def getFilter(frameWidht, frameHeight):
cvNamedWindow("Filtred")
cvCreateTrackbar("hmax", "Filtred", getHlsFilter('hmax'), 180, trackBarChangeHmax)
cvCreateTrackbar("hmin", "Filtred", getHlsFilter('hmin'), 180, trackBarChangeHmin)
#cvCreateTrackbar("lmax", "Filtred", hlsFilter['lmax'], 255, trackBarChangeLmax)
#cvCreateTrackbar("lmin", "Filtred", hlsFilter['lmin'], 255, trackBarChangeLmin)
cvCreateTrackbar("smax", "Filtred", getHlsFilter('smax'), 255, trackBarChangeSmax)
cvCreateTrackbar("smin", "Filtred", getHlsFilter('smin'), 255, trackBarChangeSmin)
cvSetMouseCallback("Filtred", mouseClick, None)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
filtredFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
key = -1
while key == -1:
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
frame = cvQueryFrame(CAM)
cvCvtColor(frame, hlsFrame, CV_BGR2HLS)
cvSplit(hlsFrame, hFrame, lFrame, sFrame, None)
pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame)
#pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame)
pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame)
cvSetZero(mask)
cvAnd(ThHFrame, ThSFrame, mask)
cvSetZero(filtredFrame)
cvCopy(frame, filtredFrame, mask)
cvShowImage("Filtred", filtredFrame)
key = cvWaitKey(10)
if key == 'r':
key = -1
resetHlsFilter()
cvDestroyWindow("Filtred")
def getBackground(frameWidht, frameHeight):
cvNamedWindow("Background")
text = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
background = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
font = cvInitFont(CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0, 0.0, 2)
pt1 = cvPoint(50, 100)
pt2 = cvPoint(50, 150)
center = cvPoint(frameWidth/2, frameHeight/2)
cvPutText(text, "Press enter, run away and wait", pt1, font, CV_RGB(150, 100, 150))
cvPutText(text, str(delayS) + " seconds to capture background", pt2, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key == -1:
key = cvWaitKey(10)
like = False
while not like:
for i in range(delayS):
cvZero(text)
cvPutText(text, str(delayS-i), center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
cvWaitKey(1000)
csut = camStartUpTime
while (csut): # Stats capturing frames in order to give time to the cam to auto-adjust colors
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
cvWaitKey(10)
csut -= 1
frame = cvQueryFrame(CAM)
cvCopy(frame, background)
cvCopy(frame, text)
cvPutText(text, "Is correct? [y/n]", center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key != 'n' and key != 'y':
key = cvWaitKey(10)
if key == 'y':
like = True
return background
cvDestroyWindow("Background")
def startChroma(background, frameWidht, frameHeight):
#cvNamedWindow("Original")
cvNamedWindow("Chroma")
hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
transparency = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
key = -1
while key == -1:
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
frame = cvQueryFrame(CAM)
cvCvtColor(frame, hlsFrame, CV_BGR2HLS)
cvSplit(hlsFrame, hFrame, lFrame, sFrame, None)
pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame)
#pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame)
pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame)
cvAnd(ThHFrame, ThSFrame, mask)
cvCopy(background, frame, mask)
cvShowImage("Chroma", frame)
key = cvWaitKey(10)
cvDestroyWindow("Chroma")
highgui.cvNamedWindow("depthmatch - template")
xmatch = 0
ymatch = 0
def mousecb(e,x,y,f,p):
global xmatch, ymatch
if highgui.CV_EVENT_LBUTTONDOWN == e:
xmatch = x
ymatch = y
highgui.cvSetMouseCallback("depthmatch - left", mousecb)
cleft = highgui.cvCreateCameraCapture(2)
cright = highgui.cvCreateCameraCapture(1)
size = cv.cvGetSize(highgui.cvQueryFrame(cleft))
xmatch = size.width / 2 + 1
ymatch = size.height / 2 + 1
while True:
highgui.cvGrabFrame(cleft)
highgui.cvGrabFrame(cright)
left = highgui.cvRetrieveFrame(cleft)
right = highgui.cvRetrieveFrame(cright)
depthmatch(xmatch, ymatch, left, right, buf=50, debug=True)
highgui.cvWaitKey(10)
"""
IMGW = 1280 # 640
IMGH = 1024 # 480
stereostate_bm = cv.cvCreateStereoBMState(cv.CV_STEREO_BM_BASIC, 0)
stereostate_gc = cv.cvCreateStereoGCState(16, 3)
if not from_file:
cap0 = highgui.cvCreateCameraCapture(1)
highgui.cvSetCaptureProperty(cap0, highgui.CV_CAP_PROP_FRAME_WIDTH, IMGW)
highgui.cvSetCaptureProperty(cap0, highgui.CV_CAP_PROP_FRAME_HEIGHT, IMGH)
def next(self):
ret = hg.cvGrabFrame(self.cap)
if ret: self.framepos += 1
return ret
