class Module(object):
"""
This is the IDM's Main class, called by mousetrap.py in the load process.
"""
def __init__(self, controller, stgs = {}):
"""
IDM's init function.
Arguments:
- self: The main object pointer.
- controller: mousetrap main class pointer. This is passed by MouseTrap's controller (mousetrap.py) when loaded.
- stgs: Possible settings loaded from the user's settings file. If there aren't settings the IDM will use the a_settings dict.
"""
# This will init the Camera class.
# This class is used to handle the camera device.
Camera.init()
# Controller instance
self.ctr = controller
# Capture instance
# The capture is the object containing the image
# and all the possible methods to modify it.
self.cap = None
# IDM's Settings dict
self.stgs = stgs
# Prepares the IDM using the settings.
self.prepare_config()
def prepare_config(self):
"""
Prepares the IDM using the settings
Arguments:
- self: The main object pointer
"""
global a_settings
# If the dict is empty then
# use the default settings defined in a_settings
if not self.stgs:
self.stgs = a_settings
# For each key do something if required by the module
for key in self.stgs:
pass
def set_capture(self, cam):
"""
Initialize the capture and sets the main settings.
Arguments:
- self: The main object pointer
- cam: The camera device index. For Example: 0 = /dev/video0, 1 = /dev/video1
"""
# Starts the Capture using the async method.
# This means that self.cap.sync() wont be called periodically
# by the idm because the Capture syncs the image asynchronously (See dev/camera.py)
self.cap = Capture(async=True, idx=cam)
# This sets the final image default color to rgb. The default color is bgr.
self.cap.change(color="rgb")
def get_image(self):
"""
Gets the last queried and formated image.
Function used by the mousetrap/ui/main.py
to get the output image
Arguments:
- self: The main object pointer
returns self.cap.resize(200, 160, True)
"""
# Calls the resize method passing the new with, height
# specifying that the new image has to be a copy of the original
# so, self.cap.resize will copy the original instead of modifying it.
return self.cap.resize(200, 160, True)
def get_pointer(self):
"""
Returns the new MousePosition.
Function used to pass the Mouse Pointer position
to the Scripts.
Arguments:
- self: The main object pointer
"""
# The return value has to be a Point() type object
# Following the forehad IDM, The return is self.cap.forehead
# which is created in the get_forehead function as an attribute
# of self.cap
return self.cap.pointer
class Module(object):
"""
This is the IDM's Main class, called by mousetrap.py in the load process.
"""
def __init__(self, controller, stgs = {}):
"""
IDM's init function.
Arguments:
- self: The main object pointer.
- controller: mousetrap main class pointer. This is passed by MouseTrap's controller (mousetrap.py) when loaded.
- stgs: Possible settings loaded from the user's settings file. If there aren't settings the IDM will use the a_settings dict.
"""
# This will init the Camera class.
# This class is used to handle the camera device.
Camera.init()
# Controller instance
self.ctr = controller
# Config object
self.cfg = self.ctr.cfg
if not self.cfg.has_section("color"):
self.cfg.add_section("color")
# Capture instance
# The capture is the object containing the image
# and all the possible methods to modify it.
self.cap = None
# IDM's Settings dict
self.stgs = stgs
# Prepares the IDM using the settings.
self.prepare_config()
image = None
self.hsv = None
self.hue = None
self.mask = None
self.backproject = None
self.histimg = None
self.hist = None
backproject_mode = 0
select_object = 0
self.track_object = 0
show_hist = 1
origin = None
selection = None
self.track_window = None
self.track_box = None
self.track_comp = None
self.hdims = 16
# initial settings for value, saturation, and hue
self.vmin = c_int(10)
self.vmax = c_int(256)
self.smin = c_int(80)
self.smax = c_int(256)
self.hmin = c_int(25)
self.hmax = c_int(40) #this may have to be 180 and not 256, for whatever reason
self.h2min = c_int(170)
self.h2max = c_int(175)
def prepare_config(self):
"""
Prepares the IDM using the settings
Arguments:
- self: The main object pointer
"""
global a_settings
# If the dict is empty then
# use the default settings defined in a_settings
if not self.stgs:
self.stgs = a_settings
# For each key do something if required by the module
for key in self.stgs:
pass
def on_mouse(event, x, y, flags, param):
print "ADSFSF"
global select_object, image, selection, origin, track_object
if image is None:
return
if image.origin:
y = image.height - y
if select_object:
selection.x = min(x,origin.x)
selection.y = min(y,origin.y)
selection.width = selection.x + abs(x - origin.x)
selection.height = selection.y + abs(y - origin.y)
selection.x = max( selection.x, 0 )
selection.y = max( selection.y, 0 )
selection.width = min( selection.width, image.width )
selection.height = min( selection.height, image.height )
selection.width -= selection.x
selection.height -= selection.y
if event == CV_EVENT_LBUTTONDOWN:
origin = cvPoint(x,y)
selection = cvRect(x,y,0,0)
select_object = 1
elif event == CV_EVENT_LBUTTONUP:
select_object = 0
if selection.width > 0 and selection.height > 0:
track_object = -1
def hsv2rgb(hue):
rgb=[0,0,0]
sector_data= ((0,2,1), (1,2,0), (1,0,2), (2,0,1), (2,1,0), (0,1,2))
hue *= 0.033333333333333333333333333333333
sector = cvFloor(hue)
p = cvRound(255*(hue - sector))
p ^= 255 if bool(sector & 1) else 0
rgb[sector_data[sector][0]] = 255
rgb[sector_data[sector][1]] = 0
rgb[sector_data[sector][2]] = p
return cvScalar(rgb[2], rgb[1], rgb[0], 0)
def set_capture(self, cam):
"""
Initialize the capture and sets the main settings.
Arguments:
- self: The main object pointer
- cam: The camera device index. For Example: 0 = /dev/video0, 1 = /dev/video1
"""
# Starts the Capture using the async method.
# This means that self.cap.sync() wont be called periodically
# by the idm because the Capture syncs the image asynchronously (See dev/camera.py)
self.cap = Capture(async=True, idx=cam)
# This sets the final image default color to rgb. The default color is bgr.
self.cap.change(color="rgb")
def _convertColorDepth(self, color):
"""
Converts from 16 to 8 bit color depth. Necessary
for OpenCV functions and GDK colors to interact as the
former expects colors from 0-255 and the latter expects
0-65535.
Arguments:
- self: The main object pointer
- color: The integer color value to convert to 0-255
"""
return (int)(color / 65535.0) * 255
def get_image(self):
"""
Gets the last queried and formated image.
Function used by the mousetrap/ui/main.py
to get the output image
Arguments:
- self: The main object pointer
returns self.cap.resize(200, 160, True)
"""
"""argc = len(argv)
if argc == 1 or (argc == 2 and argv[1].isdigit()):
capture = cvCaptureFromCAM( int(argv[1]) if argc == 2 else 0 )
elif argc == 2:
capture = cvCaptureFromAVI( argv[1] )
else:
capture = None
if not capture:
print "Could not initialize capturing..."
exit(-1)
#HOTT KEYS!!!!1
print "Hot keys: \n" \
"\tESC - quit the program\n" \
"\tc - stop the tracking\n" \
"\tb - switch to/from backprojection view\n" \
"\th - show/hide object histogram\n" \
"To initialize tracking, select the object with mouse\n"
#what windows do we want?"""
cvNamedWindow( "Histogram", 1 )
cvNamedWindow( "CamShiftDemo", 1 ) #main image
cvNamedWindow( "Mask", 1 )
#cvNamedWindow( "Backproject", 1)
#cvNamedWindow( "Hue", 1)
#enables mouse event monitoring in the main image window
cvSetMouseCallback( "CamShiftDemo", self.on_mouse )
cvCreateTrackbar( "Vmin", "CamShiftDemo", self.vmin, 256 )
cvCreateTrackbar( "Vmax", "CamShiftDemo", self.vmax, 256 )
cvCreateTrackbar( "Smin", "CamShiftDemo", self.smin, 256 )
cvCreateTrackbar( "Smax", "CamShiftDemo", self.smax, 256 )
#select the ranges of hues you want to track
cvCreateTrackbar( "Hmin", "CamShiftDemo", self.hmin, 180 )
cvCreateTrackbar( "Hmax", "CamShiftDemo", self.hmax, 180 )
#cvCreateTrackbar( "H2min", "CamShiftDemo", h2min, 180 )
#cvCreateTrackbar( "H2max", "CamShiftDemo", h2max, 180 )
#loop
"""while True:
#get next frame
frame = cvQueryFrame( self.cap.image )
if not frame:
break
if not image:
# allocate all the buffers
image = cvCreateImage( cvGetSize(frame), 8, 3 )
image.origin = frame.origin
hsv = cvCreateImage( cvGetSize(frame), 8, 3 )"""
self.hue = cvCreateImage( cvSize(640,480), 8, 1 )
self.mask = cvCreateImage( cvSize(640,480), 8, 1 )
"""mask2 = cvCreateImage( cvGetSize(frame), 8, 1 )
maskcombo = cvCreateImage( cvGetSize(frame), 8, 1 )"""
self.backproject = cvCreateImage( cvSize(640,480), 8, 1 )
self.hist = cvCreateHist( [self.hdims], CV_HIST_ARRAY, [[0, 180]] )
self.histimg = cvCreateImage( cvSize(320,200), 8, 3 )
cvZero( self.histimg )
self.cap.sync()
print(type(self.cap.image()))
#cvCopy(frame, image)
self.hsv = self.cap.color("hsv", channel=3, copy=True) #make the image hsv
#cvCvtColor( self.cap.image, self.hsv, CV_BGR2HSV )
self.track_object=-1
print "ABOUT TO GOT IN"
if self.track_object != 0:
print "GOT IN"
#updates the hsv values to be masked
print type(self.hsv)
scalar1=cvScalar(self.hmin.value,self.smin.value,min(self.vmin.value,self.vmax.value),0)
scalar2=cvScalar(self.hmax.value,self.smax.value,max(self.vmin.value,self.vmax.value),0)
cvInRangeS( self.hsv, scalar1, scalar2, self.mask )
#cvInRangeS( self.hsv, cvScalar(h2min.value,smin.value,min(vmin.value,vmax.value),0),
# cvScalar(h2max.value,smax.value,max(vmin.value,vmax.value),0), mask2 )
cvSplit(self.hsv, self.hue) #extract hue information?
#cvOr(mask, mask2, maskcombo) #combine the masks so that EITHER color is accepted
selection=cvRect(10,10,20,20)
if track_object < 0: #OH OKAY negative means it's tracking so... make a histogram
cvSetImageROI( self.hue, selection )
cvSetImageROI( self.mask, selection )
cvCalcHist( [self.hue], self.hist, 0, self.mask );
min_val, max_val = cvGetMinMaxHistValue(hist)
hbins = self.hist.bins[0]
cvConvertScale( hbins, hbins, 255. / max_val if max_val else 0., 0 )
cvResetImageROI( self.hue ) # ^ hisogram stuff, v tracking stuff
cvResetImageROI( self.mask )
track_window = selection #the original window to track is your mouse selection
track_object = 1 #now objects are being tracked
#more histogram stuff -- now we're displaying it
cvZero( self.histimg )
bin_w = self.histimg.width / self.hdims
for i in xrange(self.hdims):
val = cvRound( cvGetReal1D(hbins,i)*self.histimg.height/255 )
color = self.hsv2rgb(i*180./self.hdims)
cvRectangle( self.histimg, cvPoint(i*bin_w,self.histimg.height),
cvPoint((i+1)*bin_w,self.histimg.height - val),
color, -1, 8, 0 )
#calculate the back projection (dunno what this is)
cvCalcBackProject( [self.hue], self.backproject, self.hist )
#mask the backprojection (why? who knows)
cvAnd(self.backproject, self.mask, self.backproject)
#CAMSHIFT HAPPENS
niter, self.track_comp, self.track_box = cvCamShift( self.backproject, self.track_window,
cvTermCriteria( CV_TERMCRIT_EPS | CV_TERMCRIT_ITER, 10, 1 ))
track_window = track_comp.rect #no idea
if self.backproject_mode:
cvCvtColor( self.backproject, self.cap.image, CV_GRAY2BGR ) #why??
if not self.cap.image.origin:
track_box.angle = -track_box.angle #why??
# Make sure its a number.
if math.isnan(self.track_box.size.height):
self.track_box.size.height = 0
if math.isnan(track_box.size.width):
self.track_box.size.width = 0
#draws an ellipse around it. the ellipse is GREEN!!!!
cvEllipseBox( self.cap.image, self.track_box, CV_RGB(0,255,0), 3, CV_AA, 0 )
#still lost
if bool(select_object) and selection.width > 0 and selection.height > 0:
cvSetImageROI( self.cap.image, selection )
cvXorS( self.cap.image, cvScalarAll(255), self.cap.image )
cvResetImageROI( self.cap.image )
#hey let's show some stuff in those empty windows!!"""
print "Showing the windows"
print type(self.hsv)
print type(self.histimg)
print type(self.mask)
cvShowImage( "CamShiftDemo", self.hsv )
cvShowImage( "Histogram", self.histimg )
cvShowImage( "Mask", self.mask )
#cvShowImage( "Backproject", backproject)
#cvShowImage( "Hue", hue)
#HOTT KEYS!!!!1
"""c = '%c' % (cvWaitKey(10) & 255)
if c == '\x1b':
break
elif c == 'b':
backproject_mode ^= 1
elif c =='c':
track_object = 0
cvZero( histimg )
elif c =='h':
show_hist ^= 1
if not show_hist:
cvDestroyWindow( "Histogram" )
else:
cvNamedWindow( "Histogram", 1 )
print "Hoiahdfoiahs"
return image
# Calls the resize method passing the new with, height
# specifying that the new image has to be a copy of the original
# so, self.cap.resize will copy the original instead of modifying it."""
return self.cap.resize(200, 160, True)
def get_pointer(self):
"""
Returns the new MousePosition.
Function used to pass the Mouse Pointer position
to the Scripts.
Arguments:
- self: The main object pointer
"""
# The return value has to be a Point() type object
# Following the forehad IDM, The return is self.cap.forehead
# which is created in the get_forehead function as an attribute
# of self.cap
self.cap.pointer=Point("point", "color", ( 1, 2 ), parent=self.cap, follow=True)
