def update_mhi(img, dst, diff_threshold):
global last
global mhi
global storage
global mask
global orient
global segmask
timestamp = time.clock() / CLOCKS_PER_SEC # get current time in seconds
size = cv.GetSize(img) # get current frame size
idx1 = last
global var1
if not mhi or cv.GetSize(mhi) != size:
for i in range(N):
buf[i] = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
cv.Zero(buf[i])
mhi = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
cv.Zero(mhi) # clear MHI at the beginning
orient = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
segmask = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
mask = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
cv.CvtColor(img, buf[last], cv.CV_BGR2GRAY) # convert frame to grayscale
idx2 = (last + 1) % N # index of (last - (N-1))th frame
last = idx2
silh = buf[idx2]
cv.AbsDiff(buf[idx1], buf[idx2], silh) # get difference between frames
cv.Threshold(silh, silh, diff_threshold, 1,
cv.CV_THRESH_BINARY) # and threshold it
cv.UpdateMotionHistory(silh, mhi, timestamp, MHI_DURATION) # update MHI
cv.CvtScale(mhi, mask, 255. / MHI_DURATION,
(MHI_DURATION - timestamp) * 255. / MHI_DURATION)
cv.Zero(dst)
cv.Merge(mask, None, None, None, dst)
cv.CalcMotionGradient(mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3)
if not storage:
storage = cv.CreateMemStorage(0)
seq = cv.SegmentMotion(mhi, segmask, storage, timestamp, MAX_TIME_DELTA)
for (area, value, comp_rect) in seq:
if comp_rect[2] + comp_rect[3] > 250: # reject very small components
color = cv.CV_RGB(255, 0, 0)
silh_roi = cv.GetSubRect(silh, comp_rect)
mhi_roi = cv.GetSubRect(mhi, comp_rect)
orient_roi = cv.GetSubRect(orient, comp_rect)
mask_roi = cv.GetSubRect(mask, comp_rect)
angle = 360 - cv.CalcGlobalOrientation(
orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION)
print angle
count = cv.Norm(
silh_roi, None, cv.CV_L1,
None) # calculate number of points within silhouette ROI
if count < (comp_rect[2] * comp_rect[3] * 0.05):
continue
magnitude = 80.
center = ((comp_rect[0] + comp_rect[2] / 2),
(comp_rect[1] + comp_rect[3] / 2))
cv.Circle(dst, center, cv.Round(magnitude * 1.2), color, 10,
cv.CV_AA, 0)
print "motion detected at", center[1]
if (center[1] > 320):
bottom.mright3()
if (center[1] < 320):
bottom.mleft4()
var1 = var1 + 1
if (var1 == 40):
led.motion()
var1 = 0
if (center[1] > 320):
# print "hai"
bottom.mright3()
if (center[1] < 320):
bottom.mleft4()
print "hai"
emotion.exclaim()
cv.Line(
dst, center,
(cv.Round(center[0] + magnitude * cos(angle * cv.CV_PI / 180)),
cv.Round(center[1] -
magnitude * sin(angle * cv.CV_PI / 180))), color, 3,
cv.CV_AA, 0)
try:
data=client_socket.recv(1)
if(data=="3"):
bottom.mright3()
elif(data=="4"):
bottom.mright2()
elif(data=="5"):
bottom.mright1()
elif(data=="6"):
bottom.mid()
elif(data=="7"):
bottom.mleft5()
elif(data=="8"):
bottom.mleft4()
elif(data=="9"):
bottom.mleft3()
print data
except KeyboardInterrupt:
client_socket.close()
server_socket.close()
exit(0)
#while 1:
# data = raw_input ( "SEND( TYPE q or Q to Quit):" )
# if (data == 'Q' or data == 'q'):
# client_socket.send (data)
# client_socket.close()
# break;
# else:
# client_socket.send(data)
try:
data = client_socket.recv(1)
if (data == "3"):
bottom.mright3()
elif (data == "4"):
bottom.mright2()
elif (data == "5"):
bottom.mright1()
elif (data == "6"):
bottom.mid()
elif (data == "7"):
bottom.mleft5()
elif (data == "8"):
bottom.mleft4()
elif (data == "9"):
bottom.mleft3()
print data
except KeyboardInterrupt:
client_socket.close()
server_socket.close()
exit(0)
#while 1:
# data = raw_input ( "SEND( TYPE q or Q to Quit):" )
# if (data == 'Q' or data == 'q'):
# client_socket.send (data)
# client_socket.close()
# break;
# else:
# client_socket.send(data)
def update_mhi(img, dst, diff_threshold):
global last
global mhi
global storage
global mask
global orient
global segmask
timestamp = time.clock() / CLOCKS_PER_SEC # get current time in seconds
size = cv.GetSize(img) # get current frame size
idx1 = last
global var1
if not mhi or cv.GetSize(mhi) != size:
for i in range(N):
buf[i] = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
cv.Zero(buf[i])
mhi = cv.CreateImage(size,cv. IPL_DEPTH_32F, 1)
cv.Zero(mhi) # clear MHI at the beginning
orient = cv.CreateImage(size,cv. IPL_DEPTH_32F, 1)
segmask = cv.CreateImage(size,cv. IPL_DEPTH_32F, 1)
mask = cv.CreateImage(size,cv. IPL_DEPTH_8U, 1)
cv.CvtColor(img, buf[last], cv.CV_BGR2GRAY) # convert frame to grayscale
idx2 = (last + 1) % N # index of (last - (N-1))th frame
last = idx2
silh = buf[idx2]
cv.AbsDiff(buf[idx1], buf[idx2], silh) # get difference between frames
cv.Threshold(silh, silh, diff_threshold, 1, cv.CV_THRESH_BINARY) # and threshold it
cv.UpdateMotionHistory(silh, mhi, timestamp, MHI_DURATION) # update MHI
cv.CvtScale(mhi, mask, 255./MHI_DURATION,
(MHI_DURATION - timestamp)*255./MHI_DURATION)
cv.Zero(dst)
cv.Merge(mask, None, None, None, dst)
cv.CalcMotionGradient(mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3)
if not storage:
storage = cv.CreateMemStorage(0)
seq = cv.SegmentMotion(mhi, segmask, storage, timestamp, MAX_TIME_DELTA)
for (area, value, comp_rect) in seq:
if comp_rect[2] + comp_rect[3] > 250: # reject very small components
color = cv.CV_RGB(255, 0,0)
silh_roi = cv.GetSubRect(silh, comp_rect)
mhi_roi = cv.GetSubRect(mhi, comp_rect)
orient_roi = cv.GetSubRect(orient, comp_rect)
mask_roi = cv.GetSubRect(mask, comp_rect)
angle = 360 - cv.CalcGlobalOrientation(orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION)
print angle
count = cv.Norm(silh_roi, None, cv.CV_L1, None) # calculate number of points within silhouette ROI
if count < (comp_rect[2] * comp_rect[3] * 0.05):
continue
magnitude = 80.
center = ((comp_rect[0] + comp_rect[2] / 2), (comp_rect[1] + comp_rect[3] / 2))
cv.Circle(dst, center, cv.Round(magnitude*1.2), color, 10, cv.CV_AA, 0)
print "motion detected at",center[1]
if (center[1] > 320):
bottom.mright3()
if (center[1] <320):
bottom.mleft4()
var1=var1+1
if (var1==40):
led.motion()
var1=0
if (center[1] > 320):
# print "hai"
bottom.mright3()
if (center[1] <320):
bottom.mleft4()
print "hai"
emotion.exclaim()
cv.Line(dst,
center,
(cv.Round(center[0] + magnitude * cos(angle * cv.CV_PI / 180)),
cv.Round(center[1] - magnitude * sin(angle * cv.CV_PI / 180))),
color,
3,
cv.CV_AA,
0)
