def __init__(self):
self.root = Tk()
self.picture = ImageProcessing()
self.option = StringVar()
self.option.set("Default")
self.actions = OptionMenu(self.root, self.option, "Default", "Edge",
"Grayscale", "Red Hue", "Green Hue",
"Blue Hue", "Change the Saturation",
"White Hue", "Invert Colors",
"To French Flag", "Customise")
self.option.trace('w', self.optionChange)
self.actions.grid(row=0, column=0)
self.newPictureButton = Button(self.root,
text="New Picture",
command=self.changePicture)
self.newPictureButton.grid(row=0, column=1)
try:
self.p = self.picture.getImage()
self.photo = ImageTk.PhotoImage(self.p)
self.hValue = Spinbox()
self.sValue = Spinbox()
self.vValue = Spinbox()
self.imageLabel = Label(self.root, image=self.photo)
self.imageLabel.grid(row=1, column=0, columnspan=15)
self.root.mainloop()
except:
self.root.destroy()
def __init__(self):
self.Camera = IC.TIS_CAM()
#self.Camera.ShowDeviceSelectionDialog()
print("Open Camera: ",
self.Camera.openVideoCaptureDevice(
"DMK 33UX174")) # Hier richtige Kamera einfügen!!
print("VideoFormat: ",
self.Camera.SetVideoFormat("Y800 (1920x1200)")
) # Format der Kamera auf Y16 setzen mit richtiger Auflösung!!
self.Camera.SetFormat(IC.SinkFormats.Y800) # No Return Value
print("Continuous Mode OFF: ", self.Camera.SetContinuousMode(0))
self.Camera.StartLive(0)
print("Gain Auto off: ",
self.Camera.SetPropertySwitch("Gain", "Auto",
0)) # Gain Manuell einstellen
print("Gain Value set: ",
self.Camera.SetPropertyValue("Gain", "Value", 280)) # Gain auf 0
print("Brightness Value Set:",
self.Camera.SetPropertyValue(
"Brightness", "Value",
240)) # Brightness auch auf 0 (=BlackLevel)
print("Exposure Auto off: ",
self.Camera.SetPropertySwitch("Exposure", "Auto", 0))
print("Exposure Value set: ",
self.Camera.SetPropertyAbsoluteValue(
"Exposure", "Value", 0.01)) #Exposure time in seconds
self.maxIntensity = 65536
self.minIntensity = 0
# Für Callback:
self.ImProc = ImageProcessing()
self.Callbackfunc = IC.TIS_GrabberDLL.FRAMEREADYCALLBACK(self.Callback)
self.ImageDescription = CallbackUserdata()
print(
"set Callback :",
self.Camera.SetFrameReadyCallback(self.Callbackfunc,
self.ImageDescription))
self.Imageformat = self.Camera.GetImageDescription()[:3]
self.ImageDescription.width = self.Imageformat[0]
self.ImageDescription.height = self.Imageformat[1]
self.ImageDescription.iBitsPerPixel = self.Imageformat[2] // 8
self.ImageDescription.buffer_size = self.ImageDescription.width * self.ImageDescription.height * self.ImageDescription.iBitsPerPixel
print("ImageDescription height:", self.ImageDescription.height)
print("ImageDescription width :", self.ImageDescription.width)
print("ImageDescription BpP :", self.ImageDescription.iBitsPerPixel)
self.Camera.StopLive()
def gettingImage(self, img):
greenLowerColor = np.array([40, 40, 40])
greenUpperColor = np.array([70, 255, 255])
redLowerColor = np.array([110, 50, 50])
redUpperColor = np.array([130, 255, 255])
maskedGreenImage = ImageProcessing.colorDetection(
self, img, greenLowerColor, greenUpperColor)
maskedRedImage = ImageProcessing.colorDetection(
self, img, redLowerColor, redUpperColor)
ImageProcessing.showingScreen(self, "Sensor", np.array(img))
ImageProcessing.showingScreen(self, "Green", maskedGreenImage)
ImageProcessing.showingScreen(self, "Red", maskedRedImage)
return maskedGreenImage, maskedRedImage
def __init__(self):
image = ImageProcessing(filename='nico-sleep.jpg', dither=1)
def main():
rover = ImageProcessing()
rover.execute()
sentOnNotes = []
minFrequency = 500
maxFrequency = 7000
duration = 30
timePerLoop = 200
loopsPerImageProcessing = 5
imageHeight = 400
originalImage = cv2.imread("test4.jpg")
originalSize = originalImage.shape[:2]
ip = ImageProcessing()
loopsSinceImageProcessed = loopsPerImageProcessing
print("MIDI output ports: ", mido.get_output_names())
outputName = mido.get_output_names()[0]
midiOutput = mido.open_output("LoopBe Internal MIDI 1")
#exit()
resizedImage = cv2.resize(
originalImage,
(round(imageHeight / originalSize[0] * originalSize[1]), imageHeight))
ip.processImage(resizedImage)
class VideoProcessing:
def __init__(self, videoName):
self.videoName = videoName
self.frameCounter = 0
self.second = 0
def videoFunction(self):
cap = cv2.VideoCapture(self.videoName)
first = time.time()
while (cap.isOpened()):
_, frame = cap.read()
if frame is not None:
imageProcessing.image = frame
cv2.imshow(self.videoName, imageProcessing.imageFunction())
last = time.time() - first
if 0.95 < last < 1.01:
self.second += 1
print(self.second, "second(s),", "FPS:", self.frameCounter)
self.frameCounter = 0
first = time.time()
self.frameCounter = self.frameCounter + 1
if cv2.waitKey(1) & 0xFF == ord('q'):
break
else:
print("The video is finished.")
cap.release()
cv2.destroyAllWindows()
imageProcessing = ImageProcessing()
file.close()
def move_log():
try:
shutil.copyfile(
"log.txt", "logs/log_" +
str(datetime.datetime.now().strftime('%Y-%m-%d_%H:%M:%S:%f')) +
".txt")
os.remove("log.txt")
except:
log("Error: " + str(sys.exc_info()))
print("Error: " + str(sys.exc_info()))
imgProcessing = ImageProcessing()
verificaPlaca = vp()
move_log()
while (True):
ret, frame = cap.read()
if ret == True:
log("New frame captured at " +
datetime.datetime.now().strftime('%Y-%m-%d_%H:%M:%S:%f'))
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
img = Frame(np.array(Image.fromarray(gray)), str(image_name()), None,
None)
cv.imwrite("../processed/original/" + img._id + ".png", img.image)
log("Start processing frame " + str(img._id) + " at " +
print("Choose Camera!!!")
app = QApplication(sys.argv)
win = GUI(100, 100, 900, 225, "Autonomous Car")
win.show()
sys.exit(app.exec_())
"""
while (True):
print(
"What do you want to do? (Image & Video Processing: 1, Simulation Processing: 2, Driving: 3, Exit: 0)"
)
decision = int(input())
if decision == 1:
imageName = "RoadPhotoWithSign.png"
videoName = "RoadVideo_Trim1.mp4"
imageProcessing = ImageProcessing(imageName)
imageProcessing.displayingScreen(imageName,
imageProcessing.imageFunction())
videoProcessing = VideoProcessing(videoName)
videoProcessing.videoFunction()
elif decision == 2:
print(
"Which camera do you use in the simulation (Main Camera:1, Side Camera: 2, Exit:0)"
)
camera = int(input())
if camera == 1:
simulationProcessing = SimulationProcessing("MainCamera")
elif camera == 2:
simulationProcessing = SimulationProcessing("SideCamera")
elif camera == 0:
break
class Window():
def __init__(self):
self.root = Tk()
self.picture = ImageProcessing()
self.option = StringVar()
self.option.set("Default")
self.actions = OptionMenu(self.root, self.option, "Default", "Edge",
"Grayscale", "Red Hue", "Green Hue",
"Blue Hue", "Change the Saturation",
"White Hue", "Invert Colors",
"To French Flag", "Customise")
self.option.trace('w', self.optionChange)
self.actions.grid(row=0, column=0)
self.newPictureButton = Button(self.root,
text="New Picture",
command=self.changePicture)
self.newPictureButton.grid(row=0, column=1)
try:
self.p = self.picture.getImage()
self.photo = ImageTk.PhotoImage(self.p)
self.hValue = Spinbox()
self.sValue = Spinbox()
self.vValue = Spinbox()
self.imageLabel = Label(self.root, image=self.photo)
self.imageLabel.grid(row=1, column=0, columnspan=15)
self.root.mainloop()
except:
self.root.destroy()
def optionChange(self, *args):
"""
This method is called when the user changes options
:param args:
:return:none
"""
self.imageLabel.grid_forget()
img = self.picture.getImage()
if self.option.get() == "Default":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = img
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Edge":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.edge(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Grayscale":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.toGrayscale(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Red Hue":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.toRed(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Green Hue":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.toGreen(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Blue Hue":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.toBlue(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Change the Saturation":
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.contrast = Spinbox(self.root,
from_=0.0,
to_=2.0,
increment=.1,
command=self.updateSaturation)
self.contrast.grid(row=0, column=2)
self.updateSaturation()
elif self.option.get() == "White Hue":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.toWhite(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "Invert Colors":
try:
self.contrast.grid_forget()
except:
pass
self.p = self.picture.invertColors(img)
self.photo = ImageTk.PhotoImage(self.p)
elif self.option.get() == "To French Flag":
try:
self.contrast.grid_forget()
except:
pass
try:
self.hLabel.grid_forget()
self.hValue.grid_forget()
self.sLabel.grid_forget()
self.sValue.grid_forget()
self.vLabel.grid_forget()
self.vValue.grid_forget()
except:
pass
self.p = self.picture.toFrenchFlag(img)
self.photo = ImageTk.PhotoImage(self.p)
else:
try:
self.contrast.grid_forget()
except:
pass
self.hLabel = Label(self.root, text="Hue:")
self.hLabel.grid(row=0, column=2)
self.hValue = Spinbox(from_=1.0,
to_=4.0,
increment=.2,
command=self.updateHSV)
self.hValue.grid(row=0, column=3)
self.sLabel = Label(self.root, text="Saturation: ")
self.sLabel.grid(row=0, column=4)
self.sValue = Spinbox(from_=1.0,
to_=4.0,
increment=.2,
command=self.updateHSV)
self.sValue.grid(row=0, column=5)
self.vLabel = Label(self.root, text="Value: ")
self.vLabel.grid(row=0, column=6)
self.vValue = Spinbox(from_=1.0,
to_=4.0,
increment=.2,
command=self.updateHSV)
self.vValue.grid(row=0, column=7)
self.updateHSV()
self.imageLabel = Label(self.root, image=self.photo)
self.imageLabel.grid(row=1, column=0, columnspan=15)
def updateSaturation(self):
"""
This is for updating the saturation of the image with the imageProcessing.changeSaturation() method
:return:
"""
self.p = self.picture.changeSaturation(self.picture.getImage(),
self.contrast.get())
self.photo = ImageTk.PhotoImage(self.p)
self.imageLabel = Label(self.root, image=self.photo)
self.imageLabel.grid(row=1, column=0, columnspan=15)
def updateHSV(self):
"""
This updates the image through the imageProcessing.toCustomHSV() method
:return:
"""
self.p = self.picture.toCustomHSV(self.picture.getImage(),
self.hValue.get(), self.sValue.get(),
self.vValue.get())
self.photo = ImageTk.PhotoImage(self.p)
self.imageLabel = Label(self.root, image=self.photo)
self.imageLabel.grid(row=1, column=0, columnspan=15)
def changePicture(self):
self.picture.setImage(self.picture.prompt_and_set_file())
self.imageLabel.grid_forget()
img = self.picture.getImage()
self.p = img
self.photo = ImageTk.PhotoImage(self.p)
self.imageLabel = Label(self.root, image=self.photo)
self.imageLabel.grid(row=1, column=0, columnspan=15)
class ISCamera():
def __init__(self):
self.Camera = IC.TIS_CAM()
#self.Camera.ShowDeviceSelectionDialog()
print("Open Camera: ",
self.Camera.openVideoCaptureDevice(
"DMK 33UX174")) # Hier richtige Kamera einfügen!!
print("VideoFormat: ",
self.Camera.SetVideoFormat("Y800 (1920x1200)")
) # Format der Kamera auf Y16 setzen mit richtiger Auflösung!!
self.Camera.SetFormat(IC.SinkFormats.Y800) # No Return Value
print("Continuous Mode OFF: ", self.Camera.SetContinuousMode(0))
self.Camera.StartLive(0)
print("Gain Auto off: ",
self.Camera.SetPropertySwitch("Gain", "Auto",
0)) # Gain Manuell einstellen
print("Gain Value set: ",
self.Camera.SetPropertyValue("Gain", "Value", 280)) # Gain auf 0
print("Brightness Value Set:",
self.Camera.SetPropertyValue(
"Brightness", "Value",
240)) # Brightness auch auf 0 (=BlackLevel)
print("Exposure Auto off: ",
self.Camera.SetPropertySwitch("Exposure", "Auto", 0))
print("Exposure Value set: ",
self.Camera.SetPropertyAbsoluteValue(
"Exposure", "Value", 0.01)) #Exposure time in seconds
self.maxIntensity = 65536
self.minIntensity = 0
# Für Callback:
self.ImProc = ImageProcessing()
self.Callbackfunc = IC.TIS_GrabberDLL.FRAMEREADYCALLBACK(self.Callback)
self.ImageDescription = CallbackUserdata()
print(
"set Callback :",
self.Camera.SetFrameReadyCallback(self.Callbackfunc,
self.ImageDescription))
self.Imageformat = self.Camera.GetImageDescription()[:3]
self.ImageDescription.width = self.Imageformat[0]
self.ImageDescription.height = self.Imageformat[1]
self.ImageDescription.iBitsPerPixel = self.Imageformat[2] // 8
self.ImageDescription.buffer_size = self.ImageDescription.width * self.ImageDescription.height * self.ImageDescription.iBitsPerPixel
print("ImageDescription height:", self.ImageDescription.height)
print("ImageDescription width :", self.ImageDescription.width)
print("ImageDescription BpP :", self.ImageDescription.iBitsPerPixel)
self.Camera.StopLive()
def triggerSettings(self):
self.ImProc.setTriggerMode(1)
self.Camera.StartLive(0)
print("Trigger Mode ON: ",
self.Camera.SetPropertySwitch("Trigger", "Enable", 1))
print("Trigger rising Edge: ",
self.Camera.SetPropertySwitch("Trigger", "Polarity", 1))
print("Trigger Debounce Set:",
self.Camera.SetPropertyAbsoluteValue("Trigger", "Debounce Time",
1000)) #1ms debounce time
def startLiveMode(self):
self.ImProc.setTriggerMode(0)
#print("Trigger Mode OFF: ",self.Camera.SetPropertySwitch("Trigger","Enable",0))
#self.Camera.SetFrameRate(30.0)
print("Trigger Mode ON: ",
self.Camera.SetPropertySwitch("Trigger", "Enable", 1))
print("Trigger rising Edge: ",
self.Camera.SetPropertySwitch("Trigger", "Polarity", 1))
print("Trigger Debounce Set:",
self.Camera.SetPropertyAbsoluteValue("Trigger", "Debounce Time",
1000)) #1ms debounce time
self.Camera.StartLive(
0
) #1: Video wird gezeigt, 0: Video wird nicht gezeigt (gestartet wird dennoch)
def snapImg(self):
self.Camera.SnapImage()
return self.Camera.GetImage()
def stopLive(self):
self.Camera.StopLive()
def getImage(self):
return self.Camera.GetImage()
def setGain(self, value):
print("Gain Value set: ",
self.Camera.SetPropertyValue("Gain", "Value",
value)) # Gain auf übergebenen Wert
def setBrightness(self, value):
print("Brightness Value Set:",
self.Camera.SetPropertyValue("Brightness", "Value", value))
def printParams(
self
): #Zum Debuggen: Zeigt, ob Parameter von der Kamera übernommen wurden oder nicht
GainValue = [0]
error = self.Camera.GetPropertyAbsoluteValue("Gain", "Value",
GainValue)
if error == 1:
print("Gain Value: ", GainValue[0])
else:
print("Gain Error: ", error)
BrightnessValue = [0]
ExposureTime = [0]
error = self.Camera.GetPropertyAbsoluteValue("Exposure", "Value",
ExposureTime)
if error == 1:
print("Exposure Value: ", ExposureTime[0])
else:
print("Exposure Error: ", error)
def getImprocPictures(self):
picture1 = self.ImProc.getImage_01
picture2 = self.ImProc.getImage_02
diffImg = self.ImProc.getDiffImage
def Callback(self, hGrabber, pBuffer, framenumber, pData):
""":param: hGrabber: This is the real pointer to the grabber object.
:param: pBuffer : Pointer to the first pixel's first byte
:param: framenumber : Number of the frame since the stream started
:param: pData : Pointer to additional user data structure"""
image = C.cast(pBuffer, C.POINTER(C.c_ubyte * pData.buffer_size))
cvMat = np.ndarray(buffer=image.contents,
dtype=np.uint8,
shape=(pData.height, pData.width,
pData.iBitsPerPixel))
#print("Shape pData height:", pData.height)
#print("Shape pData width :", pData.width)
#print("Shape pData BpP :", pData.iBitsPerPixel)
self.ImProc.imageProcess(cvMat)
def setMaxIntensity(self, maxIntensity):
self.maxIntensity = maxIntensity
def setMinIntensity(self, minIntensity):
self.minIntensity = minIntensity
from frame import Frame
from imageProcessing import ImageProcessing
import cv2 as cv
import numpy as np
imgPlaca = cv.imread("C:/Users/oluis/Desktop/images/original/torta.png",
cv.IMREAD_GRAYSCALE)
plateCopy = imgPlaca.copy()
imgProcessing = ImageProcessing()
plateCopy = imgProcessing.MoreLight(plateCopy)
plateCopy = imgProcessing.Billateral(plateCopy)
plateCopy = imgProcessing.Canny(plateCopy)
findContournsImg, contoursPlate, hierarchy = cv.findContours(
plateCopy.copy(), cv.RETR_TREE, cv.CHAIN_APPROX_SIMPLE)
backtorgbplate = cv.cvtColor(plateCopy, cv.COLOR_GRAY2RGB)
for contour in contoursPlate:
x, y, w, h = cv.boundingRect(contour)
proportion = float(w) / h
if proportion > 0.57 and proportion < 0.84 and h > 11:
cv.rectangle(backtorgbplate, (x, y), (x + w, y + h), (0, 0, 255), 1)
cv.imshow('placa', backtorgbplate)
cv.waitKey(0)
from hcsr04 import DistSensor
from carControl import CarControl
from imageProcessing import ImageProcessing
from os import system
import traceback
learningMode = True #This variable should come from the Android Application.
dsThread = DistSensor(15, 100, 16, 18)
imThread = ImageProcessing(10, 640, 480, learningMode)
vehControl = CarControl(1, 0x04)
dsThread.start()
imThread.start()
try:
while True:
if learningMode == False:
ftti = dsThread.getFilteredTimeToImpact()
avgDist = dsThread.getAvgDistance()
vehControl.updateThrottle(60)
averageDirAngle = imThread.getAverageAngle()
#max physical angle is about 25 degrees,
#which means we should map -25 to 0 as 1-50 and 1-25 as 51 - 100
if averageDirAngle is not None:
if averageDirAngle < -25:
averageDirAngle = -25
elif averageDirAngle > 25:
averageDirAngle = 25
vehControl.updateDirection(50 + (averageDirAngle * 2))
unit test for imageProcessing.py
"""
class TestPoint(Structure):
_fields_ = [('ballAngle', c_int), ('ballDis', c_int)]
if __name__ == '__main__':
TRACE('test main line')
# テスト用共有メモリの準備
shmem = Value(TestPoint, 0)
imageProcessing = ImageProcessing()
file_path = 'data/temp/camera_capture_wall_6.jpg'
TRACE(file_path)
stream = cv2.imread(file_path)
ball_angle, ball_distance, station_angle, station_distance, wall_x, wall_size = imageProcessing.imageProcessingFrame(
stream, shmem)
cv2.imshow('Frame', cv2.flip(stream, -1))
cv2.moveWindow('Frame', 0, 30)
cv2.moveWindow('MaskRED', 482, 30)
cv2.moveWindow('MaskYELLOW', 964, 30)
cv2.moveWindow('MaskGREEN', 1446, 30)
cv2.moveWindow('MaskBLACK', 0, 530)
class TestPoint(Structure):
_fields_ = [('irAngle', c_int), ('isTouched', c_int),
('enemyGoalAngle', c_int), ('enemyGoalDis', c_int),
('myGoalAngle', c_int), ('myGoalDis', c_int),
('fieldCenterAngle', c_int), ('fieldCenterDis', c_int)]
if __name__ == '__main__':
from multiprocessing import Process, Value
TRACE('test main line')
# テスト用共有メモリの準備
shmem = Value(TestPoint, 0)
# モータ制御インスタンスの生成
imageProcessing = ImageProcessing()
p_imageProcessing = Process(target=imageProcessing.target, args=(shmem, ))
file_list = glob.glob("./camera_distance/0degree/*jpg")
TRACE(file_list)
for file in file_list:
TRACE(file)
stream = cv2.imread(file)
yellow_goal_angle, yellow_goal_distance, blue_goal_angle, blue_goal_distance, field_center_angle, field_center_distance = imageProcessing.imageProcessingFrame(
stream, shmem)
cv2.imshow('Frame', stream.transpose((1, 0, 2)))
cv2.moveWindow('Frame', 0, 30)