class BoardCalibrator(object):
imgpoints = []
def __init__(self, input=0, camera=None, imgpts=None, board=None):
if not isinstance(camera, Camera):
camera = Camera(device=input)
self.camera = camera
self.frame,reseted = self.camera.get_image()
if board is None:
self.board = Board()
else:
self.board = board
allobj = self.board._get_configs()
[i.append(0) for i in allobj]
nobj = np.array(allobj, np.float64)
if imgpts is None:
cv2.namedWindow("Calibration Window", cv2.WINDOW_NORMAL)
cv2.namedWindow("Calibration Hint", cv2.WINDOW_NORMAL)
cv2.imshow("Calibration Window", self.frame)
cv2.waitKey(1)
config_points = nobj
cv2.setMouseCallback("Calibration Window", self.click)
pos = 0
for i in config_points:
print ("Select field %s please. Accept with any key." % str(i))
hintim = self.board.get_config_hint(pos)
cv2.imshow("Calibration Hint", hintim)
k = cv2.waitKey(-1) & 0xFF
self.imgpoints.append(self.imgpoint)
if k == 27:
print("Escaped and closing.")
break
else:
print("Thank you")
pos += 1
else:
self.imgpoints = imgpts
print("Imagepoints %s" % self.imgpoints)
print("Objp %s" % nobj)
print(self.camera.config['dist'])
print(np.array(self.camera.config['mtx']))
_, rvec, tvec = cv2.solvePnP(nobj,
np.array(self.imgpoints, np.float64), np.array(self.camera.config['mtx']),
np.array(self.camera.config['dist']), None,None, False, cv2.SOLVEPNP_ITERATIVE)
mean_error = 0
imgpoints2, _ = cv2.projectPoints(nobj, rvec, tvec, self.camera.cameramatrix, self.camera.config['dist'])
impoints = np.array([[x] for x in self.imgpoints], np.float64)
error = cv2.norm(impoints, imgpoints2, cv2.NORM_L2) / len(imgpoints2)
mean_error += error
print "total error: ", mean_error
outers = self.board.get_radius()
def calcy(x,r):
return np.sqrt(np.power(r,2)-np.power(x,2))
points = []
for outer in outers:
xs = [i*0.1 for i in range(0,int(outer*10))]
xs += [i*-0.1 for i in range(0,int(outer*10))]
for i in xs:
y = calcy(i,int(outer))
points.append([[i],[y],[0]])
points.append([[i], [-y], [0]])
points = np.array(points)
# points = np.array([[[0],[0],[0]], [[outer],[0],[0]]])
imp, jac = cv2.projectPoints(points, rvec,tvec, np.array(self.camera.config['mtx']), np.array(self.camera.config['dist']))
rot, _ = cv2.Rodrigues(rvec)
rev = projectReverse(self.imgpoints,rot, tvec, self.camera.config['mtx'])
self.rot = rot
self.tvec = tvec
# b.draw_board_to_frame(frame2)
print("Imagepoints %s" % self.imgpoints)
print("Objecpoints %s" % rev)
cv2.destroyAllWindows()
self.imp = imp
# cv2.setMouseCallback("Calibration Window", self._calcObj)
# while True:
# self.frame,reseted = self.camera.get_image()
# self.frame = self.camera.undistort_image(self.frame)
# for i in imp:
# try:
# self.frame[i[0][1], i[0][0]] = [0,0,255]
# except IndexError:
# pass
# # self.frame = cv2.circle(self.frame,(int(np.round(imp[0][0][0])), int(np.round(imp[0][0][1]))),int(np.round(dist)),[0,0,255],1)
# cv2.imshow("Calibration Window", self.frame)
# k = cv2.waitKey(1) & 0xFF
# if k == 27:
# break
#
# k = cv2.waitKey(-1) & 0xFF
def calculate_points(self, point):
x,y = point
objp = projectReverse(np.array([[[x],[y]]]), self.rot, self.tvec,self.camera.config['mtx'])
return self.board.calculate_field(objp[0][:2])
def _calcObj(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
print("Clicked %s: %s" % (x, y))
objp = projectReverse(np.array([[[x],[y]]]), self.rot, self.tvec, self.camera.config['mtx'])
print "Object Point %s"%objp
print "Field: %s" %self.board.calculate_field(objp[0][:2])
def click(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
print("Clicked %s: %s" % (x, y))
self.imgpoint = [x,y]
# self.imgpoints.append([x, y])
def _get_line_in_pic(self, points):
x_coords, y_coords = zip(*points)
# print (x_coords)
# print (y_coords)
A = vstack([x_coords, ones(len(x_coords))]).T
m, c = lstsq(A, y_coords)[0]
x1 = (0 - c) / m
# print ("x: %s , y: %s" % (x1, 0))
x2 = (height - c) / m
# print("x: %s , y: %s" % (x2, height))
return x1, x2
def _make_rotation_transformation(self, angle, origin=(0, 0)):
cos_theta, sin_theta = math.cos(angle), math.sin(angle)
x0, y0 = origin
def xform(point):
x, y = point[0] - x0, point[1] - y0
return (x * cos_theta - y * sin_theta + x0,
x * sin_theta + y * cos_theta + y0)
return xform
def _rotate_point(self, point, rangle):
b = point[1] # hieght
# print("a: %s" % b)
a = point[0] #
# print("b %s" % a)
angle = math.atan(a / b)
# print("angle %s" % math.degrees(angle))
dangle = math.degrees(angle)
c = b / math.cos(angle)
# print ("c %s" % c)
ndangle = dangle + rangle
nangle = math.radians(ndangle)
na = math.sin(nangle) * c
# print("New a %s" % na)
nb = math.cos(nangle) * c
# print("New b %s" % nb)
return na, nb
class MainApplikacation(object):
detected = []
detected2 = []
detected3 = []
detected4 = []
detected5 = []
real = []
was_covert = []
frame_no = []
Calibrated = None
Substractor = None
input = None
camera = None
board_config_load = True
date = datetime.now().strftime("%Y-%m-%d-%H-%M")
fname = "data%s"%date
imgpoint = None
boardpoint = None
def write_data(self):
print "Writing data to file"
i = 0
fname = self.fname
fname += ".csv"
while os.path.isfile(fname):
i += 1
fname = self.fname + '-' + str(i)+".csv"
with open(fname, 'wb') as csvfile:
spamwriter = csv.writer(csvfile, delimiter=',',dialect='excel',
quotechar='|', quoting=csv.QUOTE_MINIMAL)
spamwriter.writerow(['Detected','Detected2','Detected3','Detected4','Detected5', 'Reality', 'Was Covert', 'Frameno', 'Diff', 'Diff2', 'Diff3', 'Diff4', 'Diff5'])
def calc_diff(a,b):
i = 0
diff = []
for each in a:
try:
if each == b[i]:
diff.append(True)
else:
diff.append(False)
except:
print "For some Reasion there was an error in diff calc"
i += 1
percentage = float(len([x for x in diff if x is True])) / float(len(diff))
return diff, percentage
diff, percentage = calc_diff(self.detected, self.real)
print "Tip Version 1 was %s Percent correct."%(percentage * 100)
diff2, percentage = calc_diff(self.detected2, self.real)
print "Tip Version 2 was %s Percent correct." % (percentage * 100)
diff3, percentage = calc_diff(self.detected3, self.real)
print "Tip Version 3 was %s Percent correct." % (percentage * 100)
diff4, percentage = calc_diff(self.detected4, self.real)
print "Tip Version 4 was %s Percent correct." % (percentage * 100)
diff5, percentage = calc_diff(self.detected5, self.real)
print "Tip Version 5 was %s Percent correct." % (percentage * 100)
datas = zip(self.detected, self.detected2, self.detected3, self.detected4, self.detected5, self.real,
self.was_covert, self.frame_no, diff,diff2, diff3, diff4, diff5)
for each in datas:
entry = list(each)
# if each[0] == each[1]:
# entry.append(True)
# else:
# entry.append(False)
spamwriter.writerow(entry)
def __init__(self, inp):
if isinstance(inp,str):
self.fname = inp.split('.')[0]
self.camera = Camera(device=inp, output=self.fname)
self.board = Board()
camconf = "camera_config.json"
baord_conf = "boardconfig.json"
if os.path.isfile(camconf):
self.camera.load_config(filename=camconf)
else:
self.camera.do_calibration(img=True)
self.camera.save_config(camconf)
if self.board_config_load and os.path.isfile(baord_conf):
with open(baord_conf, 'r') as bc:
imgps = json.loads(bc.readline())
self.Calibrated = BoardCalibrator(camera=self.camera, imgpts=imgps, board=self.board)
else:
self.Calibrated = BoardCalibrator(camera=self.camera)
with open("boardconfig.json", 'w') as bc:
imgps = self.Calibrated.imgpoints
bc.write(json.dumps(imgps))
self.Substractor = BackgroundSubtractor(c1=inp,camera=self.camera)
plt.ion()
self.figure = plt.figure()
self.plt1 = self.figure.add_subplot(111)
self.line1, = self.plt1.plot(range(200), [0] * 200, 'r.-')
self.plt1.axis([0, 200, 0, 10000])
cv2.namedWindow("Current", cv2.WINDOW_NORMAL)
cv2.moveWindow("Current", 20,20)
cv2.namedWindow("Original", cv2.WINDOW_NORMAL)
cv2.moveWindow("Original", 20, 500)
cv2.namedWindow("Points", cv2.WINDOW_NORMAL)
cv2.moveWindow("Current", 1000, 20)
cv2.namedWindow("Blobimg", cv2.WINDOW_NORMAL)
cv2.setMouseCallback("Points", self._click)
mixer.init()
mixer.music.load('beep.mp3')
# cv2.namedWindow("FG Substraction", cv2.WINDOW_NORMAL)
# cv2.createTrackbar("History", "Current", self.history, 1000, self._set_history)
# cv2.createTrackbar("Shadow Treshold", "Current", int(self.shad_tresh * 100), 100, self._set_shad_tresh)
# cv2.createTrackbar("VarThreshold", "Current", self.var_tresh, 100, self._set_var_tresh)
# cv2.createTrackbar("VarMax", "Current", self.var_max, 100, self._set_var_max)
# cv2.createTrackbar("VarMin", "Current", self.var_min, 100, self._set_var_min)
self.Substractor.start()
realboard = np.zeros((self.camera.height, self.camera.width, 3), np.uint8)
# self.frame = self.camera.undistort_image(img)
for i in self.Calibrated.imp:
try:
realboard[i[0][1], i[0][0]] = [0,0,255]
except IndexError:
pass
added = 0
while True:
img = self.Substractor.get_image()
if img is not None:
img = cv2.add(realboard,img)
cv2.imshow("Original", img)
cv2.imshow("Points", self.board.draw_board())
if self.Substractor.stopped:
self.write_data()
exit()
cv2.imshow("Current", self.Substractor.get_substracted())
storage, unaltered = self.Substractor.get_storage()
y = [x[2] for x in storage]
y = unaltered
self.line1.set_xdata(range(len(y)))
self.line1.set_ydata(y)
k = cv2.waitKey(1)
if k == ord('a'):
self.add_dart(frame_no=self.camera.read_frame_no)
if k == ord('s'):
self.write_data()
if k == ord('w'):
pass
self.figure.savefig(r"thesisimages/plot.jpg")
if k == ord('f'):
added = 0
self.Substractor.clear_arrows()
if k == 27:
self.Substractor.stopped = True
break
if k == 119:
print "Pressed w Key so Waiting"
cv2.waitKey(-1)
arrows = self.Substractor.get_arrows()
i = 1
for each in arrows:
tip = each.tip
frame_no = each.frame_no
points = self.Calibrated.calculate_points(tip)
if i > added:
self.add_dart(arrow=each, detected=points, frame_no=frame_no)
added += 1
i += 1
if added >= 3:
added = 0
self.Substractor.clear_arrows()
self.write_data()
def _click(self, event, x, y, flags, param):
if event == cv2.EVENT_LBUTTONDOWN:
nx = x - self.board.size / 2
ny = self.board.size / 2 - y
print("Clicked %s " % self.board.calculate_field([[nx],[ny]]))
self.imgpoint = [x, y]
self.boardpoint = [[nx],[ny]]
# self.imgpoints.append([x, y])
def add_dart(self, arrow=None, detected="N/D", frame_no=0):
self.Substractor.paused = True
# mixer.music.play()
if arrow is not None:
print "Ratio is %s"%arrow.ratio
print [cv2.contourArea(x) for x in arrow.contours]
points = self.Calibrated.calculate_points(arrow.tip)
pimg = self.board.draw_field(points)
cv2.imshow("Points", pimg)
cv2.imshow("Blobimg", arrow.img)
k = -1
while k not in [13, 32]or self.boardpoint is None:
k = cv2.waitKey(-1)
if k == 13:
print "Enter"
print len(self.detected)
self.was_covert.append(False)
if k == 32:
self.was_covert.append(True)
self.real.append(self.board.calculate_field(self.boardpoint))
self.boardpoint = None