class App(object):
def __init__(self):
self._window_manager = WindowManager('Minimum Viable Product', self._on_keypress)
self._recorder = ImageDataRecorder(self._window_manager)
self._second_phase_activate = False
def _on_keypress(self, keycode):
"""Handle a keypress.
space -> Take a screenshot.
tab -> Start/stop recording a screencast.
escape -> Quit.
"""
if keycode == 32: # space
self._recorder.write_image('screenshot.png')
elif keycode == 9: # tab
if not self._recorder.is_writing_video:
self._recorder.start_writing_video(
'screencast.avi')
else:
self._recorder.stop_writing_video()
elif keycode == 27: # escape
self._recorder.stop()
while self._recorder.processed:
pass
self._window_manager.destroy_window()
elif keycode == 115: # s
self._second_phase_activate = True
else:
print(keycode)
def _recorder_show(self):
while self._recorder.processed and self._window_manager.is_window_created:
self._window_manager.process_events()
original = self._recorder.original_capture
processing = self._recorder.processing_capture
roi = self._recorder.roi_capture
self._window_manager.show(original, processing, roi)
self._recorder.release_frame()
def run_simple(self):
self._window_manager.create_window()
self._recorder.start(0, 1000)
self._recorder_show()
def run_algorithm(self):
self._window_manager.create_window()
uart = uart_control.UartControl()
# first phase: 4 faces
base_count = 5
current_face = 1
led = 10
# with SpeakerManager() as speaker:
# speaker.say('Начинаем получение данных', 3)
while current_face <= 4:
# TODO:
# uart.enable_led(led)]
self._recorder.start(current_face, base_count)
# TODO: show recording process, ...
self._recorder_show()
time.sleep(4)
# uart.disable_led()
# time.sleep(1)
# TODO: rotate 90
uart.start_step(1600)
time.sleep(4)
current_face += 1
# how to wait: by keypress 's'
# while not self._second_phase_activate:
# self._window_manager.process_events()
with SpeakerManager() as speaker:
speaker.say('Переверните упаковку', 3)
time.sleep(10)
# second phase: 2 faces
while current_face <= 6:
# TODO:
# uart.enable_led(led)
self._recorder.start(current_face, base_count)
# TODO: show recording process, ...
self._recorder_show()
time.sleep(4)
# uart.disable_led()
# time.sleep(1)
# TODO: rotate 180
uart.start_step(3200)
time.sleep(8)
current_face += 1
print(len(self._recorder.data))
image_folder = './images/'
for key in self._recorder.data.keys():
image_filename = image_folder + 'image2_' + str(key) + '.png'
print(image_filename)
cv2.imwrite(image_filename, self._recorder.data[key])
class App(object):
def __init__(self):
self._window_manager = WindowManager('Minimum Viable Product', self._on_keypress)
self._recorder = ImageDataRecorder(self._window_manager)
self._second_phase_activate = False
def _on_keypress(self, keycode):
"""Handle a keypress.
space -> Take a screenshot.
tab -> Start/stop recording a screencast.
escape -> Quit.
"""
if keycode == 32: # space
self._recorder.write_image('screenshot.png')
elif keycode == 9: # tab
if not self._recorder.is_writing_video:
self._recorder.start_writing_video(
'screencast.avi')
else:
self._recorder.stop_writing_video()
elif keycode == 27: # escape
self._recorder.stop()
while self._recorder.processed:
pass
self._window_manager.destroy_window()
elif keycode == 115: # s
self._second_phase_activate = True
else:
print(keycode)
def _recorder_show(self):
while self._recorder.processed and self._window_manager.is_window_created:
self._window_manager.process_events()
original = self._recorder.original_capture
processing = self._recorder.processing_capture
roi = self._recorder.roi_capture
self._window_manager.show(original, processing, roi)
self._recorder.release_frame()
def run_simple(self):
self._window_manager.create_window()
self._recorder.start(0, 1000)
self._recorder_show()
def run_algorithm(self):
self._window_manager.create_window()
uart = uart_control.UartControl()
# first phase: 4 faces
base_count = 3
current_face = 0
led = 10
while current_face < 4:
# TODO:
uart.enable_led(led)
self._recorder.start(current_face, base_count)
# TODO: show recording process, ...
self._recorder_show()
time.sleep(4)
uart.disable_led()
time.sleep(1)
# TODO: rotate 90
uart.start_step(1600)
time.sleep(4)
current_face += 1
# how to wait: by keypress 's'
#while not self._second_phase_activate:
# self._window_manager.process_events()
time.sleep(10)
# second phase: 2 faces
while current_face < 6:
# TODO:
uart.enable_led(led)
self._recorder.start(current_face, base_count)
# TODO: show recording process, ...
self._recorder_show()
time.sleep(4)
uart.disable_led()
time.sleep(1)
# TODO: rotate 180
uart.start_step(3200)
time.sleep(8)
current_face += 1
# print(len(self._recorder.data))
def test_uart(self):
uart = uart_control.UartControl()
uart.enable_led(10)
uart.start_step(6400)
time.sleep(12.8)
uart.disable_led()
class MVP(object):
def __init__(self):
self._thread_mode = True
self._windowManager = WindowManager('Minimum Viable Product',
self.on_keypress)
self._amount_frames = 0
self._success_finding_contours = 0
# DroidCam URL
# url = 'http://192.168.55.78:4747/video'
url = 0
self._captureManager = CaptureManager(
cv2.VideoCapture(url), self._windowManager, False)
# self._curveFilter = filters.BGRPortraCurveFilter()
# self._convolutionFilter = filters.FindEdgesFilter()
# self._imageProcessor = image_processor.SimpleImageProcessor()
# self._objectDetector = object_detector.SimpleObjectDetector()
def run(self):
"""Run the main loop."""
threadn = cv2.getNumberOfCPUs()
pool = ThreadPool(processes=threadn)
pending = deque()
# latency = StatValue()
# frame_interval = StatValue()
# last_frame_time = clock()
# TODO: Camera Calibration, Video Stabilization
self._windowManager.create_window()
while self._windowManager.is_window_created:
self._captureManager.enter_frame()
original = self._captureManager.original
self._captureManager.frame = original
# if original is not None:
# output = self.process_and_detect(original)
# self._captureManager.frame = output§
while len(pending) > 0 and pending[0].ready():
output = pending.popleft().get()
# latency.update(clock() - t0)
cv2.putText(output, "threaded : " + str(self._thread_mode),
(15, 80), cv2.FONT_HERSHEY_SIMPLEX, 1, (255, 0, 0), 2)
# draw_str(res, (20, 40), "latency : %.1f ms" % (latency.value * 1000))
# draw_str(res, (20, 60), "frame interval : %.1f ms" % (frame_interval.value * 1000))
self._captureManager.frame = output
self._captureManager.exit_frame()
if len(pending) < threadn:
# ret, frame = cap.read()
# t = clock()
# frame_interval.update(t - last_frame_time)
# last_frame_time = t
if self._thread_mode:
task = pool.apply_async(self.process_and_detect, (original.copy(),))
else:
task = DummyTask(self.process_and_detect(original))
pending.append(task)
self._captureManager.exit_frame()
self._windowManager.process_events()
def process_and_detect(self, src):
self._amount_frames += 1
# filters.strokeEdges(src, src)
# self._curveFilter.apply(src, src)
# self._convolutionFilter.apply(src, src)
# self._imageProcessor.process(src, src)
# self._objectDetector.detect(src)
# TODO: Image Preprocessor: removing shadows, small blobs, noise, enhancing, etc
# TODO: Image Processor
processing = self.image_processing_template_one(src)
# gray = cv2.cvtColor(src, cv2.COLOR_BGR2GRAY)
# filtering = cv2.bilateralFilter(gray, 1, 10, 120)
# TODO: Object Detector
output = cv2.cvtColor(processing, cv2.COLOR_GRAY2BGR)
success_detect = self.try_detect(input=processing, output=output, post_detect_fn=self.post_detect_draw)
if not success_detect:
# TODO: image_processing_template_two
pass
# TODO: Get 4-contours square counts If zero
# TODO: [For 3D] Wrapping & Transformations
# TODO: to be continued
return output
def image_processing_template_one(self, src):
# TODO: Color space: GRAYSCALE, HSV, ...
gray = cv2.cvtColor(src, cv2.COLOR_BGR2GRAY)
# TODO: Convolution, Blurring, ...
# filtering = cv2.bilateralFilter(gray, 1, 10, 120)
filtering = self.image_filtering(gray)
# TODO: Edge detection
# edges = cv2.Canny(gray, 10, 250)
edges = self.edge_detection(filtering)
# TODO: Morphological operations
# kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (7, 7))
# closed = cv2.morphologyEx(edges, cv2.MORPH_CLOSE, kernel)
closed = self.morphological_transformations(edges)
return closed
def image_filtering(self, src):
diameter = self._windowManager.get_trackbar_value('diameter(for bilateralFilter)')
sigma_color = self._windowManager.get_trackbar_value('sigmaColor(for bilateralFilter)')
sigma_space = self._windowManager.get_trackbar_value('sigmaSpace(for bilateralFilter)')
filtering = cv2.bilateralFilter(src, diameter, sigma_color, sigma_space)
return filtering
def edge_detection(self, src):
threshold_min = self._windowManager.get_trackbar_value('threshold min(for Canny edge detection)')
threshold_max = self._windowManager.get_trackbar_value('threshold max(for Canny edge detection)')
edges = cv2.Canny(src, threshold_min, threshold_max)
return edges
def morphological_transformations(self, edges):
kernel_size = self._windowManager.get_trackbar_value('kernel size(morphological structuring element)')
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (kernel_size, kernel_size))
closed = cv2.morphologyEx(edges, cv2.MORPH_CLOSE, kernel)
return closed
def try_detect(self, input, output, post_detect_fn):
success_standard = self.detect_standard_rects(input, output, post_detect_fn)
if not success_standard:
# TODO: detect_rects_by_lines
pass
return success_standard
def detect_standard_rects(self, input, output, post_detect_fn):
contour_area_points = self._windowManager.get_trackbar_value('Contour area min amount points (*100)')
approx_edges_amount = self._windowManager.get_trackbar_value('Approx edges amount')
_, contours, h = cv2.findContours(input, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
rects_count = 0
for cont in contours:
if cv2.contourArea(cont) > contour_area_points * 100:
arc_len = cv2.arcLength(cont, True)
approx = cv2.approxPolyDP(cont, 0.1 * arc_len, True)
if len(approx) == approx_edges_amount:
post_detect_fn(output, approx)
rects_count += 1
if rects_count > 0:
self._success_finding_contours += 1
color_yellow = (0, 255, 255)
percent_success_finding = round((self._success_finding_contours / self._amount_frames) * 100, 2)
cv2.putText(output, str(percent_success_finding) + "%",
(15, 40), cv2.FONT_HERSHEY_SIMPLEX, 1, color_yellow, 2)
return rects_count > 0
@staticmethod
def post_detect_draw(output, approx):
cv2.drawContours(output, [approx], -1, (255, 0, 0), 2)
def on_keypress(self, keycode):
"""Handle a keypress.
space -> Take a screenshot.
tab -> Start/stop recording a screencast.
escape -> Quit.
"""
if keycode == 32: # space
# self._captureManager.write_image('screenshot.png')
self._thread_mode = not self._thread_mode
elif keycode == 9: # tab
if not self._captureManager.is_writing_video:
self._captureManager.start_writing_video(
'screencast.avi')
else:
self._captureManager.stop_writing_video()
elif keycode == 27: # escape
self._windowManager.destroy_window()