def __init__( self, resolution ):
self._camHW = opencv.highgui.cvCreateCameraCapture(0)
highgui.cvSetCaptureProperty( self._camHW, opencv.highgui.CV_CAP_PROP_FRAME_WIDTH, resolution[ 'WIDTH' ] )
highgui.cvSetCaptureProperty( self._camHW, opencv.highgui.CV_CAP_PROP_FRAME_HEIGHT, resolution[ 'HEIGHT' ] )
#highgui.cvSetCaptureProperty( self._camHW, opencv.highgui.CV_CAP_PROP_SATURATION, 0.0 )
self._iplFrame = None
def __init__(self, cam=0, width=None, height=None):
self.path = cam
self.video = hg.cvCreateCameraCapture(self.path)
if width:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_WIDTH, width)
if height:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_HEIGHT, height)
def __init__(self, cam=0, width=None, height=None):
self.path = cam
self.video = hg.cvCreateCameraCapture(self.path)
if width:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_WIDTH, width)
if height:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_HEIGHT, height)
def init_cam(width=320, height=240):
capture = highgui.cvCreateCameraCapture(0)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH,
int(width))
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT,
int(height))
return capture
def setup_camera_capture(device_num=0):
"""Perform camera setup for the device number (default device = 0).
Returns a reference to the camera Capture.
"""
try:
device = int(device_num)
except (IndexError, ValueError):
# assume we want the 1st device
device = 0
print 'Using Camera device %d' % device
# Try to start capturing frames
capture = highgui.cvCreateCameraCapture(device)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty(
capture,
highgui.CV_CAP_PROP_FRAME_WIDTH,
cam_width
)
highgui.cvSetCaptureProperty(
capture,
highgui.CV_CAP_PROP_FRAME_HEIGHT,
cam_height
)
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit(1)
return capture
def setup_camera_capture(device_num=0):
''' perform camera setup for the device number (default device = 0) i
return a reference to the camera Capture
'''
try:
# try to get the device number from the command line
device = int(device_num)
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = 0
print 'Using Camera device %d'%device
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture (device)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty (capture,highgui.CV_CAP_PROP_FRAME_WIDTH, cam_width)
highgui.cvSetCaptureProperty (capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, cam_height)
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit (1)
return capture
def seek(self, pos):
#if pos <= self.framepos:
# self._destr_cap()
# self._init_cap()
if pos <= self.framepos:
hg.cvSetCaptureProperty(self.cap, hg.CV_CAP_PROP_POS_FRAMES, 0.0)
self.framepos = -1
return super(video_file, self).seek(pos)
def init_camera(self,cam_num=0):
self.capture=highgui.cvCreateCameraCapture(cam_num)
if not self.capture:
raise IOError('Unable to open camera %d'%cam_num)
highgui.cvSetCaptureProperty(self.capture,highgui.CV_CAP_PROP_FRAME_WIDTH,self.image_dims[0])
highgui.cvSetCaptureProperty(self.capture,highgui.CV_CAP_PROP_FRAME_HEIGHT,self.image_dims[1])
def __init__(self, resolution):
self._camHW = opencv.highgui.cvCreateCameraCapture(0)
highgui.cvSetCaptureProperty(self._camHW,
opencv.highgui.CV_CAP_PROP_FRAME_WIDTH,
resolution['WIDTH'])
highgui.cvSetCaptureProperty(self._camHW,
opencv.highgui.CV_CAP_PROP_FRAME_HEIGHT,
resolution['HEIGHT'])
#highgui.cvSetCaptureProperty( self._camHW, opencv.highgui.CV_CAP_PROP_SATURATION, 0.0 )
self._iplFrame = None
def start_capture(self, device):
# video_dimensions = [176, 144]
video_dimensions = [320, 240]
if not self.capture:
self.capture = highgui.cvCreateCameraCapture (device)
highgui.cvSetCaptureProperty(self.capture, highgui.CV_CAP_PROP_FRAME_WIDTH, video_dimensions[0])
highgui.cvSetCaptureProperty(self.capture, highgui.CV_CAP_PROP_FRAME_HEIGHT, video_dimensions[1])
def seek_onChange(pos, capture, windowName):
'''Callback for the seek trackbar'''
print 'Seeking to frame: %d' % pos
# Set the pointer to frame pos and grab the frame
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_POS_FRAMES,
pos*3600 - 1)
frame = highgui.cvQueryFrame(capture)
# Display the frame on the window
highgui.cvShowImage(windowName, frame)
def __init__(self, device, size, mode, imageType='opencv'):
self.imageType = imageType
self.size = self.width, self.height = size
self.device = device
# todo: would be nice if this didn't make a whole lot of noise about firewire...
self.capture = hg.cvCreateCameraCapture(self.device)
# set the wanted image size from the camera
hg.cvSetCaptureProperty (self.capture, hg.CV_CAP_PROP_FRAME_WIDTH, self.width)
hg.cvSetCaptureProperty (self.capture, hg.CV_CAP_PROP_FRAME_HEIGHT, self.height)
def seek_onChange(pos, capture, windowName):
'''Callback for the seek trackbar'''
print 'Seeking to frame: %d' % pos
# Set the pointer to frame pos and grab the frame
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_POS_FRAMES,
pos * 3600 - 1)
frame = highgui.cvQueryFrame(capture)
# Display the frame on the window
highgui.cvShowImage(windowName, frame)
def __init__(self, path, start=0, stop=None):
self.path = path
self.video = hg.cvCreateFileCapture(self.path)
# these functions don't seem to work at present on my linux system
# self.fps = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FPS)
# self.n_of_frames = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_COUNT)
# self.duration = self.n_of_frames/self.fps
# self.width = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_WIDTH)
# self.height = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_HEIGHT)
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_POS_FRAMES, start)
def __init__(self, path, start=0, stop=None):
self.path = path
self.video = hg.cvCreateFileCapture(self.path)
# these functions don't seem to work at present on my linux system
#self.fps = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FPS)
#self.n_of_frames = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_COUNT)
#self.duration = self.n_of_frames/self.fps
#self.width = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_WIDTH)
#self.height = hg.cvGetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_HEIGHT)
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_POS_FRAMES, start)
def __init__(self, src="", time=None, flipped=False, thresh=128, thmode=0):
self.src = src
self.time = time
self.bthresh = thresh
self.bthreshmode = thmode
if self.time:
hg.cvSetCaptureProperty(self.src, hg.CV_CAP_PROP_POS_FRAMES, self.time)
self.iplimage = hg.cvQueryFrame(self.src)
if flipped:
opencv.cvFlip(self.iplimage, None, 1)
self.width = self.iplimage.width
self.height = self.iplimage.height
def __init__(self, cam=0, width=None, height=None):
self.path = cam
self.video = hg.cvCreateCameraCapture(self.path)
if width:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_WIDTH, width)
if height:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_HEIGHT, height)
def release_camera(camera=self.video):
print(camera) # this for debugging, do not leave it!!!
print(dir(camera)) # same as above
opencv.cvReleaseCapture(camera)
_ctx.drawing_closed = release_camera
def __init__(self, cam=0, width=None, height=None):
self.path = cam
self.video = hg.cvCreateCameraCapture(self.path)
if width:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_WIDTH, width)
if height:
hg.cvSetCaptureProperty(self.video, hg.CV_CAP_PROP_FRAME_HEIGHT, height)
def release_camera(camera=self.video):
print camera # this for debugging, do not leave it!!!
print dir(camera) #same as above
opencv.cvReleaseCapture(camera)
_ctx.drawing_closed = release_camera
def __init__(self, src="", time=None, flipped=False, thresh=128, thmode=0):
self.src = src
self.time = time
self.bthresh = thresh
self.bthreshmode = thmode
if self.time:
hg.cvSetCaptureProperty(self.src, hg.CV_CAP_PROP_POS_FRAMES, self.time)
self.iplimage = hg.cvQueryFrame(self.src)
if flipped:
opencv.cvFlip (self.iplimage, None, 1)
self.width = self.iplimage.width
self.height = self.iplimage.height
def __init__(self, device, size, mode, imageType='opencv'):
self.imageType = imageType
self.size = self.width, self.height = size
self.device = device
# todo: would be nice if this didn't make a whole lot of noise about firewire...
self.capture = hg.cvCreateCameraCapture(self.device)
# set the wanted image size from the camera
hg.cvSetCaptureProperty(self.capture, hg.CV_CAP_PROP_FRAME_WIDTH,
self.width)
hg.cvSetCaptureProperty(self.capture, hg.CV_CAP_PROP_FRAME_HEIGHT,
self.height)
def __init__(self, src="", time=None):
self.src = src
self.time = time
if self.time:
hg.cvSetCaptureProperty(self.src, hg.CV_CAP_PROP_POS_FRAMES, self.time)
self.iplimage = hg.cvQueryFrame(self.src)
self.width = self.iplimage.width
self.height = self.iplimage.height
self.image = opencv.cvCreateImage(opencv.cvGetSize(self.iplimage), 8, 4)
opencv.cvCvtColor(self.iplimage, self.image, opencv.CV_BGR2BGRA)
self.buffer = numpy.fromstring(self.image.imageData, dtype=numpy.uint32).astype(numpy.uint32)
self.buffer.shape = (self.image.width, self.image.height)
self.time = hg.cvGetCaptureProperty(self.src, hg.CV_CAP_PROP_POS_MSEC)
def __init__(self, src="", time=None):
self.src = src
self.time = time
if self.time:
hg.cvSetCaptureProperty(self.src, hg.CV_CAP_PROP_POS_FRAMES, self.time)
self.iplimage = hg.cvQueryFrame(self.src)
self.width = self.iplimage.width
self.height = self.iplimage.height
self.image = opencv.cvCreateImage(opencv.cvGetSize(self.iplimage),8, 4)
opencv.cvCvtColor(self.iplimage,self.image,opencv.CV_BGR2BGRA)
self.buffer = numpy.fromstring(self.image.imageData, dtype=numpy.uint32).astype(numpy.uint32)
self.buffer.shape = (self.image.width, self.image.height)
self.time = hg.cvGetCaptureProperty(self.src, hg.CV_CAP_PROP_POS_MSEC)
def main(): # ctrl+c to end
global h,s,v,h2,v2,s2,d,e
highgui.cvNamedWindow("Camera 1", 1)
highgui.cvNamedWindow("Orig", 1)
highgui.cvCreateTrackbar("H", "Camera 1", h, 256, tb_h)
highgui.cvCreateTrackbar("S", "Camera 1", s, 256, tb_s)
highgui.cvCreateTrackbar("V", "Camera 1", v, 256, tb_v)
highgui.cvCreateTrackbar("H2", "Camera 1", h2, 256, tb_h2)
highgui.cvCreateTrackbar("S2", "Camera 1", s2, 256, tb_s2)
highgui.cvCreateTrackbar("V2", "Camera 1", v2, 256, tb_v2)
highgui.cvCreateTrackbar("Dilate", "Camera 1", d, 30, tb_d)
highgui.cvCreateTrackbar("Erode", "Camera 1", e, 30, tb_e)
cap = highgui.cvCreateCameraCapture(1)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_WIDTH, IMGW)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_HEIGHT, IMGH)
c = 0
t1 = tdraw = time.clock()
t = 1
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, 1, 1)
while c != 0x27:
image = highgui.cvQueryFrame(cap)
if not image:
print "capture failed"
break
thresh = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,1)
cv.cvSetZero(thresh)
cv.cvCvtColor(image,image,cv.CV_RGB2HSV)
cv.cvInRangeS(image, (h,s,v,0), (h2,s2,v2,0), thresh)
result = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,3)
cv.cvSetZero(result)
cv.cvOr(image,image,result,thresh)
for i in range(1,e):
cv.cvErode(result,result)
for i in range(1,d):
cv.cvDilate(result,result)
# floodfill objects back in, allowing threshold differences outwards
t2 = time.clock()
if t2 > tdraw+0.3:
t = t2-t1
tdraw=t2
cv.cvPutText(result, "FPS: " + str(1 / (t)), (0,25), font, (255,255,255))
t1 = t2
highgui.cvShowImage("Orig", image)
highgui.cvShowImage("Camera 1", result)
c = highgui.cvWaitKey(10)
def start_capture(self, device):
# video_dimensions = [176, 144]
video_dimensions = [320, 240]
if not self.capture:
self.capture = highgui.cvCreateCameraCapture(device)
highgui.cvSetCaptureProperty(self.capture,
highgui.CV_CAP_PROP_FRAME_WIDTH,
video_dimensions[0])
highgui.cvSetCaptureProperty(self.capture,
highgui.CV_CAP_PROP_FRAME_HEIGHT,
video_dimensions[1])
def __init__(self):
"""Initialize the camera and the pygame subsystem."""
# Initialize the camera and set the dimensions. I use a small
# frame size because speed is more important than accuracy.
self.camera = cv.highgui.cvCreateCameraCapture(0)
highgui.cvSetCaptureProperty(self.camera, cv.highgui.CV_CAP_PROP_FRAME_WIDTH, 160)
highgui.cvSetCaptureProperty(self.camera, cv.highgui.CV_CAP_PROP_FRAME_HEIGHT, 120)
self.blur_factor = 0
self.diff_threshold = 40
self.update_threshold = 1500
self.mean_period = 6
self.last_image = None
self.last_centers = collections.deque()
self.scale_mean = 0.3
self.last_mean = None
self.this_mean = None
self.diff_mean = None
def __init__(self):
"""Initialize the camera and the pygame subsystem."""
# Initialize the camera and set the dimensions. I use a small
# frame size because speed is more important than accuracy.
self.camera = cv.highgui.cvCreateCameraCapture(0)
highgui.cvSetCaptureProperty(self.camera,
cv.highgui.CV_CAP_PROP_FRAME_WIDTH, 160)
highgui.cvSetCaptureProperty(self.camera,
cv.highgui.CV_CAP_PROP_FRAME_HEIGHT, 120)
self.blur_factor = 0
self.diff_threshold = 40
self.update_threshold = 1500
self.mean_period = 6
self.last_image = None
self.last_centers = collections.deque()
self.scale_mean = 0.3
self.last_mean = None
self.this_mean = None
self.diff_mean = None
def _init_camera(self, cam_num):
"""Initializes the camera associated with the given camera number"""
# Create the OpenCV camera capture object if one has not been created already
if cam_num not in self._captures:
self._captures[cam_num] = highgui.cvCreateCameraCapture(cam_num)
self._capture = self._captures[cam_num]
# Make sure the camera object was created
if not self._capture:
raise AetherCameraError("Unable to open camera %d" % cam_num)
# cvCreateCameraCapture(id) takes ownership of the camera pointer
# cvSetCaptureProperty won't work unless we disown it before setting
self._capture.disown()
# Set the capture dimensions
highgui.cvSetCaptureProperty(self._capture, highgui.CV_CAP_PROP_FRAME_WIDTH, self.capture_dims[0])
highgui.cvSetCaptureProperty(self._capture, highgui.CV_CAP_PROP_FRAME_HEIGHT, self.capture_dims[1])
# Take ownership again
self._capture.acquire()
# Read the capture dims and see if they were set to what we specified
read_dims = (
int(highgui.cvGetCaptureProperty(self._capture, highgui.CV_CAP_PROP_FRAME_WIDTH)),
int(highgui.cvGetCaptureProperty(self._capture, highgui.CV_CAP_PROP_FRAME_HEIGHT)),
)
# Set the scale flag depending on the results of setting the capture dimensions
# If we are reading frames in the correct dimensions, we don't need to scale
if self.capture_dims == read_dims:
self.scale = False
else:
print "Tried setting capture resolution:", self.capture_dims, ", got:", read_dims
self.scale = True
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Saturation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Saturation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);
highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);
highgui.cvCreateTrackbar("smin Trackbar","Saturation",smin,255, change_smin);
highgui.cvCreateTrackbar("smax Trackbar","Saturation",smax,255, change_smax);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
hue = cv.cvCreateImage(frameSize,8,1)
saturation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
laser = cv.cvCreateImage(frameSize,8,1)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv,hue,saturation,value,None)
#print hmin, hmax
cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue)
cv.cvInRangeS(saturation,cv.cvScalar(smin),cv.cvScalar(smax),saturation)
cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value)
#cv.cvInRangeS(hue,cv.cvScalar(0),cv.cvScalar(180),hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
# stupid filter
#removeErrantPoints(laser)
cenX,cenY = averageWhitePoints(laser)
px = iwidth/2 - cenX
dis = 57.18832855 / ( px - 5.702350176) + .05753797721
print cenX,px,dis
draw_target(frame,cenX,cenY)
#draw_target(frame,200,1)
highgui.cvShowImage('Hue',hue)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Saturation',saturation)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Laser',laser)
highgui.cvWaitKey(10)
try:
# try to get the device number from the command line
device = int (sys.argv [1])
# got it ! so remove it from the arguments
del sys.argv [1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = 0
if len (sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture (device)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty (capture,
highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty (capture,
highgui.CV_CAP_PROP_FRAME_HEIGHT,240)
else:
# we have an argument on the command line,
# we can assume this is a file name, so open it
capture = highgui.cvCreateFileCapture (sys.argv [1])
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit (1)
# create an image to put in the histogram
histimg = cv.cvCreateImage (cv.cvSize (320,240), 8, 3)
try:
# try to get the device number from the command line
device = int(sys.argv[1])
# got it ! so remove it from the arguments
del sys.argv[1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = highgui.CV_CAP_ANY
if len(sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture(device)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH,
320)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT,
240)
# capture the 1st frame to get some propertie on it
frame = highgui.cvQueryFrame(capture)
# get some properties of the frame
frame_size = cv.cvGetSize(frame)
# create some images useful later
my_grayscale = cv.cvCreateImage(frame_size, 8, 1)
mask = cv.cvCreateImage(frame_size, 8, 1)
cv.cvSet(mask, 1)
blob_overlay = False
def change_brightness(p):
global capture
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_BRIGHTNESS, p)
print "change brightness", p
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Satuation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar", "Camera", 0, 255,
change_brightness)
highgui.cvCreateTrackbar("hmin Trackbar", "Hue", hmin, 180, change_hmin)
highgui.cvCreateTrackbar("hmax Trackbar", "Hue", hmax, 180, change_hmax)
highgui.cvCreateTrackbar("smin Trackbar", "Satuation", smin, 255,
change_smin)
highgui.cvCreateTrackbar("smax Trackbar", "Satuation", smax, 255,
change_smax)
highgui.cvCreateTrackbar("vmin Trackbar", "Value", vmin, 255, change_vmin)
highgui.cvCreateTrackbar("vmax Trackbar", "Value", vmax, 255, change_vmax)
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT,
240)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize, 8, 3)
mask = cv.cvCreateImage(frameSize, 8, 1)
hue = cv.cvCreateImage(frameSize, 8, 1)
satuation = cv.cvCreateImage(frameSize, 8, 1)
value = cv.cvCreateImage(frameSize, 8, 1)
laser = cv.cvCreateImage(frameSize, 8, 1)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv, hue, satuation, value, None)
cv.cvInRangeS(hue, hmin, hmax, hue)
cv.cvInRangeS(satuation, smin, smax, satuation)
cv.cvInRangeS(value, vmin, vmax, value)
#cv.cvInRangeS(hue,0,180,hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
cenX, cenY = averageWhitePoints(laser)
#print cenX,cenY
draw_target(frame, cenX, cenY)
#draw_target(frame,200,1)
highgui.cvShowImage('Camera', frame)
highgui.cvShowImage('Hue', hue)
highgui.cvShowImage('Satuation', satuation)
highgui.cvShowImage('Value', value)
highgui.cvShowImage('Laser', laser)
k = highgui.cvWaitKey(10)
if k == " ":
highgui.cvDestroyAllWindows()
highgui.cvReleaseCapture(capture)
sys.exit()
try:
# try to get the device number from the command line
device = int(sys.argv[1])
# got it ! so remove it from the arguments
del sys.argv[1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = 0
if len(sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture(device)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH,
1600)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT,
1200)
else:
# we have an argument on the command line,
# we can assume this is a file name, so open it
capture = highgui.cvCreateFileCapture(sys.argv[1])
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit(1)
# create an image to put in the histogram
histimg = cv.cvCreateImage(cv.cvSize(320, 240), 8, 3)
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Satuation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);
highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);
highgui.cvCreateTrackbar("smin Trackbar","Satuation",smin,255, change_smin);
highgui.cvCreateTrackbar("smax Trackbar","Satuation",smax,255, change_smax);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, 240)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
hue = cv.cvCreateImage(frameSize,8,1)
satuation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
laser = cv.cvCreateImage(frameSize,8,1)
turret = FuzzyController(frameSize.width,frameSize.height,True)
move_count = 0
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv,hue,satuation,value,None)
cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue)
cv.cvInRangeS(satuation,cv.cvScalar(smin),cv.cvScalar(smax),satuation)
cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value)
#cv.cvInRangeS(hue,0,180,hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
cenX,cenY = averageWhitePoints(laser)
#print cenX,cenY
draw_target(frame,cenX,cenY)
if(cenX != 0 and cenY != 0):# and move_count <= 0):
turret.update(cenX,cenY,False)
"""
turret.reset()
move_count = 3
if(cenX < 100):
turret.left(20)
elif(cenX > 200):
turret.right(20)
if(cenY < 80):
turret.up(40)
elif(cenY > 170):
print "DOWN please.."
turret.down(40)
print cenY
"""
#move_count -= 1
#draw_target(frame,200,1)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Hue',hue)
highgui.cvShowImage('Satuation',satuation)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Laser',laser)
k = highgui.cvWaitKey(10)
if k == 'q':
sys.exit()
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Satuation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);
highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);
highgui.cvCreateTrackbar("smin Trackbar","Satuation",smin,255, change_smin);
highgui.cvCreateTrackbar("smax Trackbar","Satuation",smax,255, change_smax);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, 240)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
hue = cv.cvCreateImage(frameSize,8,1)
satuation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
laser = cv.cvCreateImage(frameSize,8,1)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv,hue,satuation,value,None)
cv.cvInRangeS(hue,hmin,hmax,hue)
cv.cvInRangeS(satuation,smin,smax,satuation)
cv.cvInRangeS(value,vmin,vmax,value)
#cv.cvInRangeS(hue,0,180,hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
cenX,cenY = averageWhitePoints(laser)
#print cenX,cenY
draw_target(frame,cenX,cenY)
#draw_target(frame,200,1)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Hue',hue)
highgui.cvShowImage('Satuation',satuation)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Laser',laser)
k = highgui.cvWaitKey(10)
if k == " ":
highgui.cvDestroyAllWindows()
highgui.cvReleaseCapture (capture)
sys.exit()
def setResolution(self, x,y):
x = float(x)
y = float(y)
self.resolution = (x, y)
highgui.cvSetCaptureProperty(self.camera, highgui.CV_CAP_PROP_FRAME_WIDTH, x)
highgui.cvSetCaptureProperty(self.camera, highgui.CV_CAP_PROP_FRAME_HEIGHT, y)
try:
# try to get the device number from the command line
device = int (sys.argv [1])
# got it ! so remove it from the arguments
del sys.argv [1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = 0
if len (sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture (device)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty (capture,
highgui.CV_CAP_PROP_FRAME_WIDTH, 1600)
highgui.cvSetCaptureProperty (capture,
highgui.CV_CAP_PROP_FRAME_HEIGHT, 1200)
else:
# we have an argument on the command line,
# we can assume this is a file name, so open it
capture = highgui.cvCreateFileCapture (sys.argv [1])
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit (1)
# create an image to put in the histogram
histimg = cv.cvCreateImage (cv.cvSize (320,240), 8, 3)
if len(argv) > 2:
writeVideo = True
outputVideoPath = argv[1]
else:
writeVideo = False
frameWidth = 640
frameHeight = 480
fps = 15.0
if writeVideo:
writer = cvCreateVideoWriter(argv[1], CV_FOURCC('M','J','P','G'), fps, cvSize(640,480))
cvSetCaptureProperty(CAM, CV_CAP_PROP_FRAME_WIDTH, frameWidth)
cvSetCaptureProperty(CAM, CV_CAP_PROP_FRAME_HEIGHT, frameHeight)
cvSetCaptureProperty(CAM, CV_CAP_PROP_FPS, fps)
getFilter(frameWidth, frameHeight)
background = getBackground(frameWidth, frameHeight)
startChroma(background, frameWidth, frameHeight)
cvReleaseCapture(CAM)
if writeVideo:
cvReleaseVideoWriter(writer)
if len(sys.argv) >= 2:
imgorig = highgui.cvLoadImage(sys.argv[1])
img = cv.cvCloneImage(imgorig)
cv.cvCvtColor(img,img,cv.CV_RGB2HSV)
size = cv.cvGetSize(img)
IMGW = size.width
IMGH = size.height
fromfile = True
else:
fromfile = False
IMGW = 640
IMGH = 480
cap0 = highgui.cvCreateCameraCapture(0)
highgui.cvSetCaptureProperty(cap0, highgui.CV_CAP_PROP_FRAME_WIDTH, IMGW)
highgui.cvSetCaptureProperty(cap0, highgui.CV_CAP_PROP_FRAME_HEIGHT, IMGH)
joined = cv.cvCreateImage(cv.cvSize(IMGW,IMGH), 8, 3)
highgui.cvNamedWindow("Blob")
tx = 100
ty = 100
showoriginal = True
def mousecb(event,x,y,flag,param):
global tx,ty,showoriginal
if event == highgui.CV_EVENT_RBUTTONDOWN:
tx = x
ty = y
def main(args):
global capture
global hmax, hmin
global stats, startTime
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Red Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Green Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Red Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Green Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Value', 10, 420)
highgui.cvMoveWindow('Red Laser', 360, 10)
highgui.cvMoveWindow('Green Laser', 360, 360)
highgui.cvMoveWindow('Red Hue',700, 10 )
highgui.cvMoveWindow('Green Hue',700, 420)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
highgui.cvCreateTrackbar("red hmin Trackbar","Red Hue",red_hmin,180, change_red_hmin);
highgui.cvCreateTrackbar("red hmax Trackbar","Red Hue",red_hmax,180, change_red_hmax);
highgui.cvCreateTrackbar("green hmin Trackbar","Green Hue",green_hmin,180, change_green_hmin);
highgui.cvCreateTrackbar("green hmax Trackbar","Green Hue",green_hmax,180, change_green_hmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
red_hue = cv.cvCreateImage(frameSize,8,1)
green_hue = cv.cvCreateImage(frameSize,8,1)
saturation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
red_laser = cv.cvCreateImage(frameSize,8,1)
green_laser = cv.cvCreateImage(frameSize,8,1)
turret = FuzzyController(frameSize.width,frameSize.height,True)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
cv.cvSplit(hsv,red_hue,saturation,value,None)
cv.cvSplit(hsv,green_hue,saturation,value,None)
cv.cvInRangeS(red_hue, cv.cvScalar(red_hmin), cv.cvScalar(red_hmax), red_hue)
cv.cvInRangeS(green_hue, cv.cvScalar(green_hmin), cv.cvScalar(green_hmax), green_hue)
cv.cvInRangeS(value, cv.cvScalar(vmin), cv.cvScalar(vmax), value)
cv.cvAnd(red_hue, value, red_laser)
cv.cvAnd(green_hue, value, green_laser)
green_cenX,green_cenY = averageWhitePoints(green_laser)
draw_target(frame, green_cenX, green_cenY, "GREEN")
red_cenX, red_cenY = averageWhitePoints(red_laser)
draw_target(frame, red_cenX, red_cenY, "RED")
if(green_cenX >= 0 and green_cenY >= 0):# and move_count <= 0):
turret.update(green_cenX,green_cenY)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Red Hue', red_hue)
highgui.cvShowImage('Green Hue', green_hue)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Red Laser',red_laser)
highgui.cvShowImage('Green Laser',green_laser)
if stats:
printRunningStats((green_cenX, green_cenY), (red_cenX, red_cenY))
k = highgui.cvWaitKey(10)
if k == '\x1b' or k == 'q':
sys.exit()
if k == 'p':
if stats:
printTotalStats()
stats = False
else:
startTime = time()
stats = True
"""
sys.exit(1)
elif sys.argv[i] == "-s" or sys.argv[i] == "--size":
capture = init_cam(sys.argv[i + 1], sys.argv[i + 2])
i = i + 2
elif sys.argv[i] == "-f" or sys.argv[i] == "--file":
capture = highgui.cvCreateFileCapture(str(sys.argv[i + 1]))
i = i + 1
elif sys.argv[i] == "--noGUI":
GUI = 0
capture = init_cam()
i = i + 1
elif sys.argv[i] == "--fps":
capture = init_cam()
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FPS,
int(sys.argv[i + 1]))
i = i + 1
# check that capture device is OK
if not capture:
print "Error opening capture device"
sys.exit(1)
# Load config
frameGrayBg = highgui.cvLoadImage("background.bmp",
highgui.CV_LOAD_IMAGE_GRAYSCALE)
logfile = open('config', 'r')
nb_div_zone[0] = int(logfile.readline())
seuil_binary[0] = int(logfile.readline())
gain[0] = int(logfile.readline())
param_liss[0] = int(logfile.readline())
param2_liss[0] = int(logfile.readline())
def change_brightness(p): global capture highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_BRIGHTNESS, p) print "change brightness",p;