def select_optimal_colors(self):
# in case something else is still open
cv.DestroyAllWindows()
capture = cv.CaptureFromCAM(self.camera_index)
if not capture:
QMessageBox.information(self, "Camera Error", "Camera not found")
return
cv.NamedWindow("click & drag to select object", cv.CV_WINDOW_AUTOSIZE)
cv.MoveWindow("click & drag to select object", 610, 0)
cv.SetMouseCallback("click & drag to select object", self.mouseHandler, None)
camera_on = True
while camera_on:
if (not self.busy_updating):
frame = cv.QueryFrame(capture)
if not frame:
break
cv.ShowImage("click & drag to select object", frame)
self.frame = frame
k = cv.WaitKey(1)
# press q or escape to quit camera view
if k == 27 or k == 113 or self.end_record:
camera_on = False
cv.DestroyAllWindows()
self.end_record = False
break
def get_tracked_region(im):
tr = TrackedRegion(im)
cv.NamedWindow("reference")
cv.CreateTrackbar('xpos', 'reference', 0, im.width - 1, tr.set_x)
cv.CreateTrackbar('ypos', 'reference', 0, im.height - 1, tr.set_y)
cv.CreateTrackbar('size', 'reference', 0, im.width - 1, tr.set_size)
# Show position of descriptors on reference image
cv.ShowImage("reference", im)
# Selecting tracked region
while True:
key_pressed = cv.WaitKey(100)
if key_pressed == 32:
cv.Rectangle(im, (tr.xpos, tr.ypos),
(tr.xpos + tr.size, tr.ypos + tr.size),
255,
thickness=3)
cv.DestroyWindow("reference")
break
elif key_pressed == 27:
cv.DestroyAllWindows()
cv.WaitKey(100)
return
else:
im_copy = cv.CreateMat(im.height, im.width, cv.CV_8UC1)
cv.Copy(im, im_copy)
cv.Rectangle(im_copy, (tr.xpos, tr.ypos),
(tr.xpos + tr.size, tr.ypos + tr.size),
255,
thickness=3)
cv.ShowImage("reference", im_copy)
return tr
def step(self, pause=False):
try:
retval, img_arr = self.cam.read()
#cv2.imwrite(settings.base_path+'pics/pic1.jpg', img_arr)
assert img_arr is not None, "Camera in use by other process"
self.add_observation(img_arr, draw=self.show_overlays)
if settings.use_simplecv_display:
if self.display.isDone():
raise SystemExit, "exiting"
img = Image(cv.fromarray(img_arr))
if self.show_overlays or self.trainable:
self.annotate_img(img)
img.save(self.display)
if self.display.mouseLeft:
self.show_overlays = not self.show_overlays
if self.display.mouseRight:
self.display.done = True
else:
cv.ShowImage("Index", cv.fromarray(img_arr))
if pause:
print("Press any key to continue")
cv.WaitKey()
cv.DestroyAllWindows()
return True
except KeyboardInterrupt:
return False
def main(args):
FO = FindObject("find_object")
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down Find Object node."
cv.DestroyAllWindows()
def main():
optic_flow_calculator = Optic_Flow_Calculator()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def main(args):
try:
objectDetection()
rospy.spin()
except KeyboardInterrupt:
print "Shutting down vision node."
cv.DestroyAllWindows()
def loop():
"""main video loop to render frames
This loops until escape key is pressed, calling detect_features on each
frame to look for True features (based on keys 1-3).
"""
global face_on, eye_on, nose_on
# set up window and camera
win_name = "peekaboo"
source = cv.CaptureFromCAM(0)
cv.NamedWindow(win_name)
while True:
# grab the key press to delegate action
key = cv.WaitKey(15)
# escape key to exit
if key == 27:
break
# keys 1-3 determine detected features
if key == 49:
face_on = False if face_on else True
if key == 50:
eye_on = False if eye_on else True
if key == 51:
nose_on = False if nose_on else True
# get the frame, detect selected features, and show frame
frame = cv.QueryFrame(source)
detect_features(frame)
cv.ShowImage(win_name, frame)
cv.DestroyAllWindows()
def main(args):
global pub_twist
global gripping
rospy.init_node("visual_servoing")
gripping = Gripping()
rospy.sleep(1)
gripping.pre_grip()
rospy.sleep(1)
rospy.Subscriber("usb_cam/image_raw", Image, image_callback)
pub_twist = rospy.Publisher("/cmd_vel", Twist)
thread.start_new_thread(send_twist, ())
try:
rospy.spin()
except Keyboardinterrupt:
pass
global xvel
global yvel
xvel = 0
yvel = 0
send_twist()
cv.DestroyAllWindows()
def main(args):
vn = vision_node()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down vison node."
cv.DestroyAllWindows()
def main():
image_processor = Image_Processor()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def main(args):
rospy.init_node('ball_loc', anonymous=True)
bl = ball_locator()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def main(args):
ic = image_converter()
rospy.init_node('image_converter', anonymous=True)
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def main(args):
ic = face_detect()
rospy.init_node('face_detect', anonymous=True)
try:
rospy.spin()
except KeyboardInterupt:
print "shutting down"
cv.DestroyAllWindows()
def main():
rospy.init_node('cv_sandbox')
v = vision()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def clean_up(self):
"""Clean up the camera
"""
if self._capture:
self._capture.release()
cv.DestroyAllWindows()
def main(args):
rospy.init_node('camera_arena_calibration_test')
cal = Calibration()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def runVideo(self):
frameCount = 0
x = self.xFont
y = self.yFont
font = self.videoFont
tom2Coords = self.tom2Coords
tom1Coords = self.tom1Coords
snareCoords = self.snareCoords
hihatCoords = self.hihatCoords
i = 2
while True:
if i % 2 == 0:
frame = cv.QueryFrame(capture)
self.redStick.drawBoundingCircle(frame)
self.blueStick.drawBoundingCircle(frame)
self.redStick.appendCentersList()
self.blueStick.appendCentersList()
self.redStick.findDelta()
self.blueStick.findDelta()
self.redStick.playSounds()
self.blueStick.playSounds()
cv.Rectangle(frame, (tom1Coords[0], tom1Coords[1]),
(tom1Coords[2], tom1Coords[3]), (255, 0, 0), 0)
cv.Rectangle(frame, (tom2Coords[0], tom2Coords[1]),
(tom2Coords[2], tom2Coords[3]), (0, 255, 0), 0)
cv.Rectangle(frame, (snareCoords[0], snareCoords[1]),
(snareCoords[2], snareCoords[3]), (0, 0, 255), 0)
cv.Rectangle(frame, (hihatCoords[0], hihatCoords[1]),
(hihatCoords[2], hihatCoords[3]), (125, 125, 0),
0)
cv.Flip(frame, frame, 1)
cv.PutText(frame, "Press q or esc to terminate.", (x, y), font,
(0, 255, 0))
cv.PutText(frame, "Current Velocities:", (x, y + 50), font,
(0, 255, 255))
cv.PutText(frame, str(self.redStick.delta), (x, y + 100), font,
(0, 0, 255))
cv.PutText(frame, str(self.blueStick.delta),
(x + 100, y + 100), font, (255, 0, 0))
cv.ShowImage("DrumMaster 9000!", frame)
key = cv.WaitKey(7)
if key == 27 or key == 113:
cv.DestroyAllWindows()
pygame.quit()
exit()
break
frameCount += 1
def main(args):
rospy.init_node('faa_image_conditioner', anonymous=True)
conditioner = Conditioner()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
if conditioner.display_image_window:
cv.DestroyAllWindows()
def main(args):
rospy.init_node('table_detector_test', anonymous=True)
ic = table_detector()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
cv.DestroyAllWindows()
def main(args):
rospy.init_node('faa_image_processing', anonymous=True)
ip = ImageProcessor()
try:
rospy.spin()
except KeyboardInterrupt:
print "Shutting down"
if ip.display_images:
cv.DestroyAllWindows()
def check_angle(self):
# in case something else is still open
cv.DestroyAllWindows()
capture = cv.CaptureFromCAM(self.camera_index)
if not capture:
QMessageBox.information(self, "Camera Error", "Camera not found")
return
cv.NamedWindow("Video", cv.CV_WINDOW_AUTOSIZE)
cv.MoveWindow("Video", 350, 0)
camera_on = True
# keep a running average for 100 reads
total = 0
num_reads = 0
while camera_on:
if (not self.busy_updating):
frame = cv.QueryFrame(capture)
if not frame:
break
deg_found = self.angle(frame)
# if an angle is detected, update the running average
if deg_found != 0:
total += deg_found
num_reads += 1
self.curr_degree = float(total)/float(num_reads)
if num_reads > 100:
self.found_angle = True
if self.found_angle:
degrees_shown = self.curr_degree
degrees_shown = round(degrees_shown, 2)
to_text = str(degrees_shown) + " degrees"
self.act_angle.setText(to_text)
small_frame = cv.CreateImage((self.fit_camera_width, self.fit_camera_height), 8, 3)
cv.Resize(frame, small_frame)
cv.ShowImage("Video", small_frame)
k = cv.WaitKey(1)
# press q or escape to quit camera view
if k == 27 or k == 113 or self.end_record:
camera_on = False
cv.DestroyAllWindows()
self.end_record = False
break
def calibrate_screen(self):
# in case something else is still open
cv.DestroyAllWindows()
capture = cv.CaptureFromCAM(self.camera_index)
if not capture:
QMessageBox.information(self, "Camera Error", "Camera not found")
return
cv.NamedWindow("hold up object at preferred distance from camera", cv.CV_WINDOW_AUTOSIZE)
cv.NamedWindow("select for max visibility", cv.CV_WINDOW_AUTOSIZE)
cv.MoveWindow("hold up object at preferred distance from camera", 320, 0)
cv.MoveWindow("select for max visibility", 800, 82)
cv.CreateTrackbar("Start at color", "hold up object at preferred distance from camera", self.low_color, 179, self.update_low_color)
cv.CreateTrackbar("End at color", "hold up object at preferred distance from camera", self.high_color, 179, self.update_high_color)
camera_on = True
while camera_on:
if (not self.busy_updating):
frame = cv.QueryFrame(capture)
if not frame:
break
# convert color to hue space for easier tracking
imgHSV = cv.CreateImage(cv.GetSize(frame), 8, 3)
cv.CvtColor(frame, imgHSV, cv.CV_BGR2HSV)
imgThresh = cv.CreateImage(cv.GetSize(frame), 8, 1)
# interactive thresholding
cv.InRangeS(imgHSV, cv.Scalar(self.low_color, self.MED_SV, self.MED_SV), cv.Scalar(self.high_color, self.MAX_SV, self.MAX_SV), imgThresh)
moments = cv.Moments(cv.GetMat(imgThresh))
self.calibration_area = cv.GetCentralMoment(moments, 0, 0)
# shrink images for display
small_thresh = cv.CreateImage((self.fit_camera_width, self.fit_camera_height), 8, 1)
cv.Resize(imgThresh, small_thresh)
small_frame = cv.CreateImage((self.fit_camera_width, self.fit_camera_height), 8, 3)
cv.Resize(frame, small_frame)
cv.ShowImage("hold up object at preferred distance from camera", small_frame)
cv.ShowImage("select for max visibility", small_thresh)
k = cv.WaitKey(1)
# press q or escape to quit camera view
if k == 27 or k == 113 or self.end_record:
camera_on = False
cv.DestroyAllWindows()
self.end_record = False
break
def main(args):
# if len(args) != 3:
# return usage()
# [name, cameraName, outputName] = args
name = "ClickWindowName"
rospy.init_node(name)
outputName = rospy.get_param("~output", "defaultClickPointOutput")
gui = ClickWindow(outputName=outputName)
while not rospy.is_shutdown():
gui.listen()
cv.DestroyAllWindows()
def find_contours(self, img_arr, debug=True):
if debug:
cv.ShowImage("Index", cv.fromarray(img_arr))
cv.WaitKey()
cv.DestroyAllWindows()
hsv_img = cv2.cvtColor(img_arr, cv2.COLOR_BGR2HSV)
if debug:
cv.ShowImage("Index", cv.fromarray(hsv_img))
cv.WaitKey()
cv.DestroyAllWindows()
HSV_MIN = np.array([0, self.SAT_THRES, 20],np.uint8)
HSV_MAX = np.array([255, 255, 255],np.uint8)
frame_threshed = cv2.inRange(hsv_img, HSV_MIN, HSV_MAX)
ret, thresh = cv2.threshold(frame_threshed, 127, 255, 0)
if debug:
cv.ShowImage("Index", cv.fromarray(thresh))
cv.WaitKey()
cv.DestroyAllWindows()
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
return contours
def del_mem(self):
del self.res
del self.__res_gray
del self.res_smooth
del self.canny
del self.contour_in
del self.contour_out
del self.contours
del self.c_storage
del self.a_storage
cv.DestroyAllWindows()
def main(args):
# if len(args) != 3:
# return usage()
# [name, cameraName, outputName] = args
name = "CameraNodeName"
rospy.init_node(name)
cameraName = rospy.get_param("~cam", "defaultCameraNodeCamera")
outputName = rospy.get_param("~output", "defaultCameraNodeOutput")
gui = CameraNode(cameraName=cameraName, outputName=outputName)
while not rospy.is_shutdown():
gui.listen()
cv.DestroyAllWindows()
def get_dist_to_platform(self, req):
#side = req.side
rate = rospy.Rate(20)
avg_move = 0
counter_failed = 0
res = GetDistResponse()
res.dist = -1
NUM_READINGS = 10
for i in xrange(NUM_READINGS):
while self.depth_frame is None:
if rospy.is_shutdown():
if FULL_VISUALIZE:
cv.DestroyAllWindows()
return res
rate.sleep()
if rospy.is_shutdown() or counter_failed > MAX_COUNTER_FAILES:
if FULL_VISUALIZE:
cv.DestroyAllWindows()
return res
depth_frame = self.bridge.imgmsg_to_cv(self.depth_frame, "32FC1")
self.depth_frame = None
depth_frame = np.array(depth_frame, dtype=np.float32)
depth_frame = depth_frame[crop_y[0]:crop_y[1], crop_x[0]:crop_x[1]]
try:
suc = self.process_image(depth_frame)
if not suc:
counter_failed += 1.
rate.sleep()
continue
cv.WaitKey(5)
except CvBridgeError, e:
print e
dist = pixel_to_m(self.avg_dist)
avg_move += -OFFSET_LIN - dist
rate.sleep()
def main(args):
help_message = "Hot keys: \n" \
"\tq - quit the program\n" \
"\tr - restart video from beginning\n" \
"\tspace - toggle pause/play\n"
print help_message
try:
a2r = AVI2ROS()
except KeyboardInterrupt:
print "Shutting down avi2ros..."
cv.DestroyAllWindows()
def get_angle_to_platform(self, req):
rate = rospy.Rate(30)
avg_turn = 0
counter_failed = 0
res = GetAngleResponse()
res.ang = -1
NUM_READINGS = 10
for i in xrange(NUM_READINGS):
while self.depth_frame is None:
if rospy.is_shutdown():
if FULL_VISUALIZE:
cv.DestroyAllWindows()
return res
rate.sleep()
if rospy.is_shutdown() or counter_failed > MAX_COUNTER_FAILES:
if FULL_VISUALIZE:
cv.DestroyAllWindows()
return res
depth_frame = self.bridge.imgmsg_to_cv(self.depth_frame, "32FC1")
self.depth_frame = None
depth_frame = np.array(depth_frame, dtype=np.float32)
depth_frame = depth_frame[crop_y[0]:crop_y[1], crop_x[0]:crop_x[1]]
try:
suc = self.process_image(depth_frame)
if not suc:
counter_failed += 1.
rate.sleep()
continue
cv.WaitKey(5)
except CvBridgeError, e:
print e
avg_turn += math.pi / 2. + OFFSET_TH - self.avg_th
rate.sleep()
def main(args):
# Display a help message if appropriate.
help_message = ""
print help_message
try:
# Fire up the node.
ROS2OpenCV("ros2opencv")
# Spin so our services will work
rospy.spin()
except KeyboardInterrupt:
logger.info("Shutting down vision node.")
cv.DestroyAllWindows()
