def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
# flip horizontally
flipped = cv2.flip(image, 1)
cv2.imshow("Flipped Horizontally", flipped)
# flip verically
flipped = cv2.flip(image, 0)
cv2.imshow("Flipped Vertically", flipped)
# flip both horiz and vert
flipped = cv2.flip(image, -1)
cv2.imshow("Flipped Horiz and Vert", flipped)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
(h, w) = image.shape[:2]
center = (w // 2, h // 2)
# (point about to rotate, angle to rotate, scale factor)
M = cv2.getRotationMatrix2D(center, 45, 1.0)
rotated = cv2.warpAffine(image, M, (w, h))
cv2.imshow("Rotated by 45 Degrees", rotated)
M = cv2.getRotationMatrix2D(center, -90, 1.0)
rotated = cv2.warpAffine(image, M, (w, h))
cv2.imshow("Rotated -90 Degrees", rotated)
rotated = imutils.rotate(image, 180)
cv2.imshow("Rotated 180 Degrees", rotated)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
lifeLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
# loop
loopSleep = 1 # second
loopCount = 0
keepLooping = False
while keepLooping:
loopCount += 1
image = cv2.imread(args["image"])
print("width: {} pixels".format(image.shape[1]))
print("height: {} pixels".format(image.shape[0]))
cv2.imshow("Original", image)
cv2.waitKey(0)
cv2.imwrite("newimage.jpg", image)
keepLooping = False
sleep(loopSleep)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
lifeLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
cv2.imshow("Gray", gray)
hsv = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
cv2.imshow("HSV", hsv)
lab = cv2.cvtColor(image, cv2.COLOR_BGR2LAB)
cv2.imshow("L*a*b*", lab)
cv2.waitKey(0)
cv2.destroyAllWindows()
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
M = np.float32([[1, 0, 25], [0, 1, 50]])
shifted = cv2.warpAffine(image, M, (image.shape[1], image.shape[0]))
cv2.imshow("Shifted Down and Right", shifted)
M = np.float32([[1, 0, -50], [0, 1, -90]])
shifted = cv2.warpAffine(image, M, (image.shape[1], image.shape[0]))
cv2.imshow("Shifted Up and Left", shifted)
shifted = imutils.translate(image, 0, 100)
cv2.imshow("imutils.translate() Down 100", shifted)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
mask = np.zeros(image.shape[:2], dtype="uint8")
(cX, cY) = (image.shape[1] // 2, image.shape[0] // 2)
cv2.rectangle(mask, (cX - 75, cY - 75), (cX + 75, cY + 75), 255, -1)
cv2.imshow("Mask", mask)
masked = cv2.bitwise_and(image, image, mask=mask)
cv2.imshow("Mask Applied to Image", masked)
mask = np.zeros(image.shape[:2], dtype="uint8")
cv2.circle(mask, (cX, cY), 100, 255, -1)
cv2.imshow("Circle Mask", mask)
masked = cv2.bitwise_and(image, image, mask=mask)
cv2.imshow("Circle Mask Applied to Image", masked)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
lifeLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
# loop
loopSleep = 1 # second
loopCount = 0
keepLooping = True
while keepLooping:
loopCount += 1
image = cv2.imread(args["image"])
print("width: {} pixels".format(image.shape[1]))
print("height: {} pixels".format(image.shape[0]))
cv2.imshow("Image", image)
# myimutils.display("Image", image, scale_percent=30)
(b, g, r,) = image[0,0]
print("Pixel at (0,0) - Red: {}, Green: {}, Blue: {}".format(r,g,b))
(b, g, r,) = image[219,90]
print("Pixel at (x:90,y:219) - Red: {}, Green: {}, Blue: {}".format(r,g,b))
print("Setting Pixel at (0,0) to Red")
image[0,0] = (0, 0, 255)
(b, g, r,) = image[0,0]
print("Pixel at (0,0) - Red: {}, Green: {}, Blue: {}".format(r,g,b))
corner = image[0:100, 0:100]
cv2.imshow("Corner", corner)
image[0:100, 0:100] = (0, 255, 0)
cv2.imshow("Updated", image)
cv2.waitKey(0)
# cv2.imwrite("newimage.jpg", image)
keepLooping = False
sleep(loopSleep)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
lifeLog.logger.info("Finished")
sleep(1)
def main():
if Carl: lifeLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
myconfig.setParameters(egpg)
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
keepLooping = True
while keepLooping:
# Create memory stream
stream = io.BytesIO()
# capture a frame from camera to the streem
with picamera.PiCamera() as camera:
# camera.resolution = (320, 240)
camera.resolution = (640, 480)
camera.capture(stream, format='jpeg')
frame_time = datetime.datetime.now().strftime("%H:%M:%S.%f")[:12]
# convert pic into numpy array
buff = np.fromstring(stream.getvalue(), dtype=np.uint8)
# create an OpenCV image
image = cv2.imdecode(buff, 1)
#myimutils.display("input",image)
#cv2.waitKey(0)
face_set = detect_faces(image)
# myimutils.display("faces()", face_set[0],50 ) # 640x480 images
cv2.imshow("faces()", face_set[0])
print("{}: faces() found {} faces".format(frame_time,
len(face_set[1])))
for (x, y, w, h) in face_set[1]:
print(" {}x{} face at ({},{})".format(h, w, x, y))
# wait time in ms: 500 to limit load, 1 to go as fast as possible (1 detect / sec)
k = cv2.waitKey(1)
if (k == 27):
keepLooping = False
cv2.destroyAllWindows()
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: lifeLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
# aspect ratio = new width over orig width
r = 150 / image.shape[1]
# new dimensions will be (new width, orig_height * aspect ratio)
dim = (150, int(image.shape[0] * r))
resized = cv2.resize(image, dim, interpolation=cv2.INTER_AREA)
cv2.imshow("Resized Width", resized)
# aspect ratio = new height over orig height
r = 50.0 / image.shape[0]
# new dimesion = adjust width by aspect ratio
dim = (int(image.shape[1] * r), 50)
# Adrian says INTER_AREA is best resize interpolation type, lets try cubic
resized = cv2.resize(image, dim, interpolation=cv2.INTER_CUBIC)
cv2.imshow("Resized Height w/cubic", resized)
resized = imutils.resize(image, width=100)
cv2.imshow("imutils.resize width", resized)
resized = imutils.resize(image, height=50)
cv2.imshow("imutils.resize height w/area interp", resized)
resized = imutils.resize(image, width=120, height=60)
cv2.imshow("imutils.resize w120 h60", resized)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
#image = cv2.imread(args["image"])
#cv2.imshow("Original", image)
rectangle = np.zeros((300, 300), dtype = "uint8")
cv2.rectangle( rectangle, (25,25), (275,275), 255, -1)
cv2.imshow("Rectangle", rectangle)
circle = np.zeros((300,300), dtype = "uint8")
cv2.circle(circle, (150,150), 150, 255, -1)
cv2.imshow("Circle", circle)
bitwiseAnd = cv2.bitwise_and(rectangle, circle)
cv2.imshow("AND", bitwiseAnd)
bitwiseOr = cv2.bitwise_or(rectangle,circle)
cv2.imshow("OR", bitwiseOr)
bitwiseXor = cv2.bitwise_xor(rectangle, circle)
cv2.imshow("XOR", bitwiseXor)
bitwiseNot = cv2.bitwise_not(circle)
cv2.imshow("NOT", bitwiseNot)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
#cv2.imshow("Original", image)
(B, G, R) = cv2.split(image)
cv2.imshow("Red", R)
cv2.imshow("Green", G)
cv2.imshow("Blue", B)
merged = cv2.merge([B, G, R])
cv2.imshow("Merged", merged)
cv2.waitKey(0)
cv2.destroyAllWindows()
zeros = np.zeros(image.shape[:2], dtype = "uint8")
cv2.imshow("Red", cv2.merge([zeros, zeros, R]))
cv2.imshow("Green", cv2.merge([zeros, G, zeros]))
cv2.imshow("Blue", cv2.merge([B, zeros, zeros]))
cv2.waitKey(0)
cv2.destroyAllWindows()
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
print("max of 255: {}".format(cv2.add(np.uint8([200]), np.uint8([100]))))
print("min of 0: {}".format(cv2.subtract(np.uint8([50]), np.uint8([100]))))
print("wrap around: {}".format(np.uint8([200]) + np.uint8([100])))
print("wrap around: {}".format(np.uint8([50]) - np.uint8([100])))
M = np.ones(image.shape, dtype = "uint8") * 100
added = cv2.add(image, M)
cv2.imshow("Added", added)
M = np.ones(image.shape, dtype = "uint8") * 50
subtracted = cv2.subtract(image, M)
cv2.imshow("Subtracted", subtracted)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: runLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image = cv2.imread(args["image"])
cv2.imshow("Original", image)
# Remember - np image arrays are [y,x]
cropped = image[30:120, 240:335]
cv2.imshow("T-Rex Face", cropped)
cv2.waitKey(0)
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: runLog.logger.info("Finished")
sleep(1)
def main():
if Carl: lifeLog.logger.info("Started")
egpg = easygopigo3.EasyGoPiGo3(use_mutex=True)
if Carl:
myconfig.setParameters(egpg)
tiltpan.tiltpan_center()
sleep(0.5)
tiltpan.off()
try:
image_orig = cv2.imread(args["image"], 1)
# test effect of smaller images (detect takes 3s on fullsize, <1s for 640x480)
import imutils
image = imutils.resize(image_orig, 640, 480)
myimutils.display("input", image)
cv2.waitKey(0)
print(cv2.data.haarcascades) # but the data files are missing
# Convert to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# Load a cascade file for detecting faces
# face_cascade = cv2.CascadeClassifier(cv2.data.haarcascades + "haarcascade_frontalface_default.xml")
# face_cascade = cv2.CascadeClassifier()
# face_cascade.load('haarcascade_frontalface_default.xml')
# full size: face1,3,4 good, face2 finds face and false face in floor
# 640x480: face1,3,4 good, face2.jpg finds face and false face in floor
face_cascade = cv2.CascadeClassifier(
"/home/pi/Carl/Examples/OpenCV/opencv-3.4.4/data/haarcascades/haarcascade_frontalface_default.xml"
)
# 640x480: finds in face1 and face2.jpg, fails face3 and face4
# fullsize:fails face1, ok in face2.jpg,face3 and 4
# face_cascade = cv2.CascadeClassifier("/home/pi/Carl/Examples/OpenCV/opencv-3.4.4/data/lbpcascades/lbpcascade_frontalface.xml")
# full size: finds face in face1, 2, 3, and 4
# 640x480: finds face1, fails face2, 3, 4
# face_cascade = cv2.CascadeClassifier("/home/pi/Carl/Examples/OpenCV/opencv-3.4.4/data/lbpcascades/lbpcascade_frontalface_improved.xml")
# Look for faces in the image using the loaded cascade file
faces = face_cascade.detectMultiScale(gray, 1.1, 5)
print("Found " + str(len(faces)) + " face(s) in resized image")
# make a copy to draw on
found = image
# Draw a rectangle around every face found
for (x, y, w, h) in faces:
cv2.rectangle(found, (x, y), (x + w, y + h), (255, 0, 0), 2)
# Save the result image
# cv2.imwrite('faces_in_image_output.jpg',found)
myimutils.display("faces", found)
face_set = detect_faces(image_orig)
myimutils.display("faces()", face_set[0])
print("faces() found {} faces".format(len(face_set[1])))
for (x, y, w, h) in face_set[1]:
print(" {}x{} face at ({},{})".format(h, w, x, y))
k = cv2.waitKey(0)
if k == 27: # Esc to kill everything
cv2.destroyAllWindows()
except KeyboardInterrupt: # except the program gets interrupted by Ctrl+C on the keyboard.
if (egpg != None): egpg.stop() # stop motors
print("\n*** Ctrl-C detected - Finishing up")
sleep(1)
if (egpg != None): egpg.stop()
if Carl: lifeLog.logger.info("Finished")
sleep(1)
