def man_calib(self):
try:
self.pts_rgb = get_points(0)
self.pts_depth = get_points(1)
self.ref_depth_no_balls = four_point_transform(
get_depth(), self.pts_depth)
self.ref_rgb_no_balls = four_point_transform(
get_video(), self.pts_rgb)
with open('pts_rgb.pkl', 'wb') as output1:
pickle.dump(self.pts_rgb, output1)
with open('pts_depth.pkl', 'wb') as output2:
pickle.dump(self.pts_depth, output2)
cv2.imwrite('ref_depth_no_balls.png', self.ref_depth_no_balls)
cv2.imwrite('ref_rgb_no_balls.png', self.ref_rgb_no_balls)
self.quit()
except ValueError:
self.quit()
def get_points(imgType=0):
global refPt, image, i
if imgType == 0:
image = get_video()
else:
image = get_depth()
clone = image.copy()
cv2.namedWindow("image")
cv2.setMouseCallback("image", click_and_crop)
# keep looping until the 'q' key is pressed
while True:
# display the image and wait for a keypress
cv2.imshow("image", image)
key = cv2.waitKey(1) & 0xFF
# if the 'r' key is pressed, reset the cropping region
if key == ord("r"):
image = clone.copy()
refPt = []
i = 0
# if the 'c' key is pressed, break from the loop
elif key == ord("c"):
break
# print(refPt)
pts_order = order_points(np.array(refPt).reshape((4, 2)))
# print(pts_order)
warped = four_point_transform(image, pts_order)
cv2.imshow("ROI", warped)
cv2.waitKey(0)
cv2.destroyAllWindows()
refPt = []
i = 0
return pts_order
def get_depth(pts):
array, _ = freenect.sync_get_depth()
array = array.astype(np.uint8)
return four_point_transform(array, pts)
def get_video(pts):
array, _ = freenect.sync_get_video()
array = cv2.cvtColor(array, cv2.COLOR_RGB2BGR)
return four_point_transform(array, pts)
h_lines, v_lines = segment_lines(lines, delta)
cv2.imshow(
"Segmented Hough Lines",
imutils.resize(drawHoughLines(imgs_copy[0], h_lines, v_lines),
height=320))
_, _, req_corners, req_lines = find_req_lines(imgs_copy[0], h_lines,
v_lines, x_c, y_c)
cv2.imshow("req intersections", imutils.resize(req_lines, height=320))
corners = np.array(list(req_corners), dtype="float32")
print(corners.shape)
imgFinal = get_img()
warped = four_point_transform(imgFinal, corners)
cv2.imshow("warped", imutils.resize(warped, height=250))
depthImg = get_depth()
Np = 1
# for i in range(Np):
# depthImg = depthImg + cv2.cvtColor(get_img(), cv2.COLOR_BGR2GRAY)
# print(depthImg[35, 35])
cv2.imshow("origDepth", imutils.resize(depthImg, height=320))
warped = four_point_transform(depthImg, corners)
cv2.imshow("warpedDepth", imutils.resize(warped, height=250))
b = time.time()
print(b - a)
cv2.waitKey()
def get_depth(self):
array, _ = freenect.sync_get_depth()
array = array.astype(np.uint8)
return cv2.GaussianBlur(four_point_transform(array, self.pts_depth),
(5, 5), 3)
