def __init__(self,
name,
size=2,
draw_center=True,
draw_grid=True,
meters_radius=4.0):
"""
name = name of window
meter_radus = 4.0
size = multiple of 400x200 to use for screen
meter_radius = how many per metrer
"""
self.draw_center = draw_center
self.draw_grid = draw_grid
self.w = (int)(round(size * 400.0))
self.h = (int)(round(size * 200.0))
self.meters_disp = 4.0 #Range in meters of area around robot to display
self.laser_win = name
self.buffer = cv.cvCreateImage(cv.cvSize(self.w, 2 * self.h),
cv.IPL_DEPTH_8U, 3)
#print "RobotDisp: window width", self.buffer.width
#print "RobotDisp: window height", self.buffer.height
self.pixels_per_meter = self.h / self.meters_disp
hg.cvNamedWindow(name, hg.CV_WINDOW_AUTOSIZE)
hg.cvMoveWindow(name, 0, 50)
self.font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, as_int(1),
as_int(1), 0, 1, cv.CV_AA)
def __link(self):
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
kkk = 0
self.edges = []
for curve in self.allcurve:
showpt = []
state = 0
currentPoint = None
currentPointIdx = -1
cumulate = 0
dcurve = curve + curve
curlen = len(curve)
ptcount = 0
pointseq = []
for c in dcurve:
if (ptcount > curlen): break
cumulate += 1
for kk in range(len(self.points)):
k = self.points[kk]
if (abs(c.x - k.x) + abs(c.y - k.y) < 15):
if (currentPoint != k or cumulate > 40):
state += 1
currentPoint = k
currentPointIdx = kk
cumulate = 0
pointseq.append(kk)
if (state > 0):
showpt.append([c, state, currentPointIdx])
ptcount += 1
if (state > 1):
kkk += 1
cnt = 0
pret = -1
e = None
for s, t, cp in showpt:
if (cp != pret):
if e != None:
e.end = cp
e = Edge()
self.edges.append(e)
e.start = cp
pret = cp
cnt += 1
if (t < state):
e.addPoint(s)
#print "%d\t%3.2f\t%3.2f\t%d\t%d\t%d" % (kkk, s.x, s.y, cnt, pointseq[t - 1], pointseq[t])
e.end = showpt[-1][2]
print >> OUT, "seq\tptn\tx\ty\t"
# self.__edgededup()
self.__evenSample(self.npoints)
for ie, e in enumerate(self.edges):
print "P(%d) <-> P(%d) length %d, selected %d" % (
e.start, e.end, len(e.points), len(e.selected))
for d in e.points:
cv.cvSet2D(self.drawimg, int(d.y), int(d.x), color[3])
for ip, p in enumerate(e.selected):
cv.cvDrawCircle(self.drawimg, p, 2,
cv.cvScalar(255, 255, 0, 0))
print >> OUT, "%d\t%d\t%d\t%d" % (ie, ip, p.x, p.y)
def __link(self):
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
kkk = 0
self.edges = []
for curve in self.allcurve:
showpt = []
state = 0
currentPoint = None
currentPointIdx = -1
cumulate = 0
dcurve = curve + curve
curlen = len(curve)
ptcount = 0
pointseq = []
for c in dcurve:
if (ptcount > curlen): break
cumulate += 1
for kk in range(len(self.points)):
k = self.points[kk]
if (abs(c.x - k.x) + abs(c.y - k.y) < 15):
if (currentPoint != k or cumulate > 40):
state += 1
currentPoint = k
currentPointIdx = kk
cumulate = 0
pointseq.append(kk)
if (state > 0):
showpt.append([c, state, currentPointIdx])
ptcount += 1
if (state > 1):
kkk += 1
cnt = 0
pret = -1
e = None
for s,t, cp in showpt:
if (cp != pret):
if e != None:
e.end = cp
e = Edge()
self.edges.append(e)
e.start = cp
pret = cp
cnt += 1
if (t < state):
e.addPoint(s)
#print "%d\t%3.2f\t%3.2f\t%d\t%d\t%d" % (kkk, s.x, s.y, cnt, pointseq[t - 1], pointseq[t])
e.end = showpt[-1][2]
print >> OUT, "seq\tptn\tx\ty\t"
# self.__edgededup()
self.__evenSample(self.npoints)
for ie, e in enumerate(self.edges):
print "P(%d) <-> P(%d) length %d, selected %d" % (e.start, e.end, len(e.points), len(e.selected))
for d in e.points:
cv.cvSet2D(self.drawimg, int(d.y), int(d.x), color[3])
for ip, p in enumerate(e.selected):
cv.cvDrawCircle(self.drawimg, p, 2, cv.cvScalar(255,255,0,0))
print >> OUT, "%d\t%d\t%d\t%d" % (ie, ip, p.x, p.y)
def DrawKeyPoints(self):
ic = 0
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
for ic, c in enumerate(self.mss.seqs):
for k in c.points:
if self.bDrawNumber:
cv.cvPutText(
self.drawimg, str(ic), cv.cvPoint(int(k.x), int(k.y)), myfont, cv.cvScalar(255, 255, 0, 0)
)
cv.cvDrawCircle(self.drawimg, cv.cvPoint(int(k.x), int(k.y)), 4, cv.cvScalar(255, 0, 255, 0))
def DrawKeyPoints(self):
if (not self.drawimg):
self.drawimg = cv.cvCloneImage(self.img)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
ic = 0
for c in self.points:
cv.cvPutText(self.drawimg, str(ic), cv.cvPoint(int(c.x), int(c.y)), myfont, cv.cvScalar(255, 255, 0,0))
ic += 1
cv.cvDrawCircle(self.drawimg, c, 4, cv.cvScalar(255,255,0,0))
def DrawKeyPoints(self):
if (not self.drawimg):
self.drawimg = cv.cvCloneImage(self.img)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
ic = 0
for c in self.points:
cv.cvPutText(self.drawimg, str(ic), cv.cvPoint(int(c.x), int(c.y)),
myfont, cv.cvScalar(255, 255, 0, 0))
ic += 1
cv.cvDrawCircle(self.drawimg, c, 4, cv.cvScalar(255, 255, 0, 0))
def DrawKeyPoints(self):
ic = 0
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
for ic, c in enumerate(self.mss.seqs):
cnt = 0
for k in c.points:
cnt += 1
if (int(cnt/2) * 2 != cnt): continue
cv.cvDrawCircle(self.drawimg, cv.cvPoint(int(k.x), int(k.y)), 4, cv.cvScalar(255,255,255,0))
if (self.bDrawNumber and (cnt > self.start) and cnt < self.start + 8*4 and len(c.points) > 30):
#cv.cvPutText(self.drawimg, str(cnt), cv.cvPoint(int(k.x) + 5, int(k.y)), myfont, cv.cvScalar(255, 255, 0,0))
cv.cvDrawCircle(self.drawimg, cv.cvPoint(int(k.x), int(k.y)), 4, cv.cvScalar(255,0, 255,0))
def main(): # ctrl+c to end
global h,s,v,h2,v2,s2,d,e
highgui.cvNamedWindow("Camera 1", 1)
highgui.cvNamedWindow("Orig", 1)
highgui.cvCreateTrackbar("H", "Camera 1", h, 256, tb_h)
highgui.cvCreateTrackbar("S", "Camera 1", s, 256, tb_s)
highgui.cvCreateTrackbar("V", "Camera 1", v, 256, tb_v)
highgui.cvCreateTrackbar("H2", "Camera 1", h2, 256, tb_h2)
highgui.cvCreateTrackbar("S2", "Camera 1", s2, 256, tb_s2)
highgui.cvCreateTrackbar("V2", "Camera 1", v2, 256, tb_v2)
highgui.cvCreateTrackbar("Dilate", "Camera 1", d, 30, tb_d)
highgui.cvCreateTrackbar("Erode", "Camera 1", e, 30, tb_e)
cap = highgui.cvCreateCameraCapture(1)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_WIDTH, IMGW)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_HEIGHT, IMGH)
c = 0
t1 = tdraw = time.clock()
t = 1
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, 1, 1)
while c != 0x27:
image = highgui.cvQueryFrame(cap)
if not image:
print "capture failed"
break
thresh = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,1)
cv.cvSetZero(thresh)
cv.cvCvtColor(image,image,cv.CV_RGB2HSV)
cv.cvInRangeS(image, (h,s,v,0), (h2,s2,v2,0), thresh)
result = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,3)
cv.cvSetZero(result)
cv.cvOr(image,image,result,thresh)
for i in range(1,e):
cv.cvErode(result,result)
for i in range(1,d):
cv.cvDilate(result,result)
# floodfill objects back in, allowing threshold differences outwards
t2 = time.clock()
if t2 > tdraw+0.3:
t = t2-t1
tdraw=t2
cv.cvPutText(result, "FPS: " + str(1 / (t)), (0,25), font, (255,255,255))
t1 = t2
highgui.cvShowImage("Orig", image)
highgui.cvShowImage("Camera 1", result)
c = highgui.cvWaitKey(10)
def getBackground(frameWidht, frameHeight):
cvNamedWindow("Background")
text = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
background = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
font = cvInitFont(CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0, 0.0, 2)
pt1 = cvPoint(50, 100)
pt2 = cvPoint(50, 150)
center = cvPoint(frameWidth/2, frameHeight/2)
cvPutText(text, "Press enter, run away and wait", pt1, font, CV_RGB(150, 100, 150))
cvPutText(text, str(delayS) + " seconds to capture background", pt2, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key == -1:
key = cvWaitKey(10)
like = False
while not like:
for i in range(delayS):
cvZero(text)
cvPutText(text, str(delayS-i), center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
cvWaitKey(1000)
csut = camStartUpTime
while (csut): # Stats capturing frames in order to give time to the cam to auto-adjust colors
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
cvWaitKey(10)
csut -= 1
frame = cvQueryFrame(CAM)
cvCopy(frame, background)
cvCopy(frame, text)
cvPutText(text, "Is correct? [y/n]", center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key != 'n' and key != 'y':
key = cvWaitKey(10)
if key == 'y':
like = True
return background
cvDestroyWindow("Background")
def __init__(self, name, size=2, draw_center=True, draw_grid=True, meters_radius=4.0): """ name = name of window meter_radus = 4.0 size = multiple of 400x200 to use for screen meter_radius = how many per metrer """ self.draw_center = draw_center self.draw_grid = draw_grid self.w = (int) (round(size * 400.0)) self.h = (int) (round(size * 200.0)) self.meters_disp = 4.0 #Range in meters of area around robot to display self.laser_win = name self.buffer = cv.cvCreateImage(cv.cvSize(self.w, 2*self.h), cv.IPL_DEPTH_8U, 3) #print "RobotDisp: window width", self.buffer.width #print "RobotDisp: window height", self.buffer.height self.pixels_per_meter = self.h / self.meters_disp hg.cvNamedWindow(name, hg.CV_WINDOW_AUTOSIZE) hg.cvMoveWindow(name, 0, 50) self.font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, as_int(1), as_int(1), 0, 1, cv.CV_AA)
def main():
ct1 = CurvePoint()
ct2 = CurvePoint()
sc = CntSC()
ang = CntAngle()
usage = "%prog [options] <imgfile1> <imgfile2>"
version = "%prog 0.2\nLongbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d', '--display', action="store_true", dest = 'display', default = False, help = 'display the image')
oparser.add_option('-n', '--number', dest = 'num', type="int", default = 200 , help = 'the number of feature points')
oparser.add_option('-s', '--save', dest = 'save', default = None, help = 'save the img file')
oparser.add_option('-o', '--output', dest = 'output', default = None, help = 'output file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 3:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
ct1.GetContour(args[1], options.num)
allkeys = []
for c in ct1.allselected:
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
ang.ExtractFeature(allkeys,0);
allkeys = []
ct2.GetContour(args[2], options.num)
for c in ct2.allselected:
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
ang.ExtractFeature(allkeys,0);
sumscore = []
matcher = SmithWaterman()
ct1.bDrawNumber = 0
ct2.bDrawNumber = 0
if (options.display):
ct1.DrawKeyPoints()
ct2.DrawKeyPoints()
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
idx = -1
putoriginal(args[1], ct1.drawimg)
putoriginal(args[2], ct2.drawimg)
cv.cvNot(ct1.drawimg, ct1.drawimg)
cv.cvNot(ct2.drawimg, ct2.drawimg)
for c1 in ct1.allselected:
idx += 1
cscore = -100000000
cpt1 = getdata(c1)
bX = []
bY = []
bestcurve = None
for c2 in ct2.allselected:
cpt2 = getdata(c2)
cost,align,X,Y = matcher.Align(cpt1, cpt2)
normalized_score = cost - log10(len(c2) + 1) * 1000
print len(c1), len(c2),cost, normalized_score, cscore
if (normalized_score > cscore):
cscore = normalized_score
bX = X[:]
bY = Y[:]
bestcurve = c2
if (options.display):
ptcount = 0
for i in range(len(bX)):
xi = bX[i]
yi = bY[i]
#if (xi == -1):
#cv.cvDrawCircle(ct2.drawimg, cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),4, cv.cvScalar(255,0,0,0))
#cv.cvPutText(ct2.drawimg, 'O', cv.cvPoint(int(c2[yi].x), int(c2[yi].y)), myfont, cv.cvScalar(255, 0, 0,0))
#if (yi == -1):
#cv.cvDrawCircle(ct1.drawimg, cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),4, cv.cvScalar(255,0,0,0))
#cv.cvPutText(ct1.drawimg, 'O', cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvDrawCircle(ct1.drawimg, cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),2, clrs[idx])
cv.cvPutText(ct1.drawimg, str(ptcount), cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), myfont, clrs[idx])
cv.cvDrawCircle(ct2.drawimg, cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),2, clrs[idx])
cv.cvPutText(ct2.drawimg, str(ptcount), cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)), myfont, clrs[idx])
sumscore.append(cscore)
print sumscore
if (options.display):
highgui.cvNamedWindow ("contour1", 1)
highgui.cvNamedWindow ("contour2", 1)
highgui.cvShowImage ("contour1", ct1.drawimg)
highgui.cvShowImage ("contour2", ct2.drawimg)
highgui.cvWaitKey (0)
if (options.save):
mergeimg = mergeimage_83(ct1.drawimg, ct2.drawimg)
highgui.cvSaveImage("_sw_result.bmp", mergeimg)
y = j*precision
depth = depthmatch(x+precision_pixels/2, y+precision_pixels/2, leftimage, rightimage, roi=precision_pixels, buf=precision_pixels*2)
#print i, j
# fill in result matrix if mask wasn't 0 at this point (X,Y,Z)
cv.cvSetReal2D(matx, j, i, int(depth[0][0]))
cv.cvSetReal2D(maty, j, i, int(depth[0][1]))
cv.cvSetReal2D(matz, j, i, int(depth[0][2]))
return matz
test_number = 2
if __name__ == "__main__" and test_number == 1:
left = highgui.cvLoadImage(str(sys.argv[1]))
right = highgui.cvLoadImage(str(sys.argv[2]))
size = cv.cvGetSize(left)
#depth = depthmatrix(left, right)
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
highgui.cvNamedWindow("depthmatch - left")
highgui.cvNamedWindow("depthmatch - right")
xmatch = 0
ymatch = 0
variable_roi = 20
variable_buf = 10
variable_focal = 100
variable_base = 2.7
def mousecb(e,x,y,f,p):
global xmatch, ymatch
if highgui.CV_EVENT_LBUTTONDOWN == e:
xmatch = x
ymatch = y
def cb_roi(v):
global variable_roi
def main():
ct1 = CurvePoint()
ct2 = CurvePoint()
agl = CntAngle()
sc = CntSC()
try:
opts, args = getopt.getopt(sys.argv[1:], "ho:dn:es", ["help", "output=", "draw", "num=", "even", "save"])
except getopt.GetoptError:
usage()
sys.exit(2)
output = None
bDraw = 0
bSave = 0
bOriginal = 0
npoint = 100
for o, a in opts:
if o == "-v":
ct1.verbose = 1
ct2.verbose = 1
if o in ("-h", "--help"):
usage()
sys.exit()
if o in ("-o", "--output"):
output = a
if o in ("-d", "--draw"):
bDraw = 1
if o in ("-s", "--save"):
bSave = 1
if o in ("-r", "--original"):
bOriginal = 1
if o in ("-n", "--num"):
npoint = string.atoi(a)
if o in ("-e", "--even"):
ct1.bEven = 1
ct2.bEven = 1
if (len(args)) != 2:
usage()
sys.exit(2)
ct1.GetContour(args[0], npoint)
allkeys = []
for c in ct1.allselected:
# agl.ExtractFeature(c, ct1.drawimg)
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
allkeys = []
ct2.GetContour(args[1], npoint)
for c in ct2.allselected:
# agl.ExtractFeature(c, ct2.drawimg)
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
sumscore = []
matcher = SmithWaterman()
ct1.bDrawNumber = 0
ct2.bDrawNumber = 0
if bDraw:
ct1.DrawKeyPoints()
ct2.DrawKeyPoints()
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
idx = -1
putoriginal(args[0], ct1.drawimg)
putoriginal(args[1], ct2.drawimg)
cv.cvNot(ct1.drawimg, ct1.drawimg)
cv.cvNot(ct2.drawimg, ct2.drawimg)
for c1 in ct1.allselected:
idx += 1
cscore = -100000000
cpt1 = getdata(c1)
bX = []
bY = []
bestcurve = None
for c2 in ct2.allselected:
cpt2 = getdata(c2)
cost, align, X, Y = matcher.Align(cpt1, cpt2)
normalized_score = cost - log10(len(c2) + 1) * 1000
print len(c1), len(c2), cost, normalized_score, cscore
if normalized_score > cscore:
cscore = normalized_score
bX = X[:]
bY = Y[:]
bestcurve = c2
if bDraw:
ptcount = 0
for i in range(len(bX)):
xi = bX[i]
yi = bY[i]
# if (xi == -1):
# cv.cvDrawCircle(ct2.drawimg, cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),4, cv.cvScalar(255,0,0,0))
# cv.cvPutText(ct2.drawimg, 'O', cv.cvPoint(int(c2[yi].x), int(c2[yi].y)), myfont, cv.cvScalar(255, 0, 0,0))
# if (yi == -1):
# cv.cvDrawCircle(ct1.drawimg, cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),4, cv.cvScalar(255,0,0,0))
# cv.cvPutText(ct1.drawimg, 'O', cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if xi != -1 and yi != -1:
ptcount += 1
cv.cvDrawCircle(ct1.drawimg, cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), 2, clrs[idx])
cv.cvPutText(ct1.drawimg, str(ptcount), cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), myfont, clrs[idx])
cv.cvDrawCircle(ct2.drawimg, cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)), 2, clrs[idx])
cv.cvPutText(
ct2.drawimg,
str(ptcount),
cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),
myfont,
clrs[idx],
)
sumscore.append(cscore)
print sumscore
if bDraw:
highgui.cvNamedWindow("contour1", 1)
highgui.cvNamedWindow("contour2", 1)
highgui.cvShowImage("contour1", ct1.drawimg)
highgui.cvShowImage("contour2", ct2.drawimg)
highgui.cvWaitKey(0)
if bSave:
mergeimg = mergeimage_83(ct1.drawimg, ct2.drawimg)
highgui.cvSaveImage("_sw_result.bmp", mergeimg)
random.randrange (-height, 2 * height))
cv.cvCircle (image, pt1, random.randrange (0, 300),
random_color (random),
random.randrange (-1, 9),
line_type, 0)
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# draw some text
for i in range (number):
pt1 = cv.cvPoint (random.randrange (-width, 2 * width),
random.randrange (-height, 2 * height))
font = cv.cvInitFont (random.randrange (0, 8),
random.randrange (0, 100) * 0.05 + 0.01,
random.randrange (0, 100) * 0.05 + 0.01,
random.randrange (0, 5) * 0.1,
random.randrange (0, 10),
line_type)
cv.cvPutText (image, "Testing text rendering!",
pt1, font,
random_color (random))
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# prepare a text, and get it's properties
font = cv.cvInitFont (cv.CV_FONT_HERSHEY_COMPLEX,
3, 3, 0.0, 5, line_type)
text_size, ymin = cv.cvGetTextSize ("OpenCV forever!", font)
pt1.x = (width - text_size.width) / 2
import sys
sys.path.append('/usr/local/lib64/python2.6/site-packages')
import stereo
from opencv import highgui,cv
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0)
def depthmatch(x,y,leftimage,rightimage,roi=20,buf=10,debug=False):
__doc__ = """depthmatch function
x,y : (int) pixel position of target in left image
leftimage, rightimage : (IplImage) stereo images
roi: (int) region of interest around x,y to use in matching
buf: (int) buffer outside of a straight horizontal search for a match
"""
info = cv.cvGetSize(leftimage)
width = info.width
height = info.height
(y1,x1,y2,x2) = (y-roi,x-roi,y+roi,x+roi)
#template = cv.cvCreateImage((roi*2,roi*2), 8, 3)
if y1<0: y1 = 0
if x1<0: x1 = 0
if y2>height: y2 = height
if x2>width: x2 = width
#cv.cvSetZero(template)
# copy subregion roi x roi
template_rect = cv.cvRect(x1,y1,(x2-x1),(y2-y1))
template = cv.cvGetSubRect(leftimage, template_rect)
(y3,x3,y4,x4) = (y-roi-buf,x-roi-buf,y+roi+buf,width) # +/- 20 pixels in vertical direction, -20 to the right edge
if x3<0: x3 = 0
def main():
ct1 = CurvePoint()
ct2 = CurvePoint()
sc = CntSC()
ang = CntAngle()
usage = "%prog [options] <imgfile1> <imgfile2>"
version = "%prog 0.2\nLongbin Chen, [email protected]"
oparser = optparse.OptionParser(usage=usage, version=version)
oparser.add_option('-d',
'--display',
action="store_true",
dest='display',
default=False,
help='display the image')
oparser.add_option('-n',
'--number',
dest='num',
type="int",
default=200,
help='the number of feature points')
oparser.add_option('-s',
'--save',
dest='save',
default=None,
help='save the img file')
oparser.add_option('-o',
'--output',
dest='output',
default=None,
help='output file')
(options, args) = oparser.parse_args(sys.argv)
if len(args) != 3:
oparser.parse_args([sys.argv[0], "--help"])
sys.exit(1)
ct1.GetContour(args[1], options.num)
allkeys = []
for c in ct1.allselected:
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
ang.ExtractFeature(allkeys, 0)
allkeys = []
ct2.GetContour(args[2], options.num)
for c in ct2.allselected:
allkeys = allkeys + c
sc.ExtractFeature(allkeys)
ang.ExtractFeature(allkeys, 0)
sumscore = []
matcher = SmithWaterman()
ct1.bDrawNumber = 0
ct2.bDrawNumber = 0
if (options.display):
ct1.DrawKeyPoints()
ct2.DrawKeyPoints()
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
idx = -1
putoriginal(args[1], ct1.drawimg)
putoriginal(args[2], ct2.drawimg)
cv.cvNot(ct1.drawimg, ct1.drawimg)
cv.cvNot(ct2.drawimg, ct2.drawimg)
for c1 in ct1.allselected:
idx += 1
cscore = -100000000
cpt1 = getdata(c1)
bX = []
bY = []
bestcurve = None
for c2 in ct2.allselected:
cpt2 = getdata(c2)
cost, align, X, Y = matcher.Align(cpt1, cpt2)
normalized_score = cost - log10(len(c2) + 1) * 1000
print len(c1), len(c2), cost, normalized_score, cscore
if (normalized_score > cscore):
cscore = normalized_score
bX = X[:]
bY = Y[:]
bestcurve = c2
if (options.display):
ptcount = 0
for i in range(len(bX)):
xi = bX[i]
yi = bY[i]
#if (xi == -1):
#cv.cvDrawCircle(ct2.drawimg, cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),4, cv.cvScalar(255,0,0,0))
#cv.cvPutText(ct2.drawimg, 'O', cv.cvPoint(int(c2[yi].x), int(c2[yi].y)), myfont, cv.cvScalar(255, 0, 0,0))
#if (yi == -1):
#cv.cvDrawCircle(ct1.drawimg, cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),4, cv.cvScalar(255,0,0,0))
#cv.cvPutText(ct1.drawimg, 'O', cv.cvPoint(int(c1[xi].x), int(c1[xi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvDrawCircle(ct1.drawimg,
cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),
2, clrs[idx])
cv.cvPutText(ct1.drawimg, str(ptcount),
cv.cvPoint(int(c1[xi].x), int(c1[xi].y)),
myfont, clrs[idx])
cv.cvDrawCircle(
ct2.drawimg,
cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),
2, clrs[idx])
cv.cvPutText(
ct2.drawimg, str(ptcount),
cv.cvPoint(int(bestcurve[yi].x), int(bestcurve[yi].y)),
myfont, clrs[idx])
sumscore.append(cscore)
print sumscore
if (options.display):
highgui.cvNamedWindow("contour1", 1)
highgui.cvNamedWindow("contour2", 1)
highgui.cvShowImage("contour1", ct1.drawimg)
highgui.cvShowImage("contour2", ct2.drawimg)
highgui.cvWaitKey(0)
if (options.save):
mergeimg = mergeimage_83(ct1.drawimg, ct2.drawimg)
highgui.cvSaveImage("_sw_result.bmp", mergeimg)
set_gain)
#highgui.cvCreateTrackbar ("param lissage", "3-lisser", 3, 3, set_param_liss)
#highgui.cvCreateTrackbar ("param 2 lissage", "3-lisser", 1, 10, set_param2_liss)
############################# GO WORK ######################################
frame = highgui.cvQueryFrame(capture)
frame_size = cv.cvGetSize(frame)
hauteur_image = cv.cvGetSize(frame).height
largeur_image = cv.cvGetSize(frame).width
print "hauteur_image:" + str(hauteur_image) + " largeur_image:" + str(
largeur_image) + " depth:" + str(frame.depth)
print "frame per seconds : " + str(highgui.CV_CAP_PROP_FPS)
print ""
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0)
frameGray = cv.cvCreateImage(frame_size, frame.depth, 1)
##frameGrayBg = cv.cvCreateImage (frame_size, frame.depth, 1)
framewithoutbg = cv.cvCreateImage(frame_size, frame.depth, 1)
framemul = cv.cvCreateImage(frame_size, frame.depth, 1)
framelisser = cv.cvCreateImage(frame_size, frame.depth, 1)
frameBin = cv.cvCreateImage(frame_size, frame.depth, 1)
framelisser1 = cv.cvCreateImage(frame_size, frame.depth, 1)
framelisser2 = cv.cvCreateImage(frame_size, frame.depth, 1)
mess_saved = 0
first = 1
first2 = 1
# Xlib init , cf : Control Periph
def main():
ct1 = CntPoint()
ct2 = CntPoint()
agl = CntAngle()
das = CntDAS()
das.bDraw = 0
try:
opts, args = getopt.getopt(sys.argv[1:], "ho:dn:e",
["help", "output=", "draw", "num=", "even"])
except getopt.GetoptError:
usage()
sys.exit(2)
output = None
bDraw = 0
npoint = 100
for o, a in opts:
if o == "-v":
ct.verbose = 1
if o in ("-h", "--help"):
usage()
sys.exit()
if o in ("-o", "--output"):
output = a
if o in ("-d", "--draw"):
bDraw = 1
if o in ("-n", "--num"):
npoint = string.atoi(a)
if o in ("-e", "--even"):
ct.bEven = 1
if (len(args)) != 2:
usage()
sys.exit(2)
ct1.GetContour(args[0], npoint)
agl.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
das.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
ct2.GetContour(args[1], npoint)
agl.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
das.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
seq1 = getdata(ct1.GetKeyPoints())
seq2 = getdata(ct2.GetKeyPoints())
matcher = SmithWaterman()
cost, align, X, Y = matcher.Align(seq1, seq2)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
if (bDraw):
ct1.DrawKeyPoints()
kpoints1 = ct1.GetKeyPoints()
ct2.DrawKeyPoints()
kpoints2 = ct2.GetKeyPoints()
ptcount = 0
for i in range(len(X)):
xi = X[i]
yi = Y[i]
if (xi == -1):
cv.cvPutText(
ct2.drawimg, 'O',
cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)),
myfont, cv.cvScalar(255, 0, 0, 0))
if (yi == -1):
cv.cvPutText(
ct1.drawimg, 'O',
cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)),
myfont, cv.cvScalar(255, 0, 0, 0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvPutText(
ct1.drawimg, str(ptcount),
cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)),
myfont, cv.cvScalar(255, 255, 0, 0))
cv.cvPutText(
ct2.drawimg, str(ptcount),
cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)),
myfont, cv.cvScalar(255, 255, 0, 0))
highgui.cvNamedWindow("contour1", 1)
highgui.cvNamedWindow("contour2", 1)
highgui.cvShowImage("contour1", ct1.drawimg)
highgui.cvShowImage("contour2", ct2.drawimg)
highgui.cvWaitKey(0)
random.randrange (-height, 2 * height))
cv.cvCircle (image, pt1, random.randrange (0, 300),
random_color (random),
random.randrange (-1, 9),
line_type, 0)
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# draw some text
for i in range (number):
pt1 = cv.cvPoint (random.randrange (-width, 2 * width),
random.randrange (-height, 2 * height))
font = cv.cvInitFont (random.randrange (0, 8),
random.randrange (0, 100) * 0.05 + 0.01,
random.randrange (0, 100) * 0.05 + 0.01,
random.randrange (0, 5) * 0.1,
random.randrange (0, 10),
line_type)
cv.cvPutText (image, "Testing text rendering!",
pt1, font,
random_color (random))
highgui.cvShowImage (window_name, image)
highgui.cvWaitKey (delay)
# prepare a text, and get it's properties
font = cv.cvInitFont (cv.CV_FONT_HERSHEY_COMPLEX,
3, 3, 0.0, 5, line_type)
text_size, ymin = cv.cvGetTextSize ("OpenCV forever!", font)
pt1.x = (width - text_size.width) / 2
def main():
ct1 = CntPoint()
ct2 = CntPoint()
agl = CntAngle()
das = CntDAS()
das.bDraw = 0
try:
opts, args = getopt.getopt(sys.argv[1:], "ho:dn:e", ["help", "output=", "draw", "num=", "even"])
except getopt.GetoptError:
usage()
sys.exit(2)
output = None
bDraw = 0
npoint = 100
for o, a in opts:
if o == "-v":
ct.verbose = 1
if o in ("-h", "--help"):
usage()
sys.exit()
if o in ("-o", "--output"):
output = a
if o in ("-d", "--draw"):
bDraw = 1
if o in ("-n", "--num"):
npoint = string.atoi(a)
if o in ("-e", "--even"):
ct.bEven = 1
if (len(args)) != 2:
usage()
sys.exit(2)
ct1.GetContour(args[0], npoint)
agl.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
das.ExtractFeature(ct1.GetKeyPoints(), ct1.drawimg)
ct2.GetContour(args[1], npoint)
agl.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
das.ExtractFeature(ct2.GetKeyPoints(), ct2.drawimg)
seq1 = getdata(ct1.GetKeyPoints())
seq2 = getdata(ct2.GetKeyPoints())
matcher = SmithWaterman()
cost,align,X,Y = matcher.Align(seq1, seq2)
myfont = cv.cvInitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5)
if (bDraw):
ct1.DrawKeyPoints()
kpoints1 = ct1.GetKeyPoints()
ct2.DrawKeyPoints()
kpoints2 = ct2.GetKeyPoints()
ptcount = 0
for i in range(len(X)):
xi = X[i]
yi = Y[i]
if (xi == -1):
cv.cvPutText(ct2.drawimg, 'O', cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (yi == -1):
cv.cvPutText(ct1.drawimg, 'O', cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)), myfont, cv.cvScalar(255, 0, 0,0))
if (xi != -1 and yi != -1):
ptcount += 1
cv.cvPutText(ct1.drawimg, str(ptcount), cv.cvPoint(int(kpoints1[xi].x), int(kpoints1[xi].y)), myfont, cv.cvScalar(255, 255, 0,0))
cv.cvPutText(ct2.drawimg, str(ptcount), cv.cvPoint(int(kpoints2[yi].x), int(kpoints2[yi].y)), myfont, cv.cvScalar(255, 255, 0,0))
highgui.cvNamedWindow ("contour1", 1)
highgui.cvNamedWindow ("contour2", 1)
highgui.cvShowImage ("contour1", ct1.drawimg)
highgui.cvShowImage ("contour2", ct2.drawimg)
highgui.cvWaitKey (0)
