예제 #1
0
파일: vision.py 프로젝트: sdp-2011/sdp-9
    def __init__(self,
                 world,
                 filename=None,
                 simulator=None,
                 once=False,
                 headless=False):
        logging.info('Initialising vision')
        if simulator:
            self.capture = SimCapture(simulator)
        else:
            self.capture = Capture(self.rawSize, filename, once)

        self.headless = headless

        self.threshold = threshold.AltRaw()
        self.pre = Preprocessor(self.rawSize, self.threshold, simulator)
        self.featureEx = FeatureExtraction(self.pre.cropSize)
        self.interpreter = Interpreter()
        self.world = world
        self.gui = GUI(world, self.pre.cropSize, self.threshold)
        self.histogram = Histogram(self.pre.cropSize)

        self.times = []
        self.N = 0

        #debug.thresholdValues(self.threshold.Tblue, self.gui)

        logging.debug('Vision initialised')
예제 #2
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class BasicVision():
    #rawSize = (768,576)
    rawSize = (640, 480)

    def __init__(self, world, filename=None, simulator=None, once=False, headless=False):
        logging.info('Initialising vision')
        #required on DICE:
        self.capture = MPlayerCapture(self.rawSize, filename, once)

        self.gui = GUI(world, self.pre.cropSize, self.threshold)
        logging.debug('Vision initialised')

    def processFrame(self):
        logging.debug("Capturing a frame")
        startTime = time.time()
        frame = self.capture.getFrame()
        ents = {}

        logging.debug("Updating GUI")
        self.gui.updateWindow('raw', frame)
        self.gui.draw(ents, startTime)

    def run(self):
        while not self.gui.quit:
            self.processFrame()
예제 #3
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    def __init__(self):
        logging.info('Initialising vision')
        #required on DICE:
        #self.capture = MPlayerCapture(self.rawSize)
        self.capture = Capture(self.rawSize)

        world = World('blue') # arbitrary colour
        world.pointer=None

        self.threshold = vision.threshold.AltRaw()
        self.pre = Preprocessor(self.rawSize, self.threshold, None)
        self.gui = GUI(world, self.rawSize, self.threshold)
        logging.debug('Vision initialised')
예제 #4
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    def __init__(self, world, filename=None, simulator=None, once=False, headless=False):
        logging.info('Initialising vision')
        #required on DICE:
        self.capture = MPlayerCapture(self.rawSize, filename, once)

        self.gui = GUI(world, self.pre.cropSize, self.threshold)
        logging.debug('Vision initialised')
예제 #5
0
class BasicVision():
    #rawSize = (768,576)
    rawSize = (640, 480)

    def __init__(self):
        logging.info('Initialising vision')
        #required on DICE:
        #self.capture = MPlayerCapture(self.rawSize)
        self.capture = Capture(self.rawSize)

        world = World('blue') # arbitrary colour
        world.pointer=None

        self.threshold = vision.threshold.AltRaw()
        self.pre = Preprocessor(self.rawSize, self.threshold, None)
        self.gui = GUI(world, self.rawSize, self.threshold)
        logging.debug('Vision initialised')

    def processFrame(self):
        logging.debug("Capturing a frame")
        startTime = time.time()
        frame = self.capture.getFrame()
        ents = {'yellow':None, 'blue':None, 'balls':[]}

        logging.debug("Updating GUI")
        self.gui.updateWindow('standard', frame)
        self.gui.updateWindow('foreground', frame)
        self.gui.draw(ents, startTime)

    def run(self):
        while not self.gui.quit:
            self.processFrame()
예제 #6
0
    def __init__(self, world, filename=None, simulator=None):
        logging.info('Initialising vision')
        if simulator:
            self.capture = SimCapture(simulator)
        else:
            self.capture = MPlayerCapture(self.rawSize, filename)
            #self.capture = Capture(self.rawSize, filename)

        self.threshold = threshold.PrimaryRaw()
        self.pre = Preprocessor(self.rawSize, self.threshold, simulator)
        self.featureEx = FeatureExtraction(self.pre.cropSize)
        self.interpreter = Interpreter()
        self.world = world
        self.gui = GUI(world, self.pre.cropSize, self.threshold)
        self.histogram = Histogram(self.pre.cropSize)

        self.times=[]
        self.N=0

        debug.thresholdValues(self.threshold.Tfg, self.gui)

        logging.debug('Vision initialised')
예제 #7
0
파일: vision.py 프로젝트: sdp-2011/sdp-9
class Vision():
    #rawSize = (768,576)
    rawSize = (640, 480)

    # Whether to 'crash' when something non-critical like the GUI fails
    debug = True

    def __init__(self,
                 world,
                 filename=None,
                 simulator=None,
                 once=False,
                 headless=False):
        logging.info('Initialising vision')
        if simulator:
            self.capture = SimCapture(simulator)
        else:
            self.capture = Capture(self.rawSize, filename, once)

        self.headless = headless

        self.threshold = threshold.AltRaw()
        self.pre = Preprocessor(self.rawSize, self.threshold, simulator)
        self.featureEx = FeatureExtraction(self.pre.cropSize)
        self.interpreter = Interpreter()
        self.world = world
        self.gui = GUI(world, self.pre.cropSize, self.threshold)
        self.histogram = Histogram(self.pre.cropSize)

        self.times = []
        self.N = 0

        #debug.thresholdValues(self.threshold.Tblue, self.gui)

        logging.debug('Vision initialised')

    def formatTime(self, t):
        return time.strftime('%H:%M:%S', time.localtime(t)) \
            + ( '%.3f' % (t - math.floor(t)) )[1:] #discard leading 0

    def processFrame(self):
        startTime = time.time()
        logging.debug("Frame %d at %s", self.N, self.formatTime(startTime))
        self.N += 1

        logging.debug("Capturing a frame")
        frame = self.capture.getFrame()
        logging.debug("Entering preprocessing")
        standard = self.pre.get_standard_form(frame)
        bgsub_vals, bgsub_mask = self.pre.bgsub(standard)
        logging.debug("Entering feature extraction")

        hist_props_bgsub = self.histogram.calcHistogram(standard)
        hist_props_abs = self.histogram.calcHistogram(bgsub_vals)
        self.threshold.updateBGSubThresholds(hist_props_bgsub)
        #self.threshold.updateAbsThresholds(hist_props_abs)

        ents = self.featureEx.features(bgsub_vals, self.threshold)
        logging.debug("Detected entities:", ents)
        logging.debug("Entering interpreter")
        self.interpreter.interpret(ents)
        logging.debug("Entering World")
        self.world.update(startTime, ents)

        logging.debug("Updating GUI")
        if not self.headless:
            try:
                bgsub = self.pre.remove_background(standard)
                self.gui.updateWindow('raw', frame)
                self.gui.updateWindow('mask', bgsub_mask)
                self.gui.updateWindow('foreground', bgsub_vals)
                self.gui.updateWindow('bgsub', bgsub)
                self.gui.updateWindow('standard', standard)
                canny = cv.CreateImage(self.pre.cropSize, 8, 1)
                # adaptive = cv.CreateImage(self.pre.cropSize, 32,3)
                # tmp = cv.CreateImage(self.pre.cropSize, 8,3)
                # cv.Convert(standard, adaptive)
                cv.CvtColor(bgsub, canny, cv.CV_BGR2GRAY)
                cv.Threshold(canny, canny, 150, 255, cv.CV_THRESH_OTSU)
                # cv.Threshold(canny, canny, 100, 255, cv.CV_ADAPTIVE_THRESH_GAUSSIAN_C)
                # cv.Sobel(adaptive, adaptive, 1,1,1)
                # cv.Convert(adaptive, tmp)
                # cv.ConvertScale(tmp, tmp, 10)
                # cv.CvtColor(tmp, canny, cv.CV_BGR2GRAY)
                # cv.Threshold(canny,canny, 50, 255, cv.CV_THRESH_BINARY)
                #cv.Canny(canny,canny, 100, 180,3)
                cv.CvtColor(canny, bgsub, cv.CV_GRAY2BGR)
                new = self.featureEx.detectCircles(bgsub)

                self.gui.updateWindow('adaptive', canny)
                self.gui.updateWindow('new', new)
                self.gui.draw(ents, startTime)
            except Exception, e:
                logging.error("GUI failed: %s", e)
                if self.debug:
                    raise

        endTime = time.time()
        self.times.append((endTime - startTime))
예제 #8
0
class Vision():
    #rawSize = (768,576)
    rawSize = (640, 480)

    # Whether to 'crash' when something non-critical like the GUI fails
    debug = True

    def __init__(self, world, filename=None, simulator=None, once=False, headless=False):
        logging.info('Initialising vision')
        if simulator:
            self.capture = SimCapture(simulator)
        else:
            self.capture = Capture(self.rawSize, filename, once)

        self.headless = headless

        self.threshold = threshold.AltRaw()
        self.pre = Preprocessor(self.rawSize, self.threshold, simulator)
        self.featureEx = FeatureExtraction(self.pre.cropSize)
        self.interpreter = Interpreter()
        self.world = world
        self.gui = GUI(world, self.pre.cropSize, self.threshold)
        self.histogram = Histogram(self.pre.cropSize)

        self.times=[]
        self.N=0

        #debug.thresholdValues(self.threshold.Tblue, self.gui)

        logging.debug('Vision initialised')

    def formatTime(self, t):
        return time.strftime('%H:%M:%S', time.localtime(t)) \
            + ( '%.3f' % (t - math.floor(t)) )[1:] #discard leading 0

    def processFrame(self):
        startTime = time.time()
        logging.debug("Frame %d at %s", self.N,
                      self.formatTime(startTime) )
        self.N += 1

        logging.debug("Capturing a frame")
        frame = self.capture.getFrame()
        logging.debug("Entering preprocessing")
        standard = self.pre.get_standard_form(frame)
        bgsub_vals, bgsub_mask = self.pre.bgsub(standard)
        logging.debug("Entering feature extraction")

        hist_props_bgsub = self.histogram.calcHistogram(standard)
        hist_props_abs = self.histogram.calcHistogram(bgsub_vals)
        self.threshold.updateBGSubThresholds(hist_props_bgsub)
        #self.threshold.updateAbsThresholds(hist_props_abs)

        ents = self.featureEx.features(bgsub_vals, self.threshold)
        logging.debug("Detected entities:", ents)
        logging.debug("Entering interpreter")
        self.interpreter.interpret(ents)
        logging.debug("Entering World")
        self.world.update(startTime, ents)

        logging.debug("Updating GUI")
        if not self.headless:
            try:
                bgsub = self.pre.remove_background(standard)
                self.gui.updateWindow('raw', frame)
                self.gui.updateWindow('mask', bgsub_mask)
                self.gui.updateWindow('foreground', bgsub_vals)
                self.gui.updateWindow('bgsub', bgsub)
                self.gui.updateWindow('standard', standard)
                canny = cv.CreateImage(self.pre.cropSize, 8,1)
                # adaptive = cv.CreateImage(self.pre.cropSize, 32,3)
                # tmp = cv.CreateImage(self.pre.cropSize, 8,3)
                # cv.Convert(standard, adaptive)
                cv.CvtColor(bgsub, canny, cv.CV_BGR2GRAY)
                cv.Threshold(canny, canny, 150, 255, cv.CV_THRESH_OTSU)
                # cv.Threshold(canny, canny, 100, 255, cv.CV_ADAPTIVE_THRESH_GAUSSIAN_C)
                # cv.Sobel(adaptive, adaptive, 1,1,1)
                # cv.Convert(adaptive, tmp)
                # cv.ConvertScale(tmp, tmp, 10)
                # cv.CvtColor(tmp, canny, cv.CV_BGR2GRAY)
                # cv.Threshold(canny,canny, 50, 255, cv.CV_THRESH_BINARY)
                #cv.Canny(canny,canny, 100, 180,3)
                cv.CvtColor(canny, bgsub, cv.CV_GRAY2BGR)
                new = self.featureEx.detectCircles(bgsub)

                self.gui.updateWindow('adaptive', canny)
                self.gui.updateWindow('new', new)
                self.gui.draw(ents, startTime)
            except Exception, e:
                logging.error("GUI failed: %s", e)
                if self.debug:
                    raise

        endTime = time.time()
        self.times.append( (endTime - startTime) )