def declare_cells(p):
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
cells = {
'gray_image': ecto.Passthrough('gray Input'),
'rgb_image': ecto.Passthrough('rgb Input'),
'camera_info': ecto.Passthrough('K_image'),
'gather': calib.GatherPoints("gather", N=2),
'quantizer': imgproc.Quantize('Quantizer', alpha=1, beta=0),
'invert': imgproc.BitwiseNot()
}
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
cells['cd_bw'] = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
cells['cd_wb'] = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
cells['pose_calc'] = calib.FiducialPoseFinder('Pose Calc')
cells['circle_drawer'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['circle_drawer2'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['fps'] = highgui.FPSDrawer()
return cells
sched = ecto.schedulers.Threadpool(plasm)
video_cap = highgui.VideoCapture(video_device=0)
fps = highgui.FPSDrawer()
rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
display_strand = ecto.Strand()
checker_detector = calib.PatternDetector('Checker Detector',
rows=5, cols=4,
pattern_type="chessboard",
square_size=0.03)
circle_detector = calib.PatternDetector('Dot Detector',
rows=7, cols=3, pattern_type="acircles",
square_size=0.03)
circle_drawer = calib.PatternDrawer('Circle Draw',
rows=7, cols=3)
checker_drawer = calib.PatternDrawer('Checker Draw',
rows=5, cols=4)
circle_display = highgui.imshow('Pattern show',
name='Pattern', waitKey= 2, maximize=True,
strand=display_strand)
plasm.connect(video_cap['image'] >> circle_drawer['input'],
circle_drawer['out'] >> checker_drawer['input'],
checker_drawer['out'] >> fps['image'],
fps['image'] >> circle_display['input'],
video_cap['image'] >> rgb2gray['input'],
rgb2gray['out'] >> (circle_detector['input'], checker_detector['input']),
circle_detector['out', 'found'] >> circle_drawer['points', 'found'],
checker_detector['out', 'found'] >> checker_drawer['points', 'found'],
)