def CaptureImage():
path = 'ImagesTaken'
if not os.path.exists(path):
os.makedirs(path)
camera_port = 0
imgNameDigitized = os.path.join(
path,
datetime.datetime.now().strftime(
format='%b-%d-%Y-%I-%M-%S-%p_DIGI.png'))
imgNameColorized = os.path.join(
path,
datetime.datetime.now().strftime(
format='%b-%d-%Y-%I-%M-%S-%p_COLOR.png'))
# CAPTURE IMAGE
camera = cv2.VideoCapture(
camera_port) #, cv2.CAP_DSHOW removed because of ERROR
time.sleep(0.1)
return_value, img = camera.read()
camera.release()
cv2.imwrite(imgNameColorized, img)
# BINARIZE IMAGE
grayscaled = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
binarizedImage = cv2.adaptiveThreshold(grayscaled, 255,
cv2.ADAPTIVE_THRESH_GAUSSIAN_C,
cv2.THRESH_BINARY, 115, 1)
cv2.imwrite(imgNameDigitized, binarizedImage)
return imgNameDigitized, imgNameColorized
def calibrate(): print 'Calibrate.' # get homography img = cam.read() gray = vis.gray(img) H = hom.get_H(gray) dis.set_H(H)
def update(self):
if self.current_state == STATE_ROLL:
#State 1) Roll a card, wait for photo sensor to trigger
stepper.turn(6)
if photo_resistor.isActive() == True:
self.current_state = STATE_IMAGE_PROCESSING
stepper.stop()
print('------------------------')
elif self.current_state == STATE_IMAGE_PROCESSING:
#State 2) take a picture, do stuff with it
time.sleep(0.9) #We need to wait for the camera to update properly
#1) Take a picture
camera.camera_handler.toggleShowOutput(False)
captured = camera.read().copy()
if captured is None:
return
#2) Pre-process image for Tesseract
camera.to_display = captured.copy()
processed_path = image_processing.process(captured)
if processed_path is None:
return
#3) Pass image threw Tesseract
ocr_string = ocr_processing.processImage(processed_path)
#4) Parse result string
card_data = mtg.parsing.parse(ocr_string)
self.last_processed_data = card_data
print(card_data, ocr_string)
self.log.append(card_data)
self.processed_count += 1
self.current_state = STATE_FILTER
elif self.current_state == STATE_FILTER:
#State 3) Move filter into position
#TODO - Cleanup this
#if (self.last_processed_data['extention'] == 'AKH'):
# filters.open(1)
#elif (self.last_processed_data['extention'] == 'BFZ'):
# filters.open(2)
#elif (self.last_processed_data['extention'] == 'KLD'):
# filters.open(3)
#elif (self.last_processed_data['extention'] == 'ORI'):
# filters.open(4)
#else:
# filters.close()
self.current_state = STATE_DROP
elif self.current_state == STATE_DROP:
#State 4) Roll gently to drop a card, wait for second sensor to trigger
#Slight static movEment to trigger drop
for i in range(0, 5):
stepper.step() #A few stepsis all it takes
time.sleep(0.05)
if photo_resistor.isActive() == False:
time.sleep(0.5)
self.current_state = STATE_ROLL
else:
stepper.turn(30)
return False
def main():
aWeight = 0.5
camera = cv2.VideoCapture(0)
top, right, bottom, left = 100, 400, 300, 600
num_frames = 0
image_num = 0
start_recording = False
while(True):
(grabbed, frame) = camera.read()
if (grabbed == True):
frame = imutils.resize(frame, width=700)
frame = cv2.flip(frame, 1)
clone = frame.copy()
(height, width) = frame.shape[:2]
roi = frame[top:bottom, right:left]
gray = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (7, 7), 0)
if num_frames < 30:
run_avg(gray, aWeight)
print(num_frames)
else:
hand = segment(gray)
if hand is not None:
(thresholded, segmented) = hand
cv2.drawContours(clone, [segmented + (right, top)], -1, (0, 0, 255))
if start_recording:
cv2.imwrite("Dataset/YoImages/yo_" + str(image_num) + '.png', thresholded)
image_num += 1
cv2.imshow("Thesholded", thresholded)
cv2.rectangle(clone, (left, top), (right, bottom), (0, 255, 0), 2)
num_frames += 1
cv2.imshow("Video Feed", clone)
keypress = cv2.waitKey(1) & 0xFF
print(image_num)
if keypress == ord("q") or image_num > 999:
break
if keypress == ord("s"):
start_recording = True
else:
print("Error, Check Camera")
break
def main():
cam.init()
#dis.init(1920, 1080)
while(True):
# capture frame-by-frame
img = cam.read()
# our operations on the frame come here
gray = vis.gray(img)
# display the resulting frame
dis.show(gray)
# handle key input
if cv2.waitKey(1) & 0xFF == ord('q'): # quit
break
if cv2.waitKey(1) & 0xFF == ord('c'): # calibrate
calibrate()
# clean up camera
cam.destroy()
import camera camera = camera.Camera(False) while True: frame = camera.read() print len(frame.getvalue())
def update(self):
if self.state == STATE_CALIBRATE_SENSOR_ON:
#1) Calibrate unblocked photo sensor light reception
ok = '\033[92m' + 'DETECT LIGHT' + '\033[0m'
not_ok = '\033[91m' + 'IN THE DARK ' + '\033[0m'
#photo resistor active = in the dark
sensor_state = not_ok if photo_resistor.isActive() == True else ok
if photo_resistor.isActive(
) != True: #It was good at one point, check over time
sensor_state = ok
for i in range(
0, 100
): #Check a 100 times over a second, must stay inactive
if photo_resistor.isActive() == True:
sensor_state = not_ok
break
time.sleep(0.01)
print('Photosensor calibration mode, sensor state is ' +
sensor_state,
end='\r')
if sensor_state == ok:
print(
'Photosensor light calibration ok, test with a card over it'
)
self.state = STATE_CALIBRATE_SENSOR_OFF
time.sleep(0.1)
elif self.state == STATE_CALIBRATE_SENSOR_OFF:
#2) Roll a card over photo sensor to calibrate light block
if photo_resistor.isActive(
) != True: #While there is nothing over it ,roll a card
stepper.turn(6)
print('Wait for a card ...', end='\r')
time.sleep(0.001)
else:
print(
'Detected a card, is the calibration ok ? type y/n and press enter',
end='\n')
while True:
choice = input("> ")
if choice == 'y':
print('Sensor off clibration is ok')
self.state = STATE_CALIBRATE_CAMERA
break
elif choice == 'n':
print(
'Ok, manually remove card and move sensor, will resume operation in 10 seconds'
)
time.sleep(10)
print('Resume')
break
elif self.state == STATE_CALIBRATE_CAMERA:
#3) Calibrate camera focus, roll a card if removed
print('Manually calibrate camera focus')
print(
"Press CTRL-C to exit this mode, manually remove a card to roll a new one"
)
try:
while True:
while photo_resistor.isActive(
) != True: #While there is nothing over it ,roll a card
stepper.turn(6)
time.sleep(0.01)
except KeyboardInterrupt:
self.state = STATE_CALIBRATE_ANGLE
print("\nCamera calibration is ok, check angle")
camera.camera_handler.toggleShowOutput(False)
pass
elif self.state == STATE_CALIBRATE_ANGLE:
#4) Calibrate angle, test a card ,ask if angle is ok, roll another card. If ok 3 times in a row, save angle.
#4.1) Roll card if needed
while photo_resistor.isActive(
) != True: #While there is nothing over it ,roll a card
stepper.turn(6)
time.sleep(0.01)
#4.2) Display angled image
for i in range(0, 25):
time.sleep(0.1)
image = camera.read().copy()
if image is None:
return
print('Detect angle ...')
angle = image_processing.detectAngle(image)
image = image_processing.rotate(image, angle)
camera.to_display = image
print(
'Detected angle of', angle,
' enter \'y\' if image is displayed correctly and \'n\' if not'
)
while True:
choice = input("> ")
if choice == 'y':
self.angles.append(angle)
if len(self.angles) >= 3:
config.set("angle",
(sum(self.angles) / len(self.angles)))
print('Calibration is over !')
return True
else:
print(len(self.angles), '/ 3',
'Angle added to pile, go to next card')
while photo_resistor.isActive():
stepper.turn(6)
break
elif choice == 'n':
print('Try with another card')
while photo_resistor.isActive():
stepper.turn(6)
break
else:
return False
if remote:
if remote.up:
acceleration += 8 * dt
if remote.down:
acceleration -= 5 * dt
if remote.right:
steering -= 4.0 * dt
if remote.left:
steering += 4.0 * dt
# Slow down
acceleration *= (1.0 - (2.5 * dt))
steering *= (1.0 - (1.5 * dt))
# Get a frame
newFrame = camera.read()
if newFrame is None:
frame = cv2.imread('test_images/test320.jpg')
else:
frame = newFrame
# Send the frame to vision
vision.camera_frame = frame
# Read the latest processed frame
frame = vision.frame
vision_steering = vision.steer
vision_speed = vision.speed
# Set steering
#steering += vision_steering/15