def adapRotate(option, *args):
path = 'rotate/real' if option.upper() == 'T' else 'rotate/fake'
os.makedirs(path, exist_ok=True)
gray = args[0].copy()
thresh = cv2.adaptiveThreshold(gray, 255, cv2.ADAPTIVE_THRESH_MEAN_C,
cv2.THRESH_BINARY_INV, 25, 15)
conts = cv2.findContours(thresh, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
conts = grab_contours(conts)
clone = args[1].copy()
for cont in conts:
box = cv2.minAreaRect(cont)
x, y, theta = box
box = np.int0(cv2.BoxPoints(box) if is_cv2() else cv2.boxPoints(box))
cv2.drawContours(clone, [box], -1, (0, 255, 0), 1)
print(
f'x1 : {x[0]:.2f}, x2: {x[1]:.2f} \ny1 : {y[0]:.2f}, y2 : {y[1]:.2f}\ntheta : {theta:.2f}\n'
)
cv2.imwrite(f'{path}/{fileName}.jpg', clone)
def RotatedRatio(self):
# compute the rotated bounding box of the contour===================================================
box_rotated = cv2.minAreaRect(self.region)
box_rotated = cv2.BoxPoints(
box_rotated) if imutils.is_cv2() else cv2.boxPoints(box_rotated)
box_rotated = np.array(box_rotated, dtype="int")
b = box_rotated
# order the points in the contour such that they appear
# in top-left, top-right, bottom-right, and bottom-left
# order, then draw the outline of the rotated bounding
# box
box_rotated = perspective.order_points(box_rotated)
# unpack the ordered bounding box, then compute the midpoint
# between the top-left and top-right coordinates, followed by
# the midpoint between bottom-left and bottom-right coordinates
(tl, tr, br, bl) = box_rotated
(tltrX, tltrY) = propriété_forme.midpoint(tl, tr)
(blbrX, blbrY) = propriété_forme.midpoint(bl, br)
# compute the midpoint between the top-left and top-right points,
# followed by the midpoint between the top-righ and bottom-right
(tlblX, tlblY) = propriété_forme.midpoint(tl, bl)
(trbrX, trbrY) = propriété_forme.midpoint(tr, br)
points = ((tltrX, tltrY), (blbrX, blbrY), (tlblX, tlblY), (trbrX,
trbrY))
# compute the Euclidean distance between the midpoints
dA = dist.euclidean((tltrX, tltrY), (blbrX, blbrY))
dB = dist.euclidean((tlblX, tlblY), (trbrX, trbrY))
ratio_rotated = round(dA / (dB + 0.0000000000001), 4)
return dA, dB, ratio_rotated, points
def RotatedBoundingBox(self):
cnt = self.region
#rect = cv2.minAreaRect(cnt)
box_rotated = cv2.minAreaRect(self.region)
box_rotated = cv2.BoxPoints(
box_rotated) if imutils.is_cv2() else cv2.boxPoints(box_rotated)
box = np.array(box_rotated, dtype="int")
#box = cv2.boxPoints(rect) # data is float
#box = np.int0(box) # turn data into integer.
return box, box
def take_photo():
camera = PiCamera() # Open port to camera.
camera.resolution = (300, 300) # Take small photo.
camera.zoom = (0.25, 0.25, 0.5, 0.5
) # Zoom in to avoid photographing platform edges.
camera.start_preview()
sleep(2) # 2 seconds is minimum delay for camera to prepare.
camera.capture('/home/pi/Desktop/img/image3.jpg') # Take photo.
camera.stop_preview()
camera.close() # Close open connection to camera port.
image = cv2.imread(
'/home/pi/Desktop/img/image3.jpg') # Load image for analysis.
gray = cv2.cvtColor(image,
cv2.COLOR_BGR2GRAY) # Convert image to grayscale.
edged = cv2.Canny(
gray, 25, 100) # Apply edge detector with threshold (converts to B&W).
edged = cv2.dilate(edged, (5, 5), iterations=5) # Pixel expansion.
cnts = cv2.findContours(edged.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
(cnts, _) = contours.sort_contours(cnts)
colors = ((0, 0, 255), (240, 0, 159), (255, 0, 0), (255, 255, 0)
) # Bounding box line colors.
for (i, c) in enumerate(cnts):
if cv2.contourArea(c) < 100:
continue
global area # Use this variable to determine if object is large or small.
area += cv2.contourArea(c)
print('contour area: ', cv2.contourArea(c))
print('area (inside): ', area)
box = cv2.minAreaRect(c)
box = cv2.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box)
box = np.array(box, dtype="int")
cv2.drawContours(image, [box], -1, (0, 255, 0), 2)
rect = order_points(box)
for ((x, y), color) in zip(rect, colors):
cv2.circle(image, (int(x), int(y)), 5, color, -1)
cv2.putText(image, "Object #{}".format(i + 1),
(int(rect[0][0] - 15), int(rect[0][1] - 15)),
cv2.FONT_HERSHEY_SIMPLEX, 0.55, (255, 255, 255), 2)
cv2.imshow("window", image)
cv2.waitKey(3000)
cv2.destroyAllWindows()
def main():
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-v", "--video",
help = "path to the (optional) video file")
args = vars(ap.parse_args())
# grab the reference to the current frame, list of ROI
# points and whether or not it is ROI selection mode
global frame, roiPts, inputMode
# if the video path was not supplied, grab the reference to the
# camera
if not args.get("video", False):
camera = cv2.VideoCapture(0)
# otherwise, load the video
else:
camera = cv2.VideoCapture(args["video"])
# setup the mouse callback
cv2.namedWindow("frame")
cv2.setMouseCallback("frame", selectROI)
# initialize the termination criteria for cam shift, indicating
# a maximum of ten iterations or movement by a least one pixel
# along with the bounding box of the ROI
termination = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1)
roiBox = None
# keep looping over the frames
while True:
# grab the current frame
(grabbed, frame) = camera.read()
# check to see if we have reached the end of the
# video
if not grabbed:
break
# if the see if the ROI has been computed
if roiBox is not None:
# convert the current frame to the HSV color space
# and perform mean shift
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
backProj = cv2.calcBackProject([hsv], [0], roiHist, [0, 180], 1)
# apply cam shift to the back projection, convert the
# points to a bounding box, and then draw them
(r, roiBox) = cv2.CamShift(backProj, roiBox, termination)
pts = np.int0(cv2.BoxPoints(r))
cv2.polylines(frame, [pts], True, (0, 255, 0), 2)
# show the frame and record if the user presses a key
cv2.imshow("frame", frame)
key = cv2.waitKey(1) & 0xFF
# handle if the 'i' key is pressed, then go into ROI
# selection mode
if key == ord("i") and len(roiPts) < 4:
# indicate that we are in input mode and clone the
# frame
inputMode = True
orig = frame.copy()
# keep looping until 4 reference ROI points have
# been selected; press any key to exit ROI selction
# mode once 4 points have been selected
while len(roiPts) < 4:
cv2.imshow("frame", frame)
cv2.waitKey(0)
# determine the top-left and bottom-right points
roiPts = np.array(roiPts)
s = roiPts.sum(axis = 1)
tl = roiPts[np.argmin(s)]
br = roiPts[np.argmax(s)]
# grab the ROI for the bounding box and convert it
# to the HSV color space
roi = orig[tl[1]:br[1], tl[0]:br[0]]
roi = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
#roi = cv2.cvtColor(roi, cv2.COLOR_BGR2LAB)
# compute a HSV histogram for the ROI and store the
# bounding box
roiHist = cv2.calcHist([roi], [0], None, [16], [0, 180])
roiHist = cv2.normalize(roiHist, roiHist, 0, 255, cv2.NORM_MINMAX)
roiBox = (tl[0], tl[1], br[0], br[1])
# if the 'q' key is pressed, stop the loop
elif key == ord("q"):
break
# cleanup the camera and close any open windows
camera.release()
cv2.destroyAllWindows()
# find contours in the edge map
cnts = cv2.findContours(image_res_thre.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
# sort the contours from left-to-right and initialize the bounding box point colors
(cnts, _) = contours.sort_contours(cnts)
colors = ((0, 0, 255), (240, 0, 159), (255, 0, 0), (255, 255, 0))
coords = []
testing = []
testing2 = []
for (i, c) in enumerate(cnts):
if cv2.contourArea(c) < 100:
continue
box = cv2.minAreaRect(c)
box = cv2.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box)
print("type", type(box))
one = box[1]
print("one", one)
print("box", box)
box = np.array(box, dtype="int")
cv2.drawContours(image, [box], -1, (0,255,0), 2)
print("Object #{}:".format(i+1))
print(box)
rect = order_points_old(box)
print("2113213122", rect)
# cv2.circle(image, (267, 388), 8, (10, 150, 150), -1)
# cv2.circle(image, (390, 383), 10, (110, 15, 50), -1)
def image_callback(ros_image):
print 'got an image'
global bridge, midpoint, boundaries
#convert ros_image into an opencv image
frame0 = bridge.imgmsg_to_cv2(ros_image, "bgr8")
frame1 = bridge.imgmsg_to_cv2(ros_image, "bgr8")
frame2 = bridge.imgmsg_to_cv2(ros_image, "bgr8")
frame3 = bridge.imgmsg_to_cv2(ros_image, "bgr8")
(h, w, d) = frame1.shape
# print(frame1.shape)
pts = deque(maxlen=args["buffer"])
counter = 0
(dX, dY) = (0, 0)
direction = ""
time.sleep(1 / 42)
cv2.rectangle(frame0, (0, 0), (25, 25), (0, 0, 255), 2)
diff_size = cv2.absdiff(frame0, frame3)
diff_coordinates = cv2.absdiff(frame1, frame2)
######## color filtering for red
for (lower, upper) in boundaries:
lower = np.array(lower, dtype="uint8")
upper = np.array(upper, dtype="uint8")
mask = cv2.inRange(frame1, lower, upper)
cv2.imshow("mask", mask)
####### color filtering for red
#image processing for coordinates
gray = cv2.cvtColor(diff_coordinates, cv2.COLOR_BGR2GRAY)
blur = cv2.GaussianBlur(gray, (5, 5), 0)
_, thresh = cv2.threshold(blur, 20, 255, cv2.THRESH_BINARY)
dilated = cv2.dilate(thresh, None, iterations=1)
# cv2.imshow("imaged dilated", dilated.copy())
# cv2.imshow("frame1 copy", frame1.copy())
# image processing for SIZE
gray_size = cv2.cvtColor(diff_size, cv2.COLOR_BGR2GRAY)
blur_size = cv2.GaussianBlur(gray_size, (5, 5), 0)
_, thresh_size = cv2.threshold(blur_size, 20, 255, cv2.THRESH_BINARY)
dilated_size = cv2.dilate(thresh_size, None, iterations=1)
# cv2.imshow("dilated size", dilated_size)
edged = cv2.Canny(diff_size, 50, 100)
edged = cv2.dilate(edged, None, iterations=1)
edged = cv2.erode(edged, None, iterations=1)
# cv2.imshow("edged copy", edged.copy())
## shapes
gray_shapes = cv2.cvtColor(frame1, cv2.COLOR_BGR2GRAY)
blurred_shapes = cv2.GaussianBlur(gray_shapes, (5, 5), 0)
thresh_shapes = cv2.threshold(blurred_shapes, 60, 255,
cv2.THRESH_BINARY)[1]
## by this point we're ready to find and draw shape contours
# first extract controus from the image
cnts_shapes = cv2.findContours(thresh_shapes.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts_shapes = imutils.grab_contours(cnts_shapes)
for c in cnts_shapes:
cv2.drawContours(frame1, [c], -1, (0, 255, 0), 2)
# display the total number of shapes on the image
text = "I found {} total shapes".format(len(cnts_shapes))
cv2.putText(frame1, text, (10, 20), cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(0, 0, 255), 2)
# shapes
# HERE THERE ARE TWO CONTOUR CAPTURING METHODS. CON FOR THE COORDINATES AND CNTS FOR THE SIZE
_, con, _ = cv2.findContours(dilated, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
# this handles the contours for the size. note the contours need to be sorted so that we can use our square as ref
# compared edged to dilated_size and dilated_size performs better
cnts = cv2.findContours(dilated_size, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
(cnts, _) = contours.sort_contours(cnts)
# cv2.imshow("image edged,", edged)
pixelsPerMetric = None
for (i, c) in enumerate(cnts):
if cv2.contourArea(c) < 250:
continue
box = cv2.minAreaRect(c)
box = cv2.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box)
for (x, y) in box:
cv2.circle(frame1, (int(x), int(y)), 2, (0, 0, 255), -1)
(tl, tr, br, bl) = box
(tltrX, tltrY) = midpoint(tl, tr)
(blbrX, blbrY) = midpoint(bl, br)
(tlblX, tlblY) = midpoint(tl, bl)
(trbrX, trbrY) = midpoint(tr, br)
cv2.circle(frame1, (int(tltrX), int(tltrY)), 1, (255, 0, 0), -1)
cv2.circle(frame1, (int(blbrX), int(blbrY)), 1, (255, 0, 0), -1)
cv2.circle(frame1, (int(tlblX), int(tlblY)), 1, (255, 0, 255), -1)
cv2.circle(frame1, (int(trbrX), int(trbrY)), 1, (255, 0, 255), -1)
dA = dist.euclidean((tltrX, tltrY), (blbrX, blbrY)) # height in pixels
dB = dist.euclidean((tlblX, tlblY), (trbrX, trbrY)) # width in pixels
if pixelsPerMetric is None:
# # pixelsPerMetric = dB / args["width"]
pixelsPerMetric = 0.22 # top right contour is about a quarter inch by a quarter inch # his was found by meaasuing that 106 px were in an inch
#250
dimA = dA / pixelsPerMetric # pixels divided by the appx pixel size in inches of the first countour
dimB = dB / pixelsPerMetric
appx_area = dA * dB
cv2.putText(frame1, '{:.1f}" px in x'.format(dimB),
(int(tltrX - 15), int(tltrY - 10)),
cv2.FONT_HERSHEY_SIMPLEX, 0.4, (0, 0, 255), 1)
cv2.putText(frame1, '{:.1f}" px in y'.format(dimA),
(int(trbrX - 120), int(trbrY)), cv2.FONT_HERSHEY_SIMPLEX,
0.4, (0, 0, 255), 1)
cv2.putText(frame1, "{:.1f} pxsq".format(appx_area),
(int(trbrX - 140), int(trbrY + 20)),
cv2.FONT_HERSHEY_SIMPLEX, 0.4, (0, 0, 255), 1)
# below is for coordinates
if len(con) > 0:
c = max(con, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
if radius > 0:
cv2.circle(frame1, center, 1, (0, 0, 255), -1)
pts.appendleft(center)
for c in con:
M = cv2.moments(c)
cX = int(M["m10"] / M["m00"])
cY = int(M["m01"] / M["m00"])
ex = (Decimal(cX) - Decimal(frame_x)) / Decimal(frame_x)
why = -1 * (Decimal(cY) - Decimal(frame_y)) / Decimal(frame_y)
(x, y, w, h) = cv2.boundingRect(c)
if cv2.contourArea(c) < 250:
continue
cv2.rectangle(frame1, (x, y), (x + w, y + h), (0, 255, 0), 2)
cv2.putText(frame1, 'UTEP: {}'.format('DETECTED'), (10, 20),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 69, 255), 3)
cv2.putText(frame1, "dx: {}, dy: {}".format(ex, why),
(10, frame1.shape[0] - 50), cv2.FONT_HERSHEY_SIMPLEX, 1,
(0, 255, 0), 3)
cv2.putText(frame1, "dx: {}, dy: {}".format(cX, cY),
(10, frame1.shape[0] - 10), cv2.FONT_HERSHEY_SIMPLEX, 1,
(0, 255, 0), 3)
for i in np.arange(1, len(pts)):
if pts[i - 1] is None or pts[i] is None:
continue
if counter >= 10 and i == 1 and pts[-10] is not None:
dX = pts[-10][0] - pts[i][0]
dY = pts[-10][1] - pts[i][1]
(dirX, dirY) = ("", "")
if np.abs(dX) > 20:
dirX = "east" if np.sign(dX) == 1 else "west"
if np.abs(dY) > 20:
dirY = "Nort" if np.sign(dY) == 1 else "south"
if dirX != "" and dirY != "":
direction = "{}-{}.format" (dirY, dirX)
else:
direction = dirX if dirX != "" else dirY
thickness = int(np.sqrt(args["buffer"] / float(i + 1)) * 1.5)
cv2.line(frame1, pts[i - 1], pts[i], (255, 0, 0), thickness)
# out.write(frame1)
cv2.imshow('feed', frame1)
frame1 = frame2
frame0 = frame3
frame2 = bridge.imgmsg_to_cv2(ros_image, "bgr8")
frame3 = bridge.imgmsg_to_cv2(ros_image, "bgr8")
#
# cv2.imshow("image window", frame1)
cv2.waitKey(3)
def grab_contour(threshold_image):
# sort the contours from left-to-right and initialize the 'pixels per metric' calibration variable
cnts = cv2.findContours(threshold_image.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
# sort the contours from left-to-right and initialize the bounding box point colors
(cnts, _) = contours.sort_contours(cnts)
new_swap_list = []
leftmost_contour = None
center_points, areas, distances, corners, three_areas, coords, testing = [], [], [], [], [], [], []
known_width = 7.6
focal_length = 300
for (i, c) in enumerate(cnts):
area = cv2.contourArea(c)
three_areas.append(area)
sorteddata = sorted(zip(three_areas, cnts),
key=lambda x: x[0],
reverse=True)
if cv2.contourArea(c) <= 30:
continue
box = cv2.minAreaRect(c)
box = cv2.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(box)
box = np.array(box, dtype="int")
cv2.drawContours(threshold_image, [box], -1, (0, 255, 0), 2)
rect = order_points(box)
testing.append(rect)
coords.append(rect[0])
index_ordered_list = [] # whole point values in ordered index values
# Four largest contours' coordinates
compare_list = [
sorteddata[0][1][0][0], sorteddata[1][1][0][0], sorteddata[2][1][0][0],
sorteddata[3][1][0][0]
]
first, second, third, fourth = compare_lists([compare_list])
index_ordered_list.extend((first, second, third, fourth))
for i in np.argsort(index_ordered_list):
new_swap_list.append(sorteddata[i][1])
for c in new_swap_list:
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.02 * peri, True)
area = cv2.contourArea(c)
if cv2.contourArea(c) <= 30:
continue
box = approx
box = np.squeeze(box)
# order the points in the contour and draw outlines of the rotated rounding box
box = order_points(box)
box = perspective.order_points(box)
testing.append(box)
(x, y, w, h) = cv2.boundingRect(c)
# compute area
area = cv2.contourArea(c)
areas.append(area)
# compute center points
M = cv2.moments(c)
if M["m00"] != 0:
cx = int(M["m10"] / M["m00"])
cy = int(M["m01"] / M["m00"])
else:
cx, cy = 0, 0
center = (cx, cy)
center_points.append(center)
c_x = np.average(box[:, 0])
c_y = np.average(box[:, 1])
# compute corners from contour image
# four_corners = corners_from_contour(threshold_image, c)
corners.append(box)
# compute and return the distance from the maker to the camera
distances.append(distance_to_camera(known_width, focal_length, w))
if leftmost_contour is None:
(tl, tr, br, bl) = box
(tlblX, tlblY) = midpoint(tl, bl)
(trbrX, trbrY) = midpoint(tr, br)
# compute the Euclidean distance between the midpoints, then construct the reference object
d = dist.euclidean((tlblX, tlblY), (trbrX, trbrY))
leftmost_contour = (box, (c_x, c_y), d / 7.5)
# first_box = box
continue
# swap to order center_points
if center_points[1][0] <= center_points[2][0]:
tmp = center_points[2]
center_points[2] = center_points[1]
center_points[1] = tmp
if corners[1][0][0] <= corners[2][0][0]:
tmp = corners[2]
corners[2] = corners[1]
corners[1] = tmp
return leftmost_contour, center_points, areas, distances, corners
gradX = cv2.Sobel(gray, ddepth=cv2.CV_32F, dx=1, dy=0, ksize=-1)
gradY = cv2.Sobel(gray, ddepth=cv2.CV_32F, dx=0, dy=1, ksize=-1)
# subtract the y-gradient from the x-gradient
gradient = cv2.subtract(gradX, gradY)
gradient = cv2.convertScaleAbs(gradient)
# blur and threshold the image
blurred = cv2.blur(gradient, (9, 9))
(_, thresh) = cv2.threshold(blurred, 90, 255, cv2.THRESH_BINARY)
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (25, 25))
closed = cv2.morphologyEx(thresh, cv2.MORPH_CLOSE, kernel)
# perform a series of erosions and dilations
closed = cv2.erode(closed, None, iterations=4)
closed = cv2.dilate(closed, None, iterations=4)
(cnts, _) = cv2.findContours(closed.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
c = sorted(cnts, key=cv2.contourArea, reverse=True)[0]
# compute the rotated bounding box of the largest contour
rect = cv2.minAreaRect(c)
box = np.int0(cv2.BoxPoints(rect))
# draw a bounding box arounded the detected barcode and display the image
cv2.drawContours(image, [box], -1, (0, 255, 0), 3)
cv2.imshow("Image", image)
cv2.imwrite("contoursImage2.jpg", image)
cv2.waitKey(0)
def find_min_area_rectangle(self, contour):
rectangle = cv2.minAreaRect(contour)
box = cv2.BoxPoints(rectangle)
return rectangle, box
def image_callback(self, data):
# Store the image header in a global variable
self.image_header = data.header
# Time this loop to get cycles per second
start = time.time()
# Convert the ROS image to OpenCV format using a cv_bridge helper function
frame = self.convert_image(data)
# Some webcams invert the image
if self.flip_image:
frame = cv2.flip(frame, 0)
# Store the frame width and height in a pair of global variables
if self.frame_width is None:
self.frame_size = (frame.shape[1], frame.shape[0])
self.frame_width, self.frame_height = self.frame_size
# Create the marker image we will use for display purposes
if self.marker_image is None:
self.marker_image = np.zeros_like(frame)
# Copy the current frame to the global image in case we need it elsewhere
self.frame = frame.copy()
# Reset the marker image if we're not displaying the history
if not self.keep_marker_history:
self.marker_image = np.zeros_like(self.marker_image)
# Process the image to detect and track objects or features
processed_image = self.process_image(frame)
# If the result is a greyscale image, convert to 3-channel for display purposes """
#if processed_image.channels == 1:
#cv.CvtColor(processed_image, self.processed_image, cv.CV_GRAY2BGR)
#else:
# Make a global copy
self.processed_image = processed_image.copy()
# Display the user-selection rectangle or point
self.display_selection()
# Night mode: only display the markers
if self.night_mode:
self.processed_image = np.zeros_like(self.processed_image)
# Merge the processed image and the marker image
self.display_image = cv2.bitwise_or(self.processed_image,
self.marker_image)
# If we have a track box, then display it. The track box can be either a regular
# cvRect (x,y,w,h) or a rotated Rect (center, size, angle).
if self.show_boxes:
if self.track_box is not None and self.is_rect_nonzero(
self.track_box):
if len(self.track_box) == 4:
x, y, w, h = self.track_box
size = (w, h)
center = (x + w / 2, y + h / 2)
angle = 0
self.track_box = (center, size, angle)
else:
(center, size, angle) = self.track_box
# For face tracking, an upright rectangle looks best
if self.face_tracking:
pt1 = (int(center[0] - size[0] / 2),
int(center[1] - size[1] / 2))
pt2 = (int(center[0] + size[0] / 2),
int(center[1] + size[1] / 2))
cv2.rectangle(self.display_image, pt1, pt2, (50, 255, 50),
self.feature_size, 8, 0)
else:
# Otherwise, display a rotated rectangle
vertices = np.int0(cv2.BoxPoints(self.track_box))
cv2.drawContours(self.display_image, [vertices], 0,
(50, 255, 50), self.feature_size)
# If we don't yet have a track box, display the detect box if present
elif self.detect_box is not None and self.is_rect_nonzero(
self.detect_box):
(pt1_x, pt1_y, w, h) = self.detect_box
if self.show_boxes:
cv2.rectangle(self.display_image, (pt1_x, pt1_y),
(pt1_x + w, pt1_y + h), (50, 255, 50),
self.feature_size, 8, 0)
# Publish the ROI
self.publish_roi()
# Compute the time for this loop and estimate CPS as a running average
end = time.time()
duration = end - start
fps = int(1.0 / duration)
self.cps_values.append(fps)
if len(self.cps_values) > self.cps_n_values:
self.cps_values.pop(0)
self.cps = int(sum(self.cps_values) / len(self.cps_values))
# Display CPS and image resolution if asked to
if self.show_text:
font_face = cv2.FONT_HERSHEY_SIMPLEX
font_scale = 0.5
""" Print cycles per second (CPS) and resolution (RES) at top of the image """
if self.frame_size[0] >= 640:
vstart = 25
voffset = int(50 + self.frame_size[1] / 120.)
elif self.frame_size[0] == 320:
vstart = 15
voffset = int(35 + self.frame_size[1] / 120.)
else:
vstart = 10
voffset = int(20 + self.frame_size[1] / 120.)
cv2.putText(self.display_image, "CPS: " + str(self.cps),
(10, vstart), font_face, font_scale, (255, 255, 0))
cv2.putText(
self.display_image, "RES: " + str(self.frame_size[0]) + "X" +
str(self.frame_size[1]), (10, voffset), font_face, font_scale,
(255, 255, 0))
# Update the image display
cv2.imshow(self.node_name, self.display_image)
# Process any keyboard commands
self.keystroke = cv2.waitKey(5)
if self.keystroke is not None and self.keystroke != -1:
try:
cc = chr(self.keystroke & 255).lower()
if cc == 'n':
self.night_mode = not self.night_mode
elif cc == 'f':
self.show_features = not self.show_features
elif cc == 'b':
self.show_boxes = not self.show_boxes
elif cc == 't':
self.show_text = not self.show_text
elif cc == 'q':
# The has press the q key, so exit
rospy.signal_shutdown("User hit q key to quit.")
except:
pass
def main():
#construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-v", "--video", help = "path to the optional video file")
args = vars(ap.parse_args())
global frame, roiPts, inputMode
if not args.get("video",False):
camera = cv2.VideoCapture(0)
else:
camera = cv2.VideoCapture(args["video"])
cv2.namedWindow("frame")
cv2.setMouseCallback("frame", selectROI)
termination = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1)
roiBox = None
while True:
(grabbed, frame) = camera.read()
if not grabbed:
break
if roiBox is not None:
# convert current frame to the HSV color space and perform mean shift
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
backProj = cv2.caLcBackProject([hsv], [0], roiHist, [0,180], 1)
# apply cam shift to the back projection, convert the points to a bounding box and then draw them
(r, roiBox) = cv2.CamShift(backProj, roiBox, termination)
pts = np.int0(cv2.BoxPoints(r))
cv2.polylines(frame, [pts], True, (0, 255, 0), 2)
#show the fram and record if the suer presses a key
cv2.imshow("frame",frame)
key = cv2.waitKey(1) & 0xFF
# handle if the i key is pressed then go into ROI selection mode
if key == ord("i") and len(roiPts) <4:
#indicate that we are in input mode and clone frame
inputMode = True
orig = frame.copy()
while len(roiPts) < 4:
cv2.imshow("frame",frame)
cv2.waitKey(0)
roiPts = np.array(roiPts)
s = roiPts.sum(axis = 1)
tl = roiPts[np.argmin(s)]
br = roiPts[np.argmax(s)]
roi = orig[tl[1]:br[1], tl[0]:br[0]]
roi = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
roi = cv2.cvtColor(roi, cv2.COLOR_BGR2LAB)
roiHist = cv2.calcHist([roi], [0], None, [16], [0,180])
roiHist = cv2.normalize(roiHist, roiHist, 0, 255, cv2.NORM_MINMAX)
roiBox = (tl[0], tl[1], br[0], br[1])
elif key == ord("q"):
break
camera.release()
cv2.destroyAllWindows()
