[1], cv2.CC_STAT_AREA] > 300):
long_edge_centroids.append(centroids[line_labels[1], 0])
long_edge_lr += 'L'
long_edge_label.append(labels == line_labels[1])
t.e('find left edges')
# find right edge of lanes
# XXX gray>1.5 is a sketchy solution that cut data size in half
t.s('find right edg')
binary_output = np.zeros_like(gray, dtype=np.uint8)
binary_output[(gray > 1.5) & (sobelx < 0) & (norm > 1)] = 1
#label connected components
connectivity = 8
output = cv2.connectedComponentsWithStats(binary_output, connectivity,
cv2.CV_32S)
# The first cell is the number of labels
num_labels = output[0]
# The second cell is the label matrix
labels = output[1]
# The third cell is the stat matrix
stats = output[2]
# The fourth cell is the centroid matrix
centroids = output[3]
line_labels = np.argsort(stats[:, cv2.CC_STAT_AREA][1:])[-2:] + 1
if (stats[line_labels[0], cv2.CC_STAT_AREA] > 300):
long_edge_centroids.append(centroids[line_labels[0], 0])
long_edge_lr += 'R'
long_edge_label.append(labels == line_labels[0])
if (stats[line_labels[1], cv2.CC_STAT_AREA] > 300):
long_edge_centroids.append(centroids[line_labels[1], 0])
long_edge_lr += 'R'
long_edge_label.append(labels == line_labels[1])
# rank the edges based on centroid
order = np.argsort(long_edge_centroids)
long_edge_centroids = np.array(long_edge_centroids)[order]
temp_lr = ""
for i in order:
temp_lr += long_edge_lr[i]
long_edge_lr = temp_lr
long_edge_label = np.array(long_edge_label)[order]
t.e('find right edg')
# now we analyze the long edges we have
# case notation: e.g.(LR) -> left edge, right edge, from left to right
# this logical is based on the assumption that the edges we find are lane edges
# now we distinguish between several situations
t.s('find centerline - lr analysis')
flag_fail_to_find = False
flag_good_road = False
flag_one_lane = False
centerPoly = None
# case 1: if we find one and only one pattern (?RL?), we got a match
if (long_edge_lr.count('RL') == 1):
index = long_edge_lr.find('RL')
with warnings.catch_warnings(record=True) as w:
left_poly = fitPoly(long_edge_label[index])
index += 1
right_poly = fitPoly(long_edge_label[index])
if len(w) > 0:
raise Exception('fail to fit poly')
else:
flag_good_road = True
center_poly = findCenterFromSide(left_poly, right_poly)
# case 2: we only see one edge of any sort
if (len(long_edge_lr) == 1):
with warnings.catch_warnings(record=True) as w:
side_poly = fitPoly(long_edge_label[0])
if len(w) > 0:
raise Exception('fail to fit poly')
else:
flag_one_lane = True
# case 3: if we get (LR), then we are stepping on a lane, but don't know which that lane is (LR)
# in this case drive on this lane until we see the other lane
elif (long_edge_lr == 'LR'):
index = 0
with warnings.catch_warnings(record=True) as w:
left_poly = fitPoly(long_edge_label[index])
index += 1
right_poly = fitPoly(long_edge_label[index])
if len(w) > 0:
raise Exception('fail to fit poly')
else:
flag_one_lane = True
side_poly = findCenterFromSide(left_poly, right_poly)
# otherwise we are completely lost
else:
flag_fail_to_find = True
pass
# based on whether the line inclines to the left or right, guess which side it is
if (flag_one_lane == True):
x0 = side_poly[0] * 1**2 + side_poly[1] * 1 + side_poly[
2] - x_size / 2
x1 = side_poly[0] * crop_y_size**2 + side_poly[
1] * crop_y_size + side_poly[2] - x_size / 2
if (x1 - x0 > 0):
side = 'right'
else:
side = 'left'
t.e('find centerline - lr analysis')
binary_output = None
if (flag_good_road == True):
# DEBUG - for producing anice testimg
'''
t.s('generate testimg')
# Generate x and y values for plotting
ploty = np.linspace(0, gray.shape[0]-1, gray.shape[0] )
left_fitx = left_poly[0]*ploty**2 + left_poly[1]*ploty + left_poly[2]
right_fitx = right_poly[0]*ploty**2 + right_poly[1]*ploty + right_poly[2]
# Recast the x and y points into usable format for cv2.fillPoly()
pts_left = np.array([np.transpose(np.vstack([left_fitx, ploty]))])
pts_right = np.array([np.flipud(np.transpose(np.vstack([right_fitx, ploty])))])
pts = np.hstack((pts_left, pts_right))
# Draw the lane onto the blank image
binary_output = np.zeros_like(gray,dtype=np.uint8)
cv2.fillPoly(binary_output, np.int_([pts]), 1)
# Draw centerline onto the image
centerlinex = center_poly[0]*ploty**2 + center_poly[1]*ploty + center_poly[2]
pts_center = np.array(np.transpose(np.vstack([centerlinex, ploty])))
cv2.polylines(binary_output,np.int_([pts_center]), False, 5,10)
#driveSys.testimg = np.dstack(40*[binary_output,binary_output,binary_output])
# END-DEBUG
t.e('generate testimg')
'''
pass
# get centerline in top-down view
t.s('change centerline perspective')
# prepare sample points
ploty = np.linspace(0, gray.shape[0] - 1, gray.shape[0])
centerlinex = center_poly[0] * ploty**2 + center_poly[
1] * ploty + center_poly[2]
# convert back to uncropped space
ploty += y_size / 2
pts_center = np.array(np.transpose(np.vstack([centerlinex,
ploty])))
pts_center = cam.undistortPts(np.reshape(pts_center, (1, -1, 2)))
# unwarp and change of units
for i in range(len(pts_center[0])):
pts_center[0, i, 0], pts_center[0, i, 1] = transform(
pts_center[0, i, 0], pts_center[0, i, 1])
# now pts_center should contain points in vehicle coordinate with x axis being rear axle,unit in cm
#fit(y,x)
fit = np.polyfit(pts_center[0, :, 1], pts_center[0, :, 0], 2)
t.e('change centerline perspective')
return fit
if (flag_one_lane == True):
# DEBUG - for producing anice testimg
'''
t.s('generate testimg')
# Generate x and y values for plotting
ploty = np.linspace(0, gray.shape[0]-1, gray.shape[0] )
binary_output = np.zeros_like(gray,dtype=np.uint8)
# Draw centerline onto the image
sidelinex = side_poly[0]*ploty**2 + side_poly[1]*ploty + side_poly[2]
pts_side = np.array(np.transpose(np.vstack([sidelinex, ploty])))
cv2.polylines(binary_output,np.int_([pts_side]), False, 1,1)
#driveSys.testimg = np.dstack(250*[binary_output,binary_output,binary_output])
t.e('generate testimg')
'''
# END-DEBUG
# get centerline in top-down view
t.s('change centerline perspective')
# prepare sample points
ploty = np.linspace(0, gray.shape[0] - 1, gray.shape[0])
sidelinex = side_poly[0] * ploty**2 + side_poly[
1] * ploty + side_poly[2]
# convert back to uncropped space
ploty += y_size / 2
pts_side = np.array(np.transpose(np.vstack([sidelinex, ploty])))
pts_side = cam.undistortPts(np.reshape(pts_side, (1, -1, 2)))
# unwarp and change of units
for i in range(len(pts_side[0])):
pts_side[0, i,
0], pts_side[0, i,
1] = transform(pts_side[0, i, 0],
pts_side[0, i, 1])
# now pts_side should contain points in vehicle coordinate with x axis being rear axle,unit in cm
#XXX this is really stupid and inefficient
if (side == 'left'):
pts_side[0, i,
0] = pts_side[0, i, 0] + 0.5 * driveSys.lanewidth
else:
pts_side[0, i,
0] = pts_side[0, i, 0] - 0.5 * driveSys.lanewidth
# now pts_side should contain points in vehicle coordinate with x axis being rear axle,unit in cm
#fit(y,x)
fit = np.polyfit(pts_side[0, :, 1], pts_side[0, :, 0], 2)
t.e('change centerline perspective')
return fit
return None
def filter(self, frame):
frame_dx = cv2.Sobel(frame, cv2.CV_64F, 1, 0, ksize=self.ksize)
frame_dy = cv2.Sobel(frame, cv2.CV_64F, 0, 1, ksize=self.ksize)
frame_mag = np.abs(frame_dx) + np.abs(frame_dy)
frame_mag /= frame_mag.max()
return frame_mag
def gradient(blurred):
# 对平滑后的图像使用Sobel算子计算水平方向和竖直方向的一阶导数（图像梯度）（Gx和Gy）
# 根据得到的这两幅梯度图找到边界的梯度和方向
# ksize=3是因为cv2.Canny方法默认的Ksize=3
# cv2.CV_64F是使用64位存储，为了运算不越界
sobelx = cv2.Sobel(blurred, cv2.CV_64F, 1, 0, ksize=3)
sobely = cv2.Sobel(blurred, cv2.CV_64F, 0, 1, ksize=3)
# 建立两个np.arr类型的数据
sobel = np.zeros((len(sobelx), len(sobelx[0])))
theat = np.zeros((len(sobelx), len(sobelx[0])))
# 根据公式计算合成梯度值
for i in range(len(sobelx)):
for j in range(len(sobelx[0])):
sobel[i][j] = math.sqrt(sobelx[i][j] * sobelx[i][j] +
sobely[i][j] * sobely[i][j])
# 将弧度转化为度数
if sobelx[i][j] != 0:
theat[i][j] = math.atan(
sobely[i][j] / sobelx[i][j]) * 180 / math.pi
else:
if sobely[i][j] < 0:
theat[i][j] = -90
elif sobely[i][j] > 0:
theat[i][j] = 90
elif sobely[i][j] == 0:
theat[i][j] = 45
# 做边界的划分，划分为四个梯度值
temp = theat[i][j]
if -112.5 < temp <= -67.5:
theat[i][j] = 90
elif -67.5 < temp <= -22.5:
theat[i][j] = 135
elif -22.5 < temp <= 22.5:
theat[i][j] = 0
elif 22.5 < temp <= 67.5:
theat[i][j] = 45
elif 67.5 < temp <= 112.5:
theat[i][j] = 90
# 以下是 非极大值抑制 的算法
# 模型结束后移到另一个文件并做精简
# 还要考虑和nms算法的异同
# 做非边界部分的判断
# i从1到倒数第二，j同样
for i in range(1, len(sobel) - 1):
for j in range(1, len(sobel[0]) - 1):
if theat[i][j] == 0:
if sobel[i][j] < max(sobel[i + 1][j], sobel[i - 1][j]):
blurred[i][j] = 0
elif theat[i][j] == 45:
if sobel[i][j] < max(sobel[i + 1][j - 1], sobel[i - 1][j - 1]):
blurred[i][j] = 0
elif theat[i][j] == 90:
if sobel[i][j] < max(sobel[i][j + 1], sobel[i][j - 1]):
blurred[i][j] = 0
elif theat[i][j] == 135:
if sobel[i][j] < max(sobel[i + 1][j - 1], sobel[i - 1][j + 1]):
blurred[i][j] = 0
# 上边界非端点处理，i=0，i不能减1
for j in range(1, len(sobelx[0]) - 1):
i = 0
if theat[0][j] == 0:
if sobel[i][j] < sobel[i + 1][j]:
blurred[i][j] = 0
elif theat[0][j] == 45:
if sobel[i][j] < sobel[i + 1][j - 1]:
blurred[i][j] = 0
elif theat[0][j] == 90:
if sobel[i][j] < max(sobel[i][j + 1], sobel[i][j - 1]):
blurred[i][j] = 0
elif theat[0][j] == 135:
if sobel[i][j] < sobel[i + 1][j - 1]:
blurred[i][j] = 0
# 下边界非端点，i = 255，i不能加1
for j in range(1, len(sobel[0]) - 1):
i = len(theat) - 1
if theat[i][j] == 0:
if sobel[i][j] < sobel[i - 1][j]:
blurred[i][j] = 0
elif theat[i][j] == 45:
if sobel[i][j] < sobel[i - 1][j - 1]:
blurred[i][j] = 0
elif theat[i][j] == 90:
if sobel[i][j] < max(sobel[i][j + 1], sobel[i][j - 1]):
blurred[i][j] = 0
elif theat[i][j] == 135:
if sobel[i][j] < sobel[i - 1][j + 1]:
blurred[i][j] = 0
# 左边界非端点，j=0，j不能减1
for i in range(1, len(sobel) - 1):
j = 0
if theat[i][j] == 0:
if sobel[i][j] < max(sobel[i + 1][j], sobel[i - 1][j]):
blurred[i][j] = 0
elif theat[i][j] == 90:
if sobel[i][j] < sobel[i][j + 1]:
blurred[i][j] = 0
elif theat[i][j] == 135:
if sobel[i][j] < sobel[i - 1][j + 1]:
blurred[i][j] = 0
# 右边界非端点，j=255，不能加1
for i in range(1, len(sobel) - 1):
j = len(sobel[0]) - 1
if theat[i][j] == 0:
if sobel[i][j] < max(sobel[i + 1][j], sobel[i - 1][j]):
blurred[i][j] = 0
elif theat[i][j] == 45:
if sobel[i][j] < max(sobel[i + 1][j - 1], sobel[i - 1][j - 1]):
blurred[i][j] = 0
elif theat[i][j] == 90:
if sobel[i][j] < sobel[i][j - 1]:
blurred[i][j] = 0
elif theat[i][j] == 135:
if sobel[i][j] < sobel[i + 1][j - 1]:
blurred[i][j] = 0
# 左上角。i，j不能减1
if theat[0][0] == 0:
if sobel[0][0] < sobel[0 + 1][0]:
blurred[0][0] = 0
elif theat[0][0] == 90:
if sobel[0][0] < sobel[0][0 + 1]:
blurred[0][0] = 0
# 左下角，i不能加，j不能减
if theat[len(sobel) - 1][0] == 0:
if sobel[len(sobel) - 1][0] < sobel[len(sobel) - 1 - 1][0]:
blurred[len(sobel - 1)][0] = 0
elif theat[len(sobel) - 1][0] == 90:
if sobel[len(sobel) - 1][0] < sobel[len(sobel) - 1][0 + 1]:
blurred[len(sobel) - 1][0] = 0
elif theat[len(sobel) - 1][0] == 135:
if sobel[len(sobel) - 1][0] < sobel[len(sobel) - 1 - 1][0 + 1]:
blurred[len(sobel) - 1][0] = 0
#右下角 右上脚暂时没写，可仿照上文实现
return blurred
def data_gen_sobel(path, ids):
"""
In this generator every input is interesected with the Prostate contour
:param path:
:param folders_to_read:
:param img_names:
:param roi_names:
:param tot_ex_per_img
:return:
"""
print("Inside generator...")
curr_idx = -1 # First index to use
all_files_per_digit = []
tot_files_per_digit = []
acc_files_per_digit = []
last_id = 0
for cur_folder in range(10):
all_files = listdir(join(path, F'{cur_folder}'))
tot_files = len(all_files)
last_id += tot_files
all_files_per_digit.append(all_files)
tot_files_per_digit.append(tot_files)
acc_files_per_digit.append(last_id)
tot_files_per_digit = np.array(tot_files_per_digit)
acc_files_per_digit = np.array(acc_files_per_digit)
all_files_per_digit = np.array(all_files_per_digit)
tot_files = acc_files_per_digit[-1]
print(tot_files_per_digit)
print(acc_files_per_digit)
while True:
# These lines are for sequential selection
if curr_idx >= len(ids) or curr_idx == -1:
curr_idx = 0
np.random.shuffle(
ids
) # We shuffle the folders every time we have tested all the examples
else:
curr_idx += 1
try:
cur_file = ids[curr_idx]
cur_folder = np.argmax(acc_files_per_digit >= cur_file)
if cur_folder > 0:
folder_idx = cur_file - acc_files_per_digit[cur_folder]
else:
folder_idx = cur_file
file_name = join(path, F'{cur_folder}',
F'{all_files_per_digit[cur_folder][folder_idx]}')
X_rgb = cv2.imread(file_name)
X = X_rgb[:, :, 0]
Y = cv2.Sobel(X, cv2.CV_64F, 1, 0, ksize=3)
# plt.subplots(1,2)
# plt.subplot(1,2,1)
# plt.imshow(X)
# plt.subplot(1,2,2)
# plt.imshow(Y)
# plt.show()
# Normalizing the input
X = X / 255
max_val = 255 * 4
Y = (Y + max_val) / (max_val * 2)
XF = np.expand_dims(np.expand_dims(X, axis=2), axis=0)
YF = np.expand_dims(np.expand_dims(Y, axis=2), axis=0)
yield XF, YF
except Exception as e:
print(
F"----- Not able to generate for curr_idx: {curr_idx}, file_name: {file_name}"
)
#test-05 edge detection
import cv2 as cv
#read image
img = cv.imread("./opencv/lena.jpg")
cv.imshow("source", img)
#change image space for BGR to GRAY
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
cv.imshow("gray", gray)
cv.imwrite('./opencv/gray.jpg', gray)
#source image edge detection with Sobel
sobel = cv.Sobel(img, cv.CV_8U, 1, 1, 3)
cv.imshow("sobel", sobel)
cv.imwrite('./opencv/sobel.jpg', sobel)
#gray image dege detection with Sobel
graysobel = cv.Sobel(gray, cv.CV_8U, 1, 1, ksize = 3)
cv.imshow("graysobel", graysobel)
cv.imwrite('./opencv/sobelgray.jpg', graysobel)
#gray image edge detection with Laplace
laplace = cv.Laplacian(gray, cv.CV_8U, (3, 3))
cv.imshow('laplace', laplace)
cv.imwrite('./opencv/laplace.jpg', laplace)
#gray image dege detection with Canny
canny = cv.Canny(gray, 100, 200, (3, 3))
import cv2
import numpy as np
cap = cv2.VideoCapture(0)
while True:
_, frame = cap.read()
frame = cv2.flip(frame,2)
laplacian = cv2.Laplacian(frame, cv2.CV_64F)
sobelx = cv2.Sobel(frame,cv2.CV_64F,1,0,ksize = 5)
sobely = cv2.Sobel(frame,cv2.CV_64F,0,1,ksize = 5)
edges = cv2.Canny(frame,70,70)
cv2.imshow('normal',frame)
cv2.imshow('laplacian',laplacian)
#cv2.imshow('sobelx',sobelx)
#cv2.imshow('sobely',sobely)
cv2.imshow('edges',edges)
if cv2.waitKey(1) & 0xFF == ord('a'):
break
cap.release()
cv2.destroyAllWindows()
# 图像渐变和边缘检测
import cv2
import numpy as np
img = cv2.imread('../data/cluo.jpg')
hsv = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
lower_red = np.array([30, 150, 50])
upper_red = np.array([255, 255, 180])
mask = cv2.inRange(hsv, lower_red, upper_red)
res = cv2.bitwise_and(img, img, mask=mask)
laplacian = cv2.Laplacian(img, cv2.CV_64F)
sobelx = cv2.Sobel(img, cv2.CV_64F, 1, 0, ksize=5)
sobely = cv2.Sobel(img, cv2.CV_64F, 0, 1, ksize=5)
# canny 边缘检测
edges = cv2.Canny(img, 100, 200)
cv2.imshow('Edges', edges)
cv2.imshow('Original', img)
cv2.imshow('Res', res)
cv2.imshow('laplacian', laplacian)
cv2.imshow('sobelx', sobelx)
cv2.imshow('sobely', sobely)
cv2.waitKey(0) & 0xFF
cv2.destroyAllWindows()
# @File : op_readingImg.py
# @Software: PyCharm
import cv2
import numpy as np
import matplotlib.pyplot as plt
image_file = '../captcha/tupian/bailing.png'
img = cv2.imread(image_file, cv2.IMREAD_GRAYSCALE)
# 输入图片的大小
h, w = img.shape
#print(h,w)
# 索贝尔滤波器（边缘检测器）
sobel_horizontal = cv2.Sobel(img, cv2.CV_64F, 1, 0, ksize=5)
# 运行索贝尔垂直检测器
sobel_verrical = cv2.Sobel(img, cv2.CV_64F, 0, 1, ksize=5)
# 拉普拉斯边缘检测器
laplacian = cv2.Laplacian(img, cv2.CV_64F)
# Canny边检测
canny = cv2.Canny(img, 50, 240)
#plt.imshow(img, cmap='gray', interpolation='bicubic')
#plt.imshow(sobel_horizontal)
#plt.xticks([]),plt.yticks([])
#plt.show()
cv2.imshow('sobel_horizontal', sobel_horizontal)
# img_cont = cv.drawContours(img_cont_ref/2, contours, 0, (255,0,0))
# cv.imshow('Imagine contures', img_cont)
img = cv.drawContours(image=img,
contours=contours,
contourIdx=0,
color=(255, 0, 0))
cv.circle(img=img,
center=(np.int(x_centr), np.int(y_centr)),
radius=1,
color=(0, 255, 255),
thickness=5)
cv.imshow('Image', img)
sobelx = cv.Sobel(img_gray, cv.CV_64F, 1, 0, ksize=5)
sobely = cv.Sobel(img_gray, cv.CV_64F, 0, 1, ksize=5)
grad = np.sqrt(sobelx**2 + sobely**2)
grad = grad / np.max(grad)
orient = np.rad2deg(np.arctan2(sobelx, sobely))
orient = orient + 180
orient = np.uint16(orient)
Rtable = [[] for i in range(360)]
for cont in contours[0]:
wek_kat = orient[cont[0, 1], cont[0, 0]]
wek_dist = np.sqrt((cont[0, 0] - x_centr)**2 + (cont[0, 1] - y_centr)**2)
wek_orient = np.arctan2(cont[0, 1] - y_centr, cont[0, 0] - x_centr)
def process_plate(data, ip):
#path_pic = "lisi.jpg"
#Cargamos la foto enviada por el raspberry pi
#image = cv2.imread(path_pic,1)
#show_img(cv2,image,'original')
#preprocessed_image = image
image = cv2.imdecode(data, 1)
preprocessed_image = cv2.imdecode(data, 1)
cv2.imwrite('original_image_path.jpg', image)
#se detecta la region donde se encuentra la placa en la imagen
#convertimos la imagen a escala de grices
escala_grices = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
#show_img('gris',escala_grices)
cv2.imwrite('gri_image_path.jpg', escala_grices)
#Se remueve un poco el ruido de la imagen(osea los ejes verticales)
blur = cv2.GaussianBlur(escala_grices, (5, 5), 0)
#show_img('ruido',blur)
cv2.imwrite('difum_image_path.jpg', blur)
#Buscamos el gradiente
grad = cv2.Sobel(blur, cv2.CV_8U, 1, 0, ksize=3)
#show_img('gradiente',grad)
cv2.imwrite('grad_image_path.jpg', grad)
#se aplica un filtro para combertir la imagen a una imagen binaria(0 y 1)
_, umbral = cv2.threshold(grad, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
#show_img('threshold',umbral)
cv2.imwrite('thres_image_path.jpg', umbral)
#Operacion Morfologica para quitar los espacios en blanco entre cada linea de borde vertical
Estructura = cv2.getStructuringElement(cv2.MORPH_RECT, (23, 4))
morfo = cv2.morphologyEx(umbral, cv2.MORPH_CLOSE, Estructura)
#show_img('Morfologica',morfo)
#se obtuviero las posibles regiones donde se encuetra la placa
cv2.imwrite('mor_image_path.jpg', morfo)
contours, _ = cv2.findContours(morfo, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_NONE)
draw_contours(image, contours)
#show_img("candidatas",image)
cv2.imwrite('candi_image_path.jpg', image)
try:
verify_plate(preprocessed_image, image, contours)
except:
print "Not plate found"
not_image_found(parsed_plate)
return False
#show_img('no pro',preprocessed_image)
#show_img('verified',image)
cv2.imwrite('verified_image_path.jpg', image)
cv2.waitKey(0)
cv2.destroyAllWindows()
tess = os.popen('tesseract bien_image_path.jpg output', "r").read()
cat = os.popen('cat output.txt', "r").read()
print cat
#plat = cat.replace("-","")
#print plat
print ip
#plate = plat.strip();
#plate = "L8989"
plate = cat.strip()
parsed_plate = SCP_Parser(plate).parse_plate()
#cam = 1
print "request = Placa: " + parsed_plate + " Ip : " + str(ip)
request = requests.get(
"http://scpweb.herokuapp.com/api/authorize_plate?plate=" +
parsed_plate + "&cam=192.168.0.41")
print request.json()
response = request.json()
f = open('output.txt', 'r+')
f.truncate()
tess = None
cat = None
if parsed_plate.strip() == "IMA6EN":
parsed_plate = "No encontrada"
ui = UI("original_image_path.jpg", "gri_image_path.jpg",
"difum_image_path.jpg", "grad_image_path.jpg",
"thres_image_path.jpg", "mor_image_path.jpg",
"candi_image_path.jpg", "verified_image_path.jpg",
"verified_plate_image_path.jpg", "bien_image_path.jpg",
"192.168.0.40", parsed_plate)
not_image_found()
#return (response['message'] != "Vehicle not found" and response['message'] != "Cam not found" and response['message'] != "Visitor not found" and response['message'])
return (response['message'] == "Vehicle Found")
