-
Notifications
You must be signed in to change notification settings - Fork 0
/
main.py
executable file
·188 lines (184 loc) · 7.94 KB
/
main.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
#!/usr/bin/env python3
import gi
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk, GdkPixbuf
import imutils
from imutils.video import VideoStream
from threading import Thread
import time
import cv2
import numpy as np
class Worker(Thread):
def __init__(self,input):
Thread.__init__(self)
self.data = input
self.run_command = False
def run(self):
while self.run_command:
#Command executed by Worker
self.data.pic = self.data.vs.read()
pic = imutils.resize(self.data.pic, width=600)
blurred = cv2.GaussianBlur(pic,(11,11),0)
hsv = cv2.cvtColor(blurred, cv2.COLOR_BGR2HSV)
msk = cv2.inRange(hsv,self.data.lower,self.data.upper)
msk = cv2.erode(msk, None, iterations=2)
msk = cv2.dilate(msk, None, iterations=2)
msk = cv2.cvtColor(msk, cv2.COLOR_GRAY2BGR)
pic = np.array(msk).flatten()
pixbuf = GdkPixbuf.Pixbuf.new_from_data(pic,GdkPixbuf.Colorspace.RGB,False,8,600,400,3*600)
self.data.image.set_from_pixbuf(pixbuf)
time.sleep(1.0/self.data.worker_freq)
class PyApp(Gtk.Window):
def __init__(self):
Gtk.Window.__init__(self,title="PyTracking")
self.set_default_size(600,450)
self.connect("destroy", self.quit_and_kill_worker)
#Initialize widget grid
self.grid = Gtk.Grid()
self.grid.set_row_spacing(5)
self.grid.set_column_spacing(2)
self.add(self.grid)
#Start/Stop button
self.start_stop_button = Gtk.Button(label=("Start"))
self.start_stop_button.connect("clicked",self.start_stop_worker)
self.grid.attach(self.start_stop_button, 1,0, 1, 1)
#Slider
self.slider1 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,0,255,1)
self.slider2 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,0,255,1)
self.slider3 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,0,255,1)
self.slider4 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,0,255,1)
self.slider5 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,0,255,1)
self.slider6 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,0,255,1)
self.slider7 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,1,60,1)
self.slider8 = Gtk.Scale.new_with_range(Gtk.Orientation.VERTICAL,1,200,1)
self.slider1.set_value(0)
self.slider2.set_value(0)
self.slider3.set_value(0)
self.slider4.set_value(255)
self.slider5.set_value(255)
self.slider6.set_value(255)
self.slider7.set_value(5)
self.slider8.set_value(75)
self.lower = np.array([0,0,0])
self.upper = np.array([255,255,255])
self.worker_freq = 5
self.rad = 75
self.slider1.connect("value-changed", self.slider1_moved)
self.slider2.connect("value-changed", self.slider2_moved)
self.slider3.connect("value-changed", self.slider3_moved)
self.slider4.connect("value-changed", self.slider4_moved)
self.slider5.connect("value-changed", self.slider5_moved)
self.slider6.connect("value-changed", self.slider6_moved)
self.slider7.connect("value-changed", self.slider7_moved)
self.slider8.connect("value-changed", self.slider8_moved)
self.slider1_label = Gtk.Label()
self.slider1_label.set_label("R")
self.slider2_label = Gtk.Label()
self.slider2_label.set_label("G")
self.slider3_label = Gtk.Label()
self.slider3_label.set_label("B")
self.slider4_label = Gtk.Label()
self.slider4_label.set_label("R")
self.slider5_label = Gtk.Label()
self.slider5_label.set_label("G")
self.slider6_label = Gtk.Label()
self.slider6_label.set_label("B")
self.slider7_label = Gtk.Label()
self.slider7_label.set_label("Hz")
self.slider8_label = Gtk.Label()
self.slider8_label.set_label("Rad")
self.grid.attach(self.slider1, 4,0, 1, 30)
self.grid.attach(self.slider2, 5,0, 1, 30)
self.grid.attach(self.slider3, 6,0, 1, 30)
self.grid.attach(self.slider4, 7,0, 1, 30)
self.grid.attach(self.slider5, 8,0, 1, 30)
self.grid.attach(self.slider6, 9,0, 1, 30)
self.grid.attach(self.slider7, 10,0, 1, 30)
self.grid.attach(self.slider8, 11,0, 1, 30)
self.grid.attach(self.slider1_label, 4,35, 1, 1)
self.grid.attach(self.slider2_label, 5,35, 1, 1)
self.grid.attach(self.slider3_label, 6,35, 1, 1)
self.grid.attach(self.slider4_label, 7,35, 1, 1)
self.grid.attach(self.slider5_label, 8,35, 1, 1)
self.grid.attach(self.slider6_label, 9,35, 1, 1)
self.grid.attach(self.slider7_label, 10,35, 1, 1)
self.grid.attach(self.slider8_label, 11,35, 1, 1)
#Initialize frame
self.frame = Gtk.Frame()
self.image = Gtk.Image.new()
self.vs = VideoStream(src=0).start()
time.sleep(2.0)
self.pic = self.vs.read()
pic = imutils.resize(self.pic, width=600)
pic = np.array(pic).flatten()
pixbuf = GdkPixbuf.Pixbuf.new_from_data(pic,GdkPixbuf.Colorspace.RGB, False, 8, 600, 400, 3*600)
self.image.set_from_pixbuf(pixbuf)
self.frame.add(self.image)
self.grid.attach(self.frame, 1,50,10,1)
#Initialize worker
self.worker = Worker(self)
self.worker.start()
#Show Window
self.show_all()
#Function to start and stop worker
def start_stop_worker(self, widget):
self.worker.run_command = not self.worker.run_command
if not self.worker.run_command:
widget.set_label("Start")
self.worker.join()
self.set_title("PyTracking - Stopped")
else:
widget.set_label("Stop")
self.worker = Worker(self)
self.worker.run_command = True
self.worker.start()
self.set_title("PyTracking - Running")
#Functions to handle slider
def slider1_moved(self, widget):
slidervalue = int(self.slider1.get_value())
if slidervalue > self.upper[0]:
self.upper[0] = slidervalue
self.slider4.set_value(slidervalue)
self.lower[0] = slidervalue
def slider2_moved(self, widget):
slidervalue = int(self.slider2.get_value())
if slidervalue > self.upper[1]:
self.upper[1] = slidervalue
self.slider5.set_value(slidervalue)
self.lower[1] = slidervalue
def slider3_moved(self, widget):
slidervalue = int(self.slider3.get_value())
if slidervalue > self.upper[2]:
self.upper[2] = slidervalue
self.slider6.set_value(slidervalue)
self.lower[2] = slidervalue
def slider4_moved(self, widget):
slidervalue = int(self.slider4.get_value())
if slidervalue < self.lower[0]:
self.lower[0] = slidervalue
self.slider1.set_value(slidervalue)
self.upper[0] = slidervalue
def slider5_moved(self, widget):
slidervalue = int(self.slider5.get_value())
if slidervalue < self.lower[1]:
self.lower[1] = slidervalue
self.slider2.set_value(slidervalue)
self.upper[1] = slidervalue
def slider6_moved(self, widget):
slidervalue = int(self.slider6.get_value())
if slidervalue < self.lower[2]:
self.lower[2] = slidervalue
self.slider3.set_value(slidervalue)
self.upper[2] = slidervalue
def slider7_moved(self, widget):
self.worker_freq = int(self.slider7.get_value())
def slider8_moved(self, widget):
self.rad = int(self.slider8.get_value())
#Function evaluated at window kill
def quit_and_kill_worker(self,widget):
self.worker.quit = True
self.worker.join()
print("Quiting PyTracking")
Gtk.main_quit()
PyApp()
Gtk.main()