def setValues(threshold):
"""Adds trackbars to the main window for adjusting thresholding values
Optionally uses some other window (specified by 'window').
"""
global current
current = threshold
for i,v in enumerate(threshold[1]):
T[1][i] = v
if trackbar_window:
cv.SetTrackbarPos("ch%d min"%(i+1), trackbar_window, v)
for i,v in enumerate(threshold[2]):
T[2][i] = v
if trackbar_window:
cv.SetTrackbarPos("ch%d max"%(i+1), trackbar_window, v)
def getCornerMap(frame):
global corner
cornerMap = cv.CreateMat(frame.height, frame.width, cv.CV_32FC1)
if (corner < 1):
corner = 1
cv.SetTrackbarPos("corner", "RGB module", 1)
cv.CornerHarris(frame, cornerMap, corner)
return (cornerMap)
def change_object(idx):
currentcolors = []
for i in range(6):
currentcolors.append(colors[idx * 6 + i])
cv.SetTrackbarPos('object', objects, idx)
cv.SetTrackbarPos('hue', objects, int(currentcolors[0]))
cv.SetTrackbarPos('saturation', objects, int(currentcolors[1]))
cv.SetTrackbarPos('value', objects, int(currentcolors[2]))
cv.SetTrackbarPos('maxhue', objects, int(currentcolors[3]))
cv.SetTrackbarPos('maxsaturation', objects, int(currentcolors[4]))
cv.SetTrackbarPos('maxvalue', objects, int(currentcolors[5]))
def show_images(args):
'''show all images'''
global image, idx
cv.NamedWindow('Bayer')
if len(args) > 1:
tbar = cv.CreateTrackbar('Image', 'Bayer', 0,
len(args) - 1, change_image)
cv.SetMouseCallback('Bayer', mouse_event, None)
idx = 0
pgm = None
while True:
print(args[idx])
(image, pgm) = change_image(idx)
oldidx = idx
newidx = cuav_util.key_menu(oldidx,
len(args),
image,
'%s.png' % args[idx][:-4],
pgm=pgm)
idx += (newidx - oldidx)
cv.SetTrackbarPos('Image', 'Bayer', idx)
cv.DestroyWindow('Bayer')
def process_section(self):
""" calculates the min/max slider values for a given section and sets the
slider values to them
"""
print "sections:", self.sections
if len(self.sections) > 0:
# pull out all sections with 'a' in the front
adds = [[x[1], x[2]] for x in self.sections if x[0] == 'a']
# pull out all sections with a 's' in the front
subs = [[x[1], x[2]] for x in self.sections if x[0] == 's']
print "adds: ", adds
print "subs: ", subs
# mins default to highest value, maxs default to lowest value
minmax = [[255,0] for x in xrange(6)]
for i in adds:
# get coords for easy access
x0 = i[0][0]
y0 = i[0][1]
x1 = i[1][0]
y1 = i[1][1]
# Make sure that x0, y0 are smaller than x1, y1
if x0 > x1:
x0, x1 = x1, x0
if y0 > y1:
y0, y1 = y1, y0
# Go through pixel by pixel
for x in xrange(x0, x1):
for y in xrange(y0, y1):
in_range = True
# the point will be out of range if it is in a subtracted section somewhere
for p in subs:
if x > p[0][0] and y > p[0][1] and x < p[1][0] and y < p[1][1]:
in_range = False
if in_range:
# Now it isn't part of a subtracted region
(b,g,r) = self.image[y,x]
(h,s,v) = self.hsv[y,x]
allv = [r,g,b, h, s, v]
for j in xrange(len(allv)):
if allv[j] < minmax[j][0]:
minmax[j][0] = int(allv[j])
if allv[j] > minmax[j][1]:
minmax[j][1] = int(allv[j])
# Now set sliders to those values
names = [["low_red", "high_red"], ["low_green", "high_green"],\
["low_blue", "high_blue"], ["low_hue", "high_hue"],\
["low_sat", "high_sat"], ["low_val", "high_val"]]
for i in xrange(len(names)):
for j in xrange(2):
self.thresholds[names[i][j]] = minmax[i][j]
cv.SetTrackbarPos(names[i][j], 'sliders', minmax[i][j])
def check_key_press(key_press):
""" this handler is called when a real key press has been
detected, and updates everything appropriately
"""
# get D so that we can change values in it
global D
D.last_key_pressed = key_press
if key_press == ord('q') or key_press == 27: # if a 'q' or ESC was pressed
print "quitting... first, stopping the FSM"
D.STOP = True # stop the FSM...
time.sleep(2) # give it some time to stop
D.running = False # stops the main loop
return
elif key_press == ord('F'):
# toggle our FSM
if D.STOP == True: # the FSM is not running
print "Starting FSM..."
D.STOP = False # so the FSM will run...
D.start_fsm_time = time.time() # record our fsm's starting time...
transition(0.1, state_start)
else:
D.STOP = True # will stop one, if it's running
print "Stopping FSM..."
time.sleep(2.0) # wait a bit so that the FSM thread will stop
elif key_press == ord('i'):
D.launchcontrol.sendCodeToLauncher("up")
elif key_press == ord('k'):
D.launchcontrol.sendCodeToLauncher("down")
elif key_press == ord('j'):
D.launchcontrol.sendCodeToLauncher("left")
elif key_press == ord('l'):
D.launchcontrol.sendCodeToLauncher("right")
elif key_press == ord('\n'):
D.launchcontrol.sendCodeToLauncher("fire")
elif key_press in [ord('z'), ord(' ')]:
D.launchcontrol.sendCodeToLauncher("stop")
elif key_press == ord('S'): # save to file
x = D.thresholds # the value we will save
f = open("./thresh.txt", "w") # open the file "thresh.txt" for writing
print >> f, x # print x to the file object f
f.close() # it's good to close the file afterwards
print "Saving current slider threshold values..."
elif key_press == ord('L'): # load from file
try:
f = open("./thresh.txt",
"r") # open the file "thresh.txt" for reading
data = f.read() # read everything from f into data
x = eval(data) # eval is Python's evaluation function
f.close() # it's good to close the file afterwards
D.thresholds = x
cv.SetTrackbarPos('low_red', 'sliders', D.thresholds['low_red'])
cv.SetTrackbarPos('high_red', 'sliders', D.thresholds['high_red'])
cv.SetTrackbarPos('low_green', 'sliders',
D.thresholds['low_green'])
cv.SetTrackbarPos('high_green', 'sliders',
D.thresholds['high_green'])
cv.SetTrackbarPos('low_blue', 'sliders', D.thresholds['low_blue'])
cv.SetTrackbarPos('high_blue', 'sliders',
D.thresholds['high_blue'])
cv.SetTrackbarPos('low_hue', 'sliders', D.thresholds['low_hue'])
cv.SetTrackbarPos('high_hue', 'sliders', D.thresholds['high_hue'])
cv.SetTrackbarPos('low_sat', 'sliders', D.thresholds['low_sat'])
cv.SetTrackbarPos('high_sat', 'sliders', D.thresholds['high_sat'])
cv.SetTrackbarPos('low_val', 'sliders', D.thresholds['low_val'])
cv.SetTrackbarPos('high_val', 'sliders', D.thresholds['high_val'])
print "Loaded saved slider threshold values..."
except:
print "No file named thresh.txt found!"
else:
print "Did not recognize a command for key #", key_press, "(", chr(
key_press), ")"
def check_key_press(key_press):
""" this handler is called when a real key press has been
detected, and updates everything appropriately
"""
# get D so that we can change values in it
global D
D.last_key_pressed = key_press
# if it was ESC, make it 'q'
if key_press == 27:
key_press = ord('q')
# publish the key press, if it's in range
if ord(' ') <= key_press <= ord('z'):
D.K_PUB.publish(String(str(chr(key_press))))
# if a 'q' or ESC was pressed, we quit
if key_press == ord('q'):
print "quitting"
rospy.signal_shutdown("Quit requested from keyboard")
return
# help menu
if key_press == ord('h'):
print " Keyboard Command Menu"
print " =============================="
print " q : quit"
print " ESC : quit"
print " h : help menu"
print " w : show total threshold image in threshold window"
print " r : show red image in threshold window"
print " t : show green image in threshold window"
print " y : show blue image in threshold window"
print " f : show thresholded red image in threshold window"
print " g : show thresholded blue image in threshold window"
print " h : show thresholded green image in threshold window"
print " a : show hue image in threshold window"
print " s : show saturation image in threshold window"
print " d : show value image in threshold window"
print " z : show thresholded hue image in threshold window"
print " x : show thresholded saturation image in threshold window"
print " c : show thresholded value image in threshold window"
print " v : saves threshold values to file (overwriting)"
print " b : loads threshold values from file"
print " u : mousedrags no longer set thresholds"
print " i : mousedrag set thresholds to area within drag"
elif key_press == ord('v'):
x = D.thresholds
f = open("./thresh.txt", "w") # open the file "thresh.txt" for writing
print >> f, x # print x to the file object f
f.close() # it's good to close the file afterwards
print "(v) Wrote thresholds to thresh.txt. Use 'b' to load them."
elif key_press == ord('b'):
# should check if file exists!
f = open("./thresh.txt", "r") # open the file "thresh.txt" for reading
data = f.read() # read everything from f into data
x = eval(data) # eval is Python's evaluation function
# eval evaluates strings as if they were at the Python shell
f.close() # its good to close the file afterwards
print "(b) Loaded thresholds from thresh.txt. Use 'v' to save them."
# Set threshold values in D
D.thresholds = x
# Update threshold values on actual sliders
for i in [
'low_red', 'high_red', 'low_green', 'high_green', 'low_blue',
'high_blue', 'low_hue', 'high_hue', 'low_sat', 'high_sat',
'low_val', 'high_val'
]:
cv.SetTrackbarPos(i, 'sliders', D.thresholds[i])
# threshold keypresses:
elif key_press in D.key_dictionary.keys():
D.current_threshold = D.key_dictionary[key_press]
f.write('%s %u %u\n' % (args[idx], x, y))
f.close()
print("Joe at %u,%u of %s" % (x, y, args[idx]))
def change_image(i):
'''show image idx'''
global idx, pgm
idx = i
pgm = util.PGM(args[idx])
cv.ShowImage('CanberraUAV', pgm.img)
cv.NamedWindow('CanberraUAV')
if len(args) > 1:
tbar = cv.CreateTrackbar('Image', 'CanberraUAV', 0,
len(args) - 1, change_image)
cv.SetMouseCallback('CanberraUAV', mouse_event, None)
idx = 0
pgm = None
while True:
print(args[idx])
change_image(idx)
oldidx = idx
newidx = util.key_menu(oldidx, len(args), None, None)
idx += (newidx - oldidx)
cv.SetTrackbarPos('Image', 'CanberraUAV', idx)
cv.DestroyWindow('CanberraUAV')
cv.GetCaptureProperty(g_capture, cv.CV_CAP_PROP_FRAME_COUNT))
if (frames == 0):
print "No video"
loop = False
else:
# create the trackbar and attach the function "onTrackbarSlide" to it
loop = True
cv.CreateTrackbar("Position", "Example3", g_slider_pos, frames,
onTrackbarSlide)
while (loop):
if (not (useTrackbar and downUpdateTrackbarPos)):
frame = cv.QueryFrame(g_capture)
if (frame == None):
cv.SetTrackbarPos("Position", "Example3", 0)
cv.ShowImage("Example3", frame)
# wait until a key is pressed, or 33 ms have passed
char = cv.WaitKey(33)
if (useTrackbar):
# if i dont use the listenToSliderVariable, the act of updating the slide makes it
# slide, seems like a bug to me.
listenToSlider = False
curpos = long(
cv.GetCaptureProperty(g_capture,
cv.CV_CAP_PROP_POS_FRAMES))
cv.SetTrackbarPos("Position", "Example3", curpos)
listenToSlider = True
# if no key was pressed (timeout) we get -1
if (char != -1):
# 27 is esc
