Esempio n. 1
0
def update_mhi(img, dst, diff_threshold):
    global last
    global mhi
    global storage
    global mask
    global orient
    global segmask
    timestamp = time.clock() / CLOCKS_PER_SEC  # get current time in seconds
    size = cv.GetSize(img)  # get current frame size
    idx1 = last
    global var1
    if not mhi or cv.GetSize(mhi) != size:
        for i in range(N):
            buf[i] = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
            cv.Zero(buf[i])
        mhi = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
        cv.Zero(mhi)  # clear MHI at the beginning
        orient = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
        segmask = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
        mask = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)

    cv.CvtColor(img, buf[last], cv.CV_BGR2GRAY)  # convert frame to grayscale
    idx2 = (last + 1) % N  # index of (last - (N-1))th frame
    last = idx2
    silh = buf[idx2]
    cv.AbsDiff(buf[idx1], buf[idx2], silh)  # get difference between frames
    cv.Threshold(silh, silh, diff_threshold, 1,
                 cv.CV_THRESH_BINARY)  # and threshold it
    cv.UpdateMotionHistory(silh, mhi, timestamp, MHI_DURATION)  # update MHI
    cv.CvtScale(mhi, mask, 255. / MHI_DURATION,
                (MHI_DURATION - timestamp) * 255. / MHI_DURATION)
    cv.Zero(dst)
    cv.Merge(mask, None, None, None, dst)
    cv.CalcMotionGradient(mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3)
    if not storage:
        storage = cv.CreateMemStorage(0)
    seq = cv.SegmentMotion(mhi, segmask, storage, timestamp, MAX_TIME_DELTA)
    for (area, value, comp_rect) in seq:
        if comp_rect[2] + comp_rect[3] > 250:  # reject very small components
            color = cv.CV_RGB(255, 0, 0)
            silh_roi = cv.GetSubRect(silh, comp_rect)
            mhi_roi = cv.GetSubRect(mhi, comp_rect)
            orient_roi = cv.GetSubRect(orient, comp_rect)
            mask_roi = cv.GetSubRect(mask, comp_rect)
            angle = 360 - cv.CalcGlobalOrientation(
                orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION)
            print angle
            count = cv.Norm(
                silh_roi, None, cv.CV_L1,
                None)  # calculate number of points within silhouette ROI
            if count < (comp_rect[2] * comp_rect[3] * 0.05):
                continue

            magnitude = 80.
            center = ((comp_rect[0] + comp_rect[2] / 2),
                      (comp_rect[1] + comp_rect[3] / 2))
            cv.Circle(dst, center, cv.Round(magnitude * 1.2), color, 10,
                      cv.CV_AA, 0)
            print "motion detected at", center[1]

            if (center[1] > 320):

                bottom.mright3()
            if (center[1] < 320):

                bottom.mleft4()
            var1 = var1 + 1
            if (var1 == 40):
                led.motion()
                var1 = 0
                if (center[1] > 320):
                    #		print "hai"

                    bottom.mright3()
                if (center[1] < 320):

                    bottom.mleft4()
                    print "hai"
                emotion.exclaim()
            cv.Line(
                dst, center,
                (cv.Round(center[0] + magnitude * cos(angle * cv.CV_PI / 180)),
                 cv.Round(center[1] -
                          magnitude * sin(angle * cv.CV_PI / 180))), color, 3,
                cv.CV_AA, 0)
Esempio n. 2
0
server_socket.bind(("172.16.50.25", 9900))
server_socket.listen(5)

print "TCPServe Waiting for client on port 9900"

client_socket, address = server_socket.accept()
print "I got a connection from ", address
bottom.mid()
while(1):

        try:
                
                
                data=client_socket.recv(1)
                if(data=="3"):
                    bottom.mright3()
                elif(data=="4"):
                    bottom.mright2()
                elif(data=="5"):
                    bottom.mright1()
                elif(data=="6"):
                    bottom.mid()
                elif(data=="7"):
                    bottom.mleft5()
                elif(data=="8"):
                    bottom.mleft4()
                elif(data=="9"): 
                    bottom.mleft3()
                print data
        except KeyboardInterrupt:
                client_socket.close()
Esempio n. 3
0
server_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
server_socket.bind(("172.16.50.25", 9900))
server_socket.listen(5)

print "TCPServe Waiting for client on port 9900"

client_socket, address = server_socket.accept()
print "I got a connection from ", address
bottom.mid()
while (1):

    try:

        data = client_socket.recv(1)
        if (data == "3"):
            bottom.mright3()
        elif (data == "4"):
            bottom.mright2()
        elif (data == "5"):
            bottom.mright1()
        elif (data == "6"):
            bottom.mid()
        elif (data == "7"):
            bottom.mleft5()
        elif (data == "8"):
            bottom.mleft4()
        elif (data == "9"):
            bottom.mleft3()
        print data
    except KeyboardInterrupt:
        client_socket.close()
Esempio n. 4
0
def update_mhi(img, dst, diff_threshold):
    global last
    global mhi
    global storage
    global mask
    global orient
    global segmask
    timestamp = time.clock() / CLOCKS_PER_SEC # get current time in seconds
    size = cv.GetSize(img) # get current frame size
    idx1 = last
    global var1
    if not mhi or cv.GetSize(mhi) != size:
        for i in range(N):
            buf[i] = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
            cv.Zero(buf[i])
        mhi = cv.CreateImage(size,cv. IPL_DEPTH_32F, 1)
        cv.Zero(mhi) # clear MHI at the beginning
        orient = cv.CreateImage(size,cv. IPL_DEPTH_32F, 1)
        segmask = cv.CreateImage(size,cv. IPL_DEPTH_32F, 1)
        mask = cv.CreateImage(size,cv. IPL_DEPTH_8U, 1)
    
    cv.CvtColor(img, buf[last], cv.CV_BGR2GRAY) # convert frame to grayscale
    idx2 = (last + 1) % N # index of (last - (N-1))th frame
    last = idx2
    silh = buf[idx2]
    cv.AbsDiff(buf[idx1], buf[idx2], silh) # get difference between frames
    cv.Threshold(silh, silh, diff_threshold, 1, cv.CV_THRESH_BINARY) # and threshold it
    cv.UpdateMotionHistory(silh, mhi, timestamp, MHI_DURATION) # update MHI
    cv.CvtScale(mhi, mask, 255./MHI_DURATION,
                (MHI_DURATION - timestamp)*255./MHI_DURATION)
    cv.Zero(dst)
    cv.Merge(mask, None, None, None, dst)
    cv.CalcMotionGradient(mhi, mask, orient, MAX_TIME_DELTA, MIN_TIME_DELTA, 3)
    if not storage:
        storage = cv.CreateMemStorage(0)
    seq = cv.SegmentMotion(mhi, segmask, storage, timestamp, MAX_TIME_DELTA)
    for (area, value, comp_rect) in seq:
        if comp_rect[2] + comp_rect[3] > 250: # reject very small components
            color = cv.CV_RGB(255, 0,0)
            silh_roi = cv.GetSubRect(silh, comp_rect)
            mhi_roi = cv.GetSubRect(mhi, comp_rect)
            orient_roi = cv.GetSubRect(orient, comp_rect)
            mask_roi = cv.GetSubRect(mask, comp_rect)
            angle = 360 - cv.CalcGlobalOrientation(orient_roi, mask_roi, mhi_roi, timestamp, MHI_DURATION)
	    print angle
            count = cv.Norm(silh_roi, None, cv.CV_L1, None) # calculate number of points within silhouette ROI
            if count < (comp_rect[2] * comp_rect[3] * 0.05):
                continue

            magnitude = 80.
            center = ((comp_rect[0] + comp_rect[2] / 2), (comp_rect[1] + comp_rect[3] / 2))
            cv.Circle(dst, center, cv.Round(magnitude*1.2), color, 10, cv.CV_AA, 0)
            print "motion detected at",center[1]
	    
	    if (center[1] > 320):
		
	    	
		bottom.mright3()
	    if (center[1] <320):
		
	    	
		bottom.mleft4()
	    var1=var1+1
	    if (var1==40):
	    	led.motion()
	    	var1=0
		if (center[1] > 320):
	#		print "hai"
	    		
	                bottom.mright3()
       	        if (center[1] <320):
			

        	        bottom.mleft4()
			print "hai"
	    	emotion.exclaim()
	    cv.Line(dst,
                    center,
                    (cv.Round(center[0] + magnitude * cos(angle * cv.CV_PI / 180)),
                     cv.Round(center[1] - magnitude * sin(angle * cv.CV_PI / 180))),
                    color,
                    3,
                    cv.CV_AA,
                    0)