def describe(self, image):
# Convert the image to HSV color space and initialize the features
image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
features = []
# get the dimensions of the image and compute the center of the image
(h, w) = image.shape[:2]
(cX, cY) = (int(w * 0.5), int(h * 0.5))
# Divide the image into four segments
segments = [(0,cX,0,cY),(cX,w,0,cY),(cX,w,cY,h),(0,cX,cY,h)]
# Construct elliptical mask representing center of the image
(axesX,axesY ) = (int(w*0.75)/2, int(h*0.75)/2)
ellipMask = np.zeros(image.shape[:2], dtype="uint8")
cv2.ellipse(ellipMask,(cX,cY),(axesX,axesY),0,0,360,255,-1)
# loop over all the segments
for (startX, endX, startY, endY) in segments:
# construct a mask for each corner of the image, subtracting
# the elliptical center from it
cornerMask = np.zeros(image.shape[:2], dtype = "uint8")
cv2.rectangle(cornerMask, (startX, startY), (endX, endY), 255, -1)
cornerMask = cv2.subtract(cornerMask, ellipMask)
# Extract a color histogram from the image then update the feature vector
hist = self.histogram(image, cornerMask)
features.extend(hist)
# Extract a color histogram from elliptical region and update the feature vector
hist = self.histogram(image, ellipMask)
features.extend(hist)
return features
def describe(self, image):
image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
features = []
(h, w) = image.shape[:2]
(cX, cY) = (int(w * 0.5), int(h * 0.5))
segments = [(0, cX, 0, cY), (cX, w, 0, cY), (cX, w, cY, h), (0, cX, cY, h)]
(xL, yL) = (int(w * 0.75) / 2, int(h * 0.75) / 2)
elli = np.zeros(image.shape[:2], dtype = 'uint8')
cv2.ellipse(elli, (cX, cY), (xL, yL), 0, 0, 360, 255, -1)
for (x0, x1, y0, y1) in segments:
rect = np.zeros(image.shape[:2], dtype = 'uint8')
cv2.rectangle(rect, (x0, y0), (x1, y1), 255, -1)
rect = cv2.subtract(rect, elli)
hist = self.histogram(image, rect)
features.extend(hist)
hist = self.histogram(image, elli)
features.extend(hist)
return features
def UpdateWingMask(self, npfRoiMean):
#global globalLock
self.npMaskWings = N.zeros([self.heightRoi, self.widthRoi], dtype=N.uint8)
# Coordinates of the body ellipse.
centerBody = (self.widthRoi/2,
self.heightRoi/2)
sizeBody = (self.lengthBody,
self.widthBody)
angleBody = 0.0
# Left wing ellipse.
sizeLeft = (self.lengthBody*10/10,
self.lengthBody*7/10)
centerLeft = (centerBody[0] - sizeLeft[0]/2 + self.lengthBody*1/10,
centerBody[1] - sizeLeft[1]/2 - 1)
angleLeft = 0.0
# Right wing ellipse.
sizeRight = (self.lengthBody*10/10,
self.lengthBody*7/10)
centerRight = (centerBody[0] - sizeRight[0]/2 + self.lengthBody*1/10,
centerBody[1] + sizeRight[1]/2)
angleRight = 0.0
# Draw ellipses on the mask.
#cv2.ellipse(self.npMaskWings,
# (centerBody, sizeBody, angleBody),
# 255, cv.CV_FILLED)
cv2.ellipse(self.npMaskWings,
(centerLeft, sizeLeft, angleLeft*180.0/N.pi),
255, cv.CV_FILLED)
cv2.ellipse(self.npMaskWings,
(centerRight, sizeRight, angleRight*180.0/N.pi),
255, cv.CV_FILLED)
if (npfRoiMean is not None):
# Mean Fly Body Mask.
#with globalLock:
# self.thresholdForeground = rospy.get_param('tracking/thresholdForeground', 25.0)
(threshOut, npMaskBody) = cv2.threshold(npfRoiMean.astype(N.uint8), self.thresholdForeground, 255, cv2.THRESH_BINARY_INV)
self.npMaskWings = cv2.bitwise_and(self.npMaskWings, npMaskBody)
# Publish non-essential stuff.
if globalNonessential:
npMaskWings1 = copy.copy(self.npMaskWings)
npMaskWings1.resize(npMaskWings1.size)
imgMaskWings = self.cvbridge.cv_to_imgmsg(cv.fromarray(self.npMaskWings), 'passthrough')
imgMaskWings.data = list(npMaskWings1)
self.pubImageMask.publish(imgMaskWings)
npMaskBody1 = copy.copy(npMaskBody)
npMaskBody1.resize(npMaskBody1.size)
imgMaskBody = self.cvbridge.cv_to_imgmsg(cv.fromarray(npMaskBody), 'passthrough')
imgMaskBody.data = list(npMaskBody1)
self.pubImageMaskBody.publish(imgMaskBody)
def describe(self, img):
image = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
features = []
(h, w) = image.shape[:2]
(cX, cY) = (int(w * 0.5), int(h * 0.5))
segments = [(0, cX, 0, cY), (cX, w, 0, cY), (cX, w, cY, h), (0, cX, cY, h)]
(axesX, axesY) = (int(w * 0.75)/2, int(h * 0.75)/2)
ellipMask = np.zeros(image.shape[:2], dtype="uint8")
cv2.ellipse(ellipMask, (cX, cY), (axesX, axesY), 0, 0, 360, 255, -1)
for (startX, endX, startY, endY) in segments:
# construct a mask for each corner of the image, subtracting
# the elliptical center from it
cornerMask = np.zeros(image.shape[:2], dtype="uint8")
cv2.rectangle(cornerMask, (startX, startY), (endX, endY), 255, -1)
cornerMask = cv2.subtract(cornerMask, ellipMask)
# extract a color histogram from the image, then update the
# feature vector
hist = self.histogram(image, cornerMask)
features.extend(hist)
# extract a color histogram from the elliptical region and
# update the feature vector
hist = self.histogram(image, ellipMask)
features.extend(hist)
# return the feature vector
return features
def ransac(self, ntrials, contour, small_gray, draw):
# RANSAC implementation starts
r2centerx = []
r2centery = []
r2majrad = []
r2minrad = []
r2angle = []
for i in range(ntrials):
if len(contour) > 60:
# embed()
samples = contour[np.random.choice(len(contour), int(len(contour) / 10))]
ellipse = cv2.fitEllipse(samples)
if draw:
cv2.ellipse(small_gray, ellipse, (0, 0, 255), 2)
r2centerx.append(ellipse[0][0])
r2centery.append(ellipse[0][1])
r2majrad.append(ellipse[1][1])
r2minrad.append(ellipse[1][0])
r2angle.append(ellipse[2])
else:
r2centerx.append(100 * (i % 2))
r2centery.append(100 * (i % 2))
r2majrad.append(100 * (i % 2))
r2minrad.append(100 * (i % 2))
r2angle.append(100 * (i % 2))
r2centerx = np.asarray(r2centerx)
r2centery = np.asarray(r2centery)
r2majrad = np.asarray(r2majrad)
r2minrad = np.asarray(r2minrad)
r2angle = np.asarray(r2angle)
return r2centerx, r2centery, r2majrad, r2minrad, r2angle, small_gray
def process(self, img):
img = super(GoodFeaturesProcessor, self).process(img)
corners = cv2.goodFeaturesToTrack(img, int(self.num), int(self.distance), float(self.quality))
if corners:
for c in corners:
cv2.ellipse(img, (c[0][0], c[0][1]), (5, 5), 0, 0, 360, 255, -1)
return img
def detect_motion_new(self, winName, interval=1):
#Implemented after talking with Dr Smart about image averaging and background extraction
min_contour_area = 25
max_contour_area = 1250
retval = False
threshold = 65
try:
_image_static = None
_image_static = self.save_image(persist=False)
_image_static = cv2.cvtColor(numpy.array(_image_static), cv2.COLOR_RGB2GRAY)
_image_static = cv2.GaussianBlur(_image_static, (21, 21), 0)
accumulator = numpy.float32(_image_static)
while True:
sleep(interval)
_image_static = self.save_image(persist=False)
_image_static = cv2.cvtColor(numpy.array(_image_static), cv2.COLOR_RGB2GRAY)
_image_static = cv2.GaussianBlur(_image_static, (21, 21), 0)
cv2.accumulateWeighted(numpy.float32(_image_static), accumulator, 0.1)
_image_static = cv2.convertScaleAbs(accumulator)
_image_dynamic = self.save_image(persist=False)
_image_dynamic1 = cv2.cvtColor(numpy.array(_image_dynamic), cv2.COLOR_RGB2GRAY)
_image_dynamic1 = cv2.GaussianBlur(_image_dynamic1, (21, 21), 0)
# ideas from http://docs.opencv.org/master/d4/d73/tutorial_py_contours_begin.html#gsc.tab=0
_delta = cv2.absdiff(_image_dynamic1, _image_static)
_threshold = cv2.threshold(_delta, 17, 255, cv2.THRESH_BINARY)[1]
# dilate the thresholded image to fill in holes, then find contour on thresholded image
_threshold = cv2.dilate(_threshold, None, iterations=5)
(img, contours, _) = cv2.findContours(_threshold.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
dyn = cv2.cvtColor(numpy.array(_image_dynamic), cv2.COLOR_RGB2GRAY)
# loop over the contours
for contour in contours:
# if the contour is too small, ignore it
_area = cv2.contourArea(contour)
if _area < min_contour_area: # or _area > max_contour_area:
continue # skip to the next
# compute the bounding box for the contour, draw it on the frame,
(x, y, w, h) = cv2.boundingRect(contour)
#cv2.rectangle(dyn, (x, y), (x + w, y + h), (0, 12, 255), 2)
cv2.ellipse(dyn, (x+5, y+25), (10, 20), 90, 0, 360, (255, 0, 0), 2)
cv2.imshow(winName, numpy.hstack([dyn, _threshold]))
key = cv2.waitKey(10)
if key == 27:
cv2.destroyWindow(winName)
break
except Exception as ex:
print(ex)
def getContours(img, fit_type='ellipse', AREA_EXCLUSION_LIMITS=(200, 2000), CELL_RADIUS_THRESHOLD = 4):
contours, hierarchy = cv2.findContours(img,
cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
img = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
coord_list = []
for i in range(len(contours)):
if fit_type == 'circle':
radius_list = []
center_list = []
(x,y),radius = cv2.minEnclosingCircle(contours[i])
if radius > CELL_RADIUS_THRESHOLD:
center = (int(x), int(y))
center_list.append(center)
radius_list.append(radius)
cv2.circle(img,center,int(radius),(0,255,0),-11)
coord_list.append([center_list, radius_list])
elif fit_type == 'ellipse':
if len(contours[i]) >= 5:
ellipse = cv2.fitEllipse(contours[i])
area = np.pi*np.product(ellipse[1])
if area >= AREA_EXCLUSION_LIMITS[0] and area < AREA_EXCLUSION_LIMITS[1]:
cv2.ellipse(img,ellipse,(0,255,0),-1)
return img, contours, coord_list
def processEye(eyesubrect, vis_roi, gray_roi, vis, gray):
"""threshold
get contours
find largest
fit ellipse
"""
# apply threshold
thresh = gray_roi.copy()
#cv2.adaptiveThreshold(leftthresh, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV, 25, 25, leftthresh)
thresh = thresholdByPercentage(thresh, .075)
# find contours from thresholded img
contours, heirarchy = cv2.findContours(thresh.copy(),cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
maxarea = 0
maxidx = 0
# find contour with largest area
for idx in range(len(contours)):
a = cv2.contourArea(contours[idx])
if maxarea < a:
maxarea = a
maxidx = idx
cv2.drawContours(vis_roi, contours, maxidx, (0,0,255), -1)
# fit ellipse to the detected contour
ellipseBox = cv2.fitEllipse(contours[maxidx])
cv2.ellipse(vis_roi, ellipseBox, (50, 150, 255))
return thresh, ellipseBox
def describe(self, image): # hsv转换 image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV) features = [] # 切个尺寸 (h, w) = image.shape[:2] (cX, cY) = (int(w * 0.5), int(h * 0.5)) # 图片分割区域 segments = [(0, cX, 0, cY), (cX, w, 0, cY), (cX, w, cY, h), (0, cX, cY, h)] # 填充椭圆形 (axesX, axesY) = (int(w * 0.75) / 2, int(h * 0.75) / 2) ellipMask = np.zeros(image.shape[:2], dtype = "uint8") # 绘制 cv2.ellipse(ellipMask, (cX, cY), (axesX, axesY), 0, 0, 360, 255, -1) for (startX, endX, startY, endY) in segments: cornerMask = np.zeros(image.shape[:2], dtype = "uint8") cv2.rectangle(cornerMask, (startX, startY), (endX, endY), 255, -1) cornerMask = cv2.subtract(cornerMask, ellipMask) hist = self.histogram(image, cornerMask) features.extend(hist) # 提取中间的椭圆形 hist = self.histogram(image, ellipMask) features.extend(hist) return features
def track_using_trajectories( cur, prev ):
global curr_loc_
global static_features_img_
p0 = cv2.goodFeaturesToTrack( cur, 200, 0.01, 5 )
insert_int_corners( p0 )
draw_point( cur, p0, 1 )
ellipse, p1 = update_mouse_location( p0 )
if p1 is not None:
for p in p1:
cv2.circle( cur, p, 10, 20, 2 )
cv2.ellipse( cur, ellipse, 1 )
cv2.circle( cur, curr_loc_, 10, 255, 3)
display_frame( cur, 1 )
# cv2.imshow( 'static features', static_features_img_ )
return
# Find a contour
prevE = find_edges( prev )
curE = find_edges( cur )
img = curE - prevE
cnts, hier = cv2.findContours( img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE )
cnts = filter( ismouse, cnts )
cv2.drawContours( img, cnts, -1, 255, 3 )
display_frame( img, 1)
return
p1, status, err = cv2.calcOpticalFlowPyrLK( prev, cur, p0 )
mat = cv2.estimateRigidTransform( p0, p1, False )
# print cv2.warpAffine( curr_loc_, mat, dsize=(2,1) )
if mat is not None:
dx, dy = mat[:,2]
da = math.atan2( mat[1,0], mat[0,0] )
trajectory_.append( (dx, dy, da) )
print( "Transformation", dx, dy, da )
curr_loc_ = (curr_loc_[0] - int(dy), curr_loc_[1] - int(dx))
def splitImage(image):
masks = []
# grab the dimensions and compute the center of the image
(h, w) = image.shape[:2]
(cX, cY) = (int(w * 0.5), int(h * 0.5))
# divide the image into four rectangles/segments (top-left,
# top-right, bottom-right, bottom-left)
segments = [(0, cX, 0, cY), (cX, w, 0, cY), (cX, w, cY, h), (0, cX, cY, h)]
# construct an elliptical mask representing the center of the image
(axesX, axesY) = (int(w * 0.75) / 2, int(h * 0.75) / 2)
ellipMask = np.zeros(image.shape[:2], dtype="uint8")
# ellipse(image, centre, axes, rotation angle, start angle, end angle, colour, thickness)
cv2.ellipse(ellipMask, (int(cX), int(cY)), (int(axesX), int(axesY)), 0, 0, 360, 255, -1)
masks.append(ellipMask)
# loop over the segments
for (startX, endX, startY, endY) in segments:
# construct a mask for each corner of the image, subtracting
# the elliptical center from it
cornerMask = np.zeros(image.shape[:2], dtype="uint8")
cv2.rectangle(cornerMask, (startX, startY), (endX, endY), 255, -1)
masks.append(cv2.subtract(cornerMask, ellipMask))
return masks
def display_objects(idx):
_idx = (winsize -1) /2 + idx
ellipses, dilated, morphed = detect_objects(images[_idx], imdiffs[idx], blursize=(3,3))
for e in ellipses:
cv2.ellipse(images[_idx], e, (255,255,0), 1)
print "Detected %i Cars" % len(ellipses)
display_image(images[_idx])
def gaussian(self, mean, covariance, label=None):
"""Draw 95% confidence ellipse of a 2-D Gaussian distribution.
Parameters
----------
mean : array_like
The mean vector of the Gaussian distribution (ndim=1).
covariance : array_like
The 2x2 covariance matrix of the Gaussian distribution.
label : Optional[str]
A text label that is placed at the center of the ellipse.
"""
# chi2inv(0.95, 2) = 5.9915
vals, vecs = np.linalg.eigh(5.9915 * covariance)
indices = vals.argsort()[::-1]
vals, vecs = np.sqrt(vals[indices]), vecs[:, indices]
center = int(mean[0] + .5), int(mean[1] + .5)
axes = int(vals[0] + .5), int(vals[1] + .5)
angle = int(180. * np.arctan2(vecs[1, 0], vecs[0, 0]) / np.pi)
cv2.ellipse(
self.image, center, axes, angle, 0, 360, self._color, 2)
if label is not None:
cv2.putText(self.image, label, center, cv2.FONT_HERSHEY_PLAIN,
2, self.text_color, 2)
def drawStuff(centerCordinates, image):
# http://opencvpython.blogspot.no/2012/06/contours-2-brotherhood.html
# http://docs.opencv.org/3.1.0/dd/d49/tutorial_py_contour_features.html#gsc.tab=0pyth
############## creating a minimum rectangle around the object ######################
rect = cv2.minAreaRect(points=centerCordinates)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
cv2.drawContours(image,[box],0,(255,255,255),2)
########### circle around object #######3
(x, y),radius = cv2.minEnclosingCircle(centerCordinates)
center = (int(x),int(y))
radius = int(radius)
cv2.circle(image, center, radius, (255,255,255),2)
########### finding a elipse ##############
ellipse = cv2.fitEllipse(centerCordinates)
cv2.ellipse(image,ellipse,(255,255,255),2)
##### fitting a line ###########
rows,cols = image.shape[:2]
[vx,vy,x,y] = cv2.fitLine(points=centerCordinates, distType=cv2.cv.CV_DIST_L2, param =0, reps=0.01, aeps=0.01)
lefty = int((-x*vy/vx) + y)
righty = int(((cols-x)*vy/vx)+y)
cv2.line(image,(cols-1,righty),(0,lefty),(255,255,255),2)
pixelSizeOfObject = radius # an okay estimate for testing
return image, pixelSizeOfObject
def fieldMask(self, field, numberOfFieldsPerCircle):
"""
Returns a square matrix of size 3 * self.markerSizePixels, where the elements corresponding to the given field are 1, and all other elements are 0.
"""
if (field, numberOfFieldsPerCircle) in self.fieldMaskCache:
return self.fieldMaskCache[(field, numberOfFieldsPerCircle)]
else:
halfSize = 3 * self.markerSizePixels // 2
result = np.zeros((halfSize * 2, halfSize * 2), dtype = np.uint8)
fillColor = 255
if field == 0: # Background field, return a rectangle around the circles
result = np.bitwise_not(self.markerMask())
elif 0 < field and field <= 2 * numberOfFieldsPerCircle:
if field <= numberOfFieldsPerCircle:
# First circle
y = - 3 * self.markerSizePixels // 4
rotationAngle = (-90 + (field - 1) * 360 // numberOfFieldsPerCircle) % 360
else:
# Second circle
y = 3 * self.markerSizePixels // 4
rotationAngle = (90 - (field - numberOfFieldsPerCircle) * 360 // numberOfFieldsPerCircle) % 360
cv2.ellipse(result, (halfSize, halfSize + y), (self.markerSizePixels // 2, self.markerSizePixels // 2),
rotationAngle, 0, 360 // numberOfFieldsPerCircle, fillColor, cv2.FILLED)
else:
raise Exception("MarkerCandidate.fieldMask: invalid field: " + str(field))
self.fieldMaskCache[(field, numberOfFieldsPerCircle)] = result
return result
def main():
np_img = cv2.imread('8.bmp', 0)
blur = cv2.GaussianBlur(np_img,(5,5),0)
ret3, th3 = cv2.threshold(blur, 0, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
kernel = np.ones((3, 3), np.uint8)
closing = cv2.morphologyEx(th3, cv2.MORPH_CLOSE, kernel, iterations=4)
cont_img = closing.copy()
contours, hierarchy = cv2.findContours(cont_img, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
area = cv2.contourArea(cnt)
if area < 200 or area > 8000:
continue
if len(cnt) < 5:
continue
ellipse = cv2.fitEllipse(cnt)
cv2.ellipse(np_img, ellipse, (155,155,0), 2)
while True:
cv2.imshow('final result', np_img)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
def draw(self, image):
color = (0, 0, 100)
if self.id is not None:
color = COLOR_TABLE[self.id % NUM_COLORS]
cv2.drawContours(image, [self.contour],
0, # draw the only contour
color = color,
thickness = -1, # filled
lineType = cv2.CV_AA)
cv2.ellipse(image, box=((self.centroid_x, self.centroid_y), (6,6), 0), color=(0,0,255),
thickness = -1)
if self.z_w is not None:
cv2.putText(image, "%s %s %s" % (int(self.x_w), int(self.y_w), int(self.z_w)),
(self.centroid_x + 5, self.centroid_y + 5),
cv2.FONT_HERSHEY_SIMPLEX,
0.5, # font_scale
(0, 100, 180), # color
2 # thickness
)
cv2.putText(image, "d:%s a:%s" % (int(self.median_depth), int(self.area)),
(self.centroid_x + 5, self.centroid_y + 25),
cv2.FONT_HERSHEY_SIMPLEX,
0.5, # font_scale
(0, 100, 180), # color
2 # thickness
)
def debug_iter(box, frame, hull, timestamp):
if box is not None:
cv2.circle(frame, (int(np.round(box[0][0])), int(np.round(box[0][1]))), 10, (0, 255, 0))
cv2.ellipse(frame, box, (0, 255, 0))
cv2.polylines(frame, [hull], 1, (0, 0, 255))
if random.random() < .5:
cv2.imshow("Eye", frame)
key = cv2.waitKey(20)
# No user input
if key == -1:
return
elif key == 27:
return 'QUIT'
elif key == 97: # a
PARAMS['_delta'] += 5
elif key == 122: # z
PARAMS['_delta'] -= 5
elif key == 115: # s
PARAMS['_max_variation'] += .1
elif key == 120: # x
PARAMS['_max_variation'] -= .1
elif key == 100: # d
PARAMS['_min_diversity'] += .1
elif key == 99: # c
PARAMS['pupil_intensity'] -= .1
elif key == 102: # f
PARAMS['pupil_intensity'] += 5
elif key == 118: # v
PARAMS['pupil_intensity'] -= 5
if 97 <= key <= 122:
print('Got key[%d]' % key)
return 'RELOAD'
def find_blob(im):
im[:30, :] = 0
im[-30:, :] = 0
im[:, :10] = 0
im[:, -10:] = 0
# thresh, im_bw = cv2.threshold(im, 0, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)
# print thresh
thresh, im_bw = cv2.threshold(im, 100, 255, cv2.THRESH_BINARY)
contours, hierarchy = cv2.findContours(im_bw.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
# moments = [cv2.moments(i).nu20 for i in contours]
# all_bbox = [cv2.boundingRect(i) for i in contours]
all_area = np.array([cv2.contourArea(c) for c in contours])
# all_aspect_ratio = np.array([float(b[2]) / b[3] for b in all_bbox])
print all_area
big_indices = np.nonzero(all_area > config.AREA_THRESH)[0]
print big_indices
ellipses = [cv2.fitEllipse(contours[i]) for i in big_indices]
color = [0, 255, 0]
im_rgb = cv2.cvtColor(im_bw, cv2.COLOR_GRAY2RGB)
for ell in ellipses:
center, dimension, angle = ell
h, w = dimension
print h, w
cv2.ellipse(im_rgb, ell, color, 2, 8)
cv2.namedWindow('threshold')
cv2.moveWindow('threshold', 800, 100)
cv2.imshow('threshold', im_rgb)
cv2.waitKey()
cv2.destroyAllWindows()
def scan(self, frame, hsv_frame, mask):
"""Updates all the of trackers for identified objects and updates the searcher which is looking for new objects."""
bproj = cv2.calcBackProject([hsv_frame], [0], self.hist, [0,255], 1)
bproj &= mask
for index, tracker in enumerate(self.tracking):
original_bproj = bproj.copy()
box, bproj, split = tracker.update(bproj)
coords, dims, theta = box
w,h = dims
if split:
self.splitTracker(tracker)
del self.tracking[index]
bproj = original_bproj
if tracker.hasFound() and w > 0 and h > 0:
cv2.ellipse(frame, box, self.averageColor, 2)
else:
del self.tracking[index]
box, bproj, split = self.searcher.update(bproj.copy())
if split:
self.splitTracker(self.searcher)
self.searcher = Tracker(self.frameDims, self.full_track_window, found = False)
if self.searcher.hasFound(): # If searcher finds an object, start tracking that object and make a new searcher
self.tracking.append(self.searcher)
self.searcher = Tracker(self.frameDims, self.full_track_window, found = False)
return frame
def fit_ellipses(img):
import cv2
img = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
img = cv2.medianBlur(img, 5)
#ret, thresh = cv2.threshold(img, 169, 255, 0)
thresh = cv2.adaptiveThreshold(img, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY, 11, 2)
contours, hierarchy = cv2.findContours(thresh, 1, 2)
#print contours
cntLengths = [len(i) for i in contours]
cntMax = cntLengths.index(max(cntLengths))
for i in range(len(contours)):
if 10 < len(contours[i]) < 1500:
cnt = contours[i]
M = cv2.moments(cnt)
#print M
cx = int(M['m10']/M['m00'])
cy = int(M['m01']/M['m00'])
print "cx: ", cx
print "cy: ", cy
ellipse = cv2.fitEllipse(cnt)
cv2.ellipse(img, ellipse, (0, 255, 0), 2)
cv2.imshow('img', img)
cv2.waitKey()
cv2.destroyAllWindows()
def ellipse(self, pt, xr, yr, theta, pen, brush):
x, y = pt
if (brush is not None) and brush.fill:
cv2.ellipse(self.canvas, (x, y), (xr, yr), theta, 0.0, 360.0,
brush.color, -1)
cv2.ellipse(self.canvas, (x, y), (xr, yr), theta, 0.0, 360.0,
pen.color, pen.linewidth)
def draw_props(properties):
global img, img_src
img = img_src.copy()
for props in properties:
if props['Ellipse'] != None:
cv2.circle(img, props['Centroid'], 5, BLUE, 1)
cv2.ellipse(img, props['Ellipse'], CYAN)
cv2.drawContours(img, [props['ConvexHull']], 0, RED, 1)
major_axis = ft.angled_line(props['Centroid'], props['Orientation'], props['MajorAxisLength']/2)
cv2.line(img, tuple(major_axis[0]), tuple(major_axis[1]), RED)
minor_axis = ft.angled_line(props['Centroid'], props['Orientation'] + 90, props['MinorAxisLength']/2)
cv2.line(img, tuple(minor_axis[0]), tuple(minor_axis[1]), BLUE)
box = cv2.cv.BoxPoints(props['BoundingBox'])
box = np.int0(box)
cv2.drawContours(img, [box], 0, CYAN, 1)
for p in props['Extrema']:
cv2.circle(img, p, 5, CYAN, 1)
cv2.imshow('image', img)
def frame_track(self, cur_frame):
vis = cur_frame.copy()
hsv = cv2.cvtColor(cur_frame, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, np.array((0., 60., 32.)), np.array((180., 255., 255.)))
prob = cv2.calcBackProject([hsv], [0], self.hist, [0, 180], 1)
prob &= mask
term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )
# get rotated bounding box
track_box, self.track_window = cv2.CamShift(prob, self.track_window, term_crit)
# get bounding box
track_rect_rotate = cv2.boxPoints(track_box)
# get rectangle
track_rect = cv2.boundingRect(track_rect_rotate)
# store them in yaml compatible format
track_rect_yaml=track_rect
if self.show_backproj:
vis[:] = prob[...,np.newaxis]
pt1 = (track_rect_yaml[0],track_rect_yaml[1])
pt2 = (track_rect_yaml[0] + track_rect_yaml[2], track_rect_yaml[1] + track_rect_yaml[3])
cv2.rectangle(vis, pt1, pt2, (0, 255, 0), 2)
cv2.ellipse(vis, track_box, (0, 0, 255), 2)
self.add_frame_to_dataset_based_on_difference(cur_frame, track_rect_yaml)
return vis
def drawEllipses(bgrimg, ellipses):
for ell in ellipses:
center, axes, angle = ell
center = tuple( map(int, center) )
axes = tuple( map(int, axes) )
angle = int(angle)
cv2.ellipse(drawing, center, axes, angle, 0, 360, (255,0,0), 2)
def test_all():
parser = argparse.ArgumentParser(__doc__)
parser.add_argument("confocal_file", help="File containing confocal data")
parser.add_argument("output_dir", help="Output directory")
args = parser.parse_args()
if not os.path.isdir(args.output_dir):
os.mkdir(args.output_dir)
AutoName.directory = args.output_dir
AutoWrite.on = False
image_collection = unpack_data(args.confocal_file)
for i in range(len(STOMATA)):
stomata_timeseries = stomata_timeseries_lookup(i)
for stomate in stomata_timeseries:
fname = 'annotated_projection_stomate_{}_series_{}.png'.format(
stomate.stomate_id, stomate.timepoint_id)
fpath = os.path.join(AutoName.directory, fname)
raw_zstack = image_collection.zstack_array(s=stomate.series, c=0)
projected = max_intensity_projection(raw_zstack)
gray_uint8 = normalise(projected) * 255
annotation_array = np.dstack([gray_uint8, gray_uint8, gray_uint8])
box = find_stomate_ellipse_box(raw_zstack, stomate.x, stomate.y)
cv2.ellipse(annotation_array, box, (255, 0, 0))
scipy.misc.imsave(fpath, annotation_array)
def draw_bellipse(im,ell,c,t):
#im = image to draw ell onto
#ell= the elipse to draw (x,y,axes,O,startO,EndO)
#c = the color to draw
#t = thickness of the line to draw
#side effect: draws on the window
cv2.ellipse(im, ell, c, t)
def draw_ellipse(self, minor_axis, major_axis, angle, x, y, image, color):
if minor_axis > 0:
print minor_axis, major_axis, angle, x, y
center = (int(round(x*self.scale)), int(round(y*self.scale)))
axis = (int(round(minor_axis*self.scale/2)), int(round(major_axis*self.scale/2)))
angle_deg = np.rad2deg(angle)
cv2.ellipse(image, center, axis, angle_deg, 0, 360, color, 1)
def draw_ellipse(self, initial_roi, roi, color_img, x_i, y_i, x_vertex, y_vertex, color=(0,255,0)):
"""Draw ellipse surrounding the hand object.
Returns the position of the vertex of the best fit ellipse.
"""
purple = (153, 0, 153)
box = self.fit_ellipse(color_img, x_i, y_i)
( (x, y), (width, height), angle ) = box
h, w = (height / 2, width / 2)
theta = math.radians(angle)
#Top-right ellipse vertex
x_ch1 = h * math.sin(theta)
y_ch1 = -h * math.cos(theta)
x1_f, y1_f = (int(x+x_ch1), int(y+y_ch1))
dist1 = math.sqrt((x_vertex - x1_f)**2 + (y_vertex - y1_f)**2)
#Bottom-left ellipse vertex
x_ch2 = -x_ch1
y_ch2 = -y_ch1
x2_f, y2_f = (int(x+x_ch2), int(y+y_ch2))
dist2 = math.sqrt((x_vertex - x2_f)**2 + (y_vertex - y2_f)**2)
if dist1 < dist2:
x_vertex, y_vertex = x1_f, y1_f
else:
x_vertex, y_vertex = x2_f, y2_f
cv2.circle(color_img, (x_vertex, y_vertex), 5, purple, thickness=-1)
cv2.ellipse(color_img, box, color, thickness=2)
return x_vertex, y_vertex
def draw_gaussain(img, mean, cov, color):
x, y = np.int32(mean)
w, u, _vt = cv.SVDecomp(cov)
ang = np.arctan2(u[1, 0], u[0, 0]) * (180 / np.pi)
s1, s2 = np.sqrt(w) * 3.0
cv.ellipse(img, (x, y), (s1, s2), ang, 0, 360, color, 1, cv.LINE_AA)
import cv2 as cv import numpy as np from matplotlib import pyplot as plt img = np.zeros((512, 512, 3), np.uint8) cv.line(img, (0, 0), (511, 511), (255, 0, 0), 5) cv.rectangle(img, (384, 5), (510, 128), (0, 255, 0), 3) cv.circle(img, (447, 63), 55, (0, 0, 255), -1) cv.ellipse(img, (256, 256), (100, 50), 0, 0, 180, 255, -1) pts = np.array([[10, 5], [20, 30], [70, 20], [50, 10]], np.int32) pts = pts.reshape((-1, 1, 2)) cv.polylines(img, [pts], True, (0, 255, 255)) font = cv.FONT_HERSHEY_SIMPLEX cv.putText(img, 'OpenCV', (10, 500), font, 4, (255, 255, 255), 2, cv.LINE_AA) plt.imshow(img, cmap='gray', interpolation='bicubic') plt.xticks([]), plt.yticks([]) plt.show()
#ici dolu dikdortgen icin thickness=-1 yapariz
cv2.rectangle(canvas, (20, 20), (40, 40), (240, 120, 156), thickness=-1)
#circle'da center,radius,color,thickness
cv2.circle(canvas, (225, 225), 40, (220, 120, 50), thickness=-1)
#triangle
p1 = (100, 100)
p2 = (200, 300)
p3 = (120, 40)
cv2.line(canvas, p1, p2, (20, 120, 120), thickness=2)
cv2.line(canvas, p2, p3, (80, 100, 170), thickness=2)
cv2.line(canvas, p3, p1, (30, 120, 220), thickness=2)
#herhangi bir sekil icin
points = np.array([[[110, 150], [240, 320], [50, 140], [145, 128]]], np.int32)
cv2.polylines(canvas, [points], True, (0, 0, 100),
thickness=5) #cokgenin kapali olmasi icin true gir.
#elips icin merkez, yatay yaricap,dikey yaricap(genislik ve yukseklik), yatay eksenle yapacagi aci
cv2.ellipse(canvas, (160, 160), (60, 100),
10,
0,
360, (255, 0, 0),
thickness=2) #0dan 360a taradik,renk,thickness
cv2.imshow("Canvas", canvas)
cv2.waitKey(0)
cv2.destroyAllWindows()
eye_roi_color = roi_color
thresh = None
print(str(thresh1) + ", " + str(thresh2))
ret, thresh = cv2.threshold(eye_roi_gray, thresh1, 255, cv2.THRESH_BINARY)
# thresh = cv2.adaptiveThreshold(eye_roi_gray, 255,
# cv2.ADAPTIVE_THRESH_MEAN_C,
# cv2.THRESH_BINARY, 115, thresh1)
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
# cv2.drawContours(roi_color, contours, -1, (0,0,255), 3)
for cont in contours:
if len(cont) > 5 and 30000 > cv2.contourArea(cont) > 1000:
conv = cv2.convexHull(cont)
ellipse = cv2.fitEllipse(conv)
cv2.ellipse(eye_roi_color, ellipse, (0, 0, 255), 2)
cv2.circle(eye_roi_color, (int(ellipse[0][0]), int(ellipse[0][1])),
2, (255, 0, 0), 3)
if thresh is not None:
if calibrated:
roi_gray[roic[1]:roic[3], roic[0]:roic[2]] = thresh
else:
roi_gray = thresh
cv2.imshow("preview", roi_color)
cv2.imshow("preview2", roi_gray)
# if vout:
# vout.write(frame)
nf = nf + 1
if time() - ptime > 5:
def updateimage():
camaracontroller = CamaraController()
ti = time.time()
while (not camaracontroller.killthread):
hasFrame, frame = camaracontroller.cap.read()
if not hasFrame:
return
frameWidth = frame.shape[1]
frameHeight = frame.shape[0]
camaracontroller.net.setInput(
cv2.dnn.blobFromImage(
frame,
1.0, (camaracontroller.inWidth, camaracontroller.inHeight),
(127.5, 127.5, 127.5),
swapRB=True,
crop=False))
out = camaracontroller.net.forward()
out = out[:, :
19, :, :] # MobileNet output [1, 57, -1, -1], we only need the first 19 elements
assert (len(camaracontroller.BODY_PARTS) == out.shape[1])
points = []
for i in range(len(camaracontroller.BODY_PARTS)):
# Slice heatmap of corresponging body's part.
heatMap = out[0, i, :, :]
# Originally, we try to find all the local maximums. To simplify a sample
# we just find a global one. However only a single pose at the same time
# could be detected this way.
_, conf, _, point = cv2.minMaxLoc(heatMap)
x = (frameWidth * point[0]) / out.shape[3]
y = (frameHeight * point[1]) / out.shape[2]
# Add a point if it's confidence is higher than threshold.
points.append((int(x),
int(y)) if conf > camaracontroller.thr else None)
#Aquí va el código para determinar la posición del cuerpo
munecaderecha = points[camaracontroller.BODY_PARTS['RWrist']]
munecaizquierda = points[camaracontroller.BODY_PARTS['LWrist']]
cododerecho = points[camaracontroller.BODY_PARTS['RElbow']]
codoizquierdo = points[camaracontroller.BODY_PARTS['LElbow']]
hombroderecho = points[camaracontroller.BODY_PARTS['RShoulder']]
cuello = points[camaracontroller.BODY_PARTS['Neck']]
if ((munecaderecha is None) or (munecaizquierda is None)
or (cododerecho is None) or (codoizquierdo is None)
or (hombroderecho is None) or (cuello is None)):
if (time.time() - ti) > 15:
camaracontroller.pose = PosicionBrazos.TRASLAESPALDA
ti = time.time()
else:
distanciabrazos = distanciaentrelineas(munecaderecha, cododerecho,
munecaizquierda,
codoizquierdo)
distanciahombrocuello = math.sqrt(
(cuello[0] - hombroderecho[0])**2 +
(cuello[1] - hombroderecho[1])**2)
ratio = (distanciabrazos / distanciahombrocuello)
if ratio > 3.5:
camaracontroller.pose = PosicionBrazos.EXTENDIDOS
ti = time.time()
elif ratio < 2:
camaracontroller.pose = PosicionBrazos.CRUZADOS
ti = time.time()
else:
camaracontroller.pose = PosicionBrazos.NEUTRALES
ti = time.time()
print("Distancia entre brazos:")
print(distanciabrazos)
print("Distancia hombro cuello:")
print(distanciahombrocuello)
#Aquí comienza el código para dibujar los puntos y lineas en la imàgen
for pair in camaracontroller.POSE_PAIRS:
partFrom = pair[0]
partTo = pair[1]
assert (partFrom in camaracontroller.BODY_PARTS)
assert (partTo in camaracontroller.BODY_PARTS)
idFrom = camaracontroller.BODY_PARTS[partFrom]
idTo = camaracontroller.BODY_PARTS[partTo]
if points[idFrom] and points[idTo]:
cv2.line(frame, points[idFrom], points[idTo], (0, 255, 0), 3)
cv2.ellipse(frame, points[idFrom], (3, 3), 0, 0, 360,
(0, 0, 255), cv2.FILLED)
cv2.ellipse(frame, points[idTo], (3, 3), 0, 0, 360,
(0, 0, 255), cv2.FILLED)
t, _ = camaracontroller.net.getPerfProfile()
freq = cv2.getTickFrequency() / 1000
cv2.putText(frame, '%.2fms' % (t / freq), (10, 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0))
buf1 = cv2.flip(frame, 0)
buf = buf1.tostring()
camaracontroller.last_texture = buf
import cv2
import numpy as np
square = np.zeros((300, 300), np.uint8)
cv2.rectangle(square, (50, 50), (250, 250), 255, -1)
cv2.imshow("square", square)
cv2.waitKey(0)
ellipse = np.zeros((300, 300), np.uint8)
cv2.ellipse(ellipse, (150, 150), (150, 150), 30, 0, 180, 255, -1)
cv2.imshow("Ellipse", ellipse)
cv2.waitKey()
And = cv2.bitwise_and(square, ellipse)
cv2.imshow("And", And)
cv2.waitKey(0)
Or = cv2.bitwise_or(square, ellipse)
cv2.imshow("OR", Or)
cv2.waitKey(0)
Not = cv2.bitwise_not(square)
cv2.imshow("Not", Not)
cv2.waitKey(0)
Xor = cv2.bitwise_xor(square, ellipse)
cv2.imshow("Xor", Xor)
cv2.waitKey(0)
def ransac_ellipse_fit(points,
bgr_img,
roi_pos,
ransac_iters_max=50,
refine_iters_max=3,
max_err=2,
debug=False):
if points.size == 0: raise NoEllipseFound()
blurred_grey_img = cv2.blur(cv2.cvtColor(bgr_img, cv2.COLOR_BGR2GRAY),
(3, 3))
image_dx = cv2.Sobel(blurred_grey_img,
ddepth=cv2.CV_32F,
dx=1,
dy=0,
ksize=5)
image_dy = cv2.Sobel(blurred_grey_img,
ddepth=cv2.CV_32F,
dx=0,
dy=1,
ksize=5)
pts_x, pts_y = np.split(points, 2, axis=1)
pts_x, pts_y = np.squeeze(pts_x), np.squeeze(pts_y)
if debug:
img_points = np.copy(bgr_img)
draw_points(img_points, points, (0, 0, 255), 1, 2)
cv2.imshow(winname, img_points)
cv2.waitKey()
best_ellipse = None
best_support = float('-inf')
best_inliers = None
# Points on right and left of predicted pupil location (center of ROI-img)
r_inds, l_inds = np.squeeze([pts_x > (bgr_img.shape[1] / 2)]), np.squeeze(
[pts_x < (bgr_img.shape[1] / 2)])
# Not enough points to start process
if r_inds.size < 3 or l_inds.size < 3: raise NoEllipseFound()
points_r = points[r_inds]
points_l = points[l_inds]
if len(points_r) < 3 or len(points_l) < 3: raise NoEllipseFound()
# Perform N RANSAC iterations
for ransac_iter in range(ransac_iters_max):
try:
sample = random.sample(points_r, 3) + (random.sample(points_l, 3))
ellipse = fit_ellipse(sample, bgr_img.shape[:2])
if debug:
img_least_sqs = np.copy(bgr_img)
draw_points(img_least_sqs, points, (0, 0, 255), 1, 2)
draw_points(img_least_sqs, sample, (0, 255, 255), 6, 2)
cv2.ellipse(img_least_sqs, ellipse.rotated_rect, (0, 255, 255),
1)
print 'initial fit: ' + str(ransac_iter + 1)
cv2.imshow(winname, img_least_sqs)
cv2.imwrite("ransac_initial" + str(ransac_iter) + ".png",
img_least_sqs)
cv2.waitKey()
# Image-aware sample rejection
for (p_x, p_y) in sample:
grad_x, grad_y = ellipse.algebraic_gradient_dir((p_x, p_y))
dx, dy = image_dx[p_y][p_x], image_dy[p_y][p_x]
# If sample and ellipse gradients don't agree, move to next set of samples
if dx * grad_x + dy * grad_y <= 0:
if debug:
print 'Sample and ellipse gradients do not agree, reject'
break
else: # Only continues for else-block did not break on above line (image-aware sample rejection)
# Iteratively refine inliers further
for _ in range(refine_iters_max):
pts_distances = ellipse.distances(pts_x, pts_y)
inlier_inds = np.squeeze([
np.abs(get_err_scale(ellipse) * pts_distances) <
max_err
])
inliers = points[inlier_inds]
if len(inliers) < 5: raise NotEnoughInliers()
ellipse = fit_ellipse(inliers, bgr_img.shape[:2])
if debug:
img_refined = np.copy(bgr_img)
draw_points(img_refined, points, (0, 0, 255), 1, 2)
draw_points(img_refined, sample, (0, 255, 255), 6, 2)
cv2.ellipse(img_refined, ellipse.rotated_rect,
(0, 255, 255), 1)
draw_points(img_refined, inliers, (0, 255, 0), 1, 2)
cv2.imshow(winname, img_refined)
cv2.waitKey()
# Calculate the image aware support of the ellipse
if image_aware_support:
inliers_pts_x, inliers_pts_y = np.split(inliers, 2, axis=1)
inliers_pts_x, inliers_pts_y = np.squeeze(
inliers_pts_x), np.squeeze(inliers_pts_y)
# Ellipse gradients at inlier points
grads_x, grads_y = ellipse.algebraic_gradient_dirs(
inliers_pts_x, inliers_pts_y)
# Image gradients at inlier points
dxs = image_dx[inliers_pts_y.astype(int),
inliers_pts_x.astype(int)]
dys = image_dy[inliers_pts_y.astype(int),
inliers_pts_x.astype(int)]
support = np.sum(dxs.dot(grads_x) + dys.dot(grads_y))
else:
support = len(inliers)
if support > best_support:
best_ellipse = ellipse
best_support = support
best_inliers = inliers
# Early termination for > 95% inliers
print len(inliers) / float(len(points))
if len(inliers) / float(len(points)) > 0.95:
print "Early Termination"
break
except NotEnoughInliers:
if debug: print 'Not Enough Inliers'
except BadEllipseShape as e:
if debug: print 'Bad Ellipse Shape: %s' % e.msg
if best_ellipse == None:
raise NoEllipseFound()
coverage = calculate_coverage(best_ellipse, best_inliers)
if coverage < min_coverage:
raise CoverageTooLow(
'Minimum inlier coverage: %d, actual coverage: %d' %
(min_coverage, coverage))
if debug:
img_bgr_img = np.copy(bgr_img)
cv2.ellipse(img_bgr_img, best_ellipse.rotated_rect, (0, 255, 0), 2)
cv2.imshow(winname, img_bgr_img)
cv2.waitKey()
return best_ellipse
def process_image(self):
"""Process the image using OpenCV DNN
This code is run for reach image
"""
#if self.roi_x != None:
# self.image = self.image[self.roi_y:self.roi_y+self.roi_height, self.roi_x:self.roi_x+self.roi_width]
imageWidth = self.image.shape[1]
imageHeight = self.image.shape[0]
# resizing, mean subtraction, normalizing, and channel swapping of the image
#image_resized = self.image
image_resized = cv2.resize(self.image, (self.inWidth, self.inHeight))
self.net.setInput(
cv2.dnn.blobFromImage(image_resized,
1.0, (self.inWidth, self.inHeight),
(127.5, 127.5, 127.5),
swapRB=True,
crop=False))
# prediction
out = self.net.forward()
out = out[:, :
19, :, :] # MobileNet output [1, 57, -1, -1], we only need the first 19 elements
pose_msg = BodyPose()
pose_msg.header.stamp = rospy.Time.now()
#pose_msg.part = self.BODY_PART_NAMES
assert (len(self.BODY_PARTS) == out.shape[1])
points = []
for i in range(len(self.BODY_PARTS)):
# Slice heatmap of corresponging body's part.
heatMap = out[0, i, :, :]
# Originally, we try to find all the local maximums. To simplify a sample
# we just find a global one. However only a single pose at the same time
# could be detected this way.
_, conf, _, point = cv2.minMaxLoc(heatMap)
x = (imageWidth * point[0]) / out.shape[3]
y = (imageHeight * point[1]) / out.shape[2]
pose_msg.part.append(self.BODY_PART_NAMES[i])
pose_msg.x.append(int(x))
pose_msg.y.append(int(y))
pose_msg.confidence.append(conf)
# Add a point if it's confidence is higher than threshold.
points.append((int(x), int(y)) if conf > self.threshold else None)
if self.display:
for pair in self.POSE_PAIRS:
partFrom = pair[0]
partTo = pair[1]
assert (partFrom in self.BODY_PARTS)
assert (partTo in self.BODY_PARTS)
idFrom = self.BODY_PARTS[partFrom]
idTo = self.BODY_PARTS[partTo]
if points[idFrom] and points[idTo]:
if self.display:
cv2.line(self.image, points[idFrom], points[idTo],
(0, 255, 0), 3)
cv2.ellipse(self.image, points[idFrom], (3, 3), 0, 0,
360, (0, 0, 255), cv2.FILLED)
cv2.ellipse(self.image, points[idTo], (3, 3), 0, 0,
360, (0, 0, 255), cv2.FILLED)
cv2.imshow("image", self.image)
self.video.write(self.image)
cv2.waitKey(1)
self.pose_publisher.publish(pose_msg)
def rosRGBDCallBack(rgb_data, depth_data):
draw_contours = True
detect_shape = False
calculate_size = False
try:
cv_image = cv_bridge.imgmsg_to_cv2(rgb_data, "bgr8")
cv_depthimage = cv_bridge.imgmsg_to_cv2(depth_data, "32FC1")
cv_depthimage2 = np.array(cv_depthimage, dtype=np.float32)
except CvBridgeError as e:
print(e)
contours_blue, mask_image_blue = HSVObjectDetection(cv_image,
toPrint=False)
for cnt in contours_blue:
if not draw_contours:
xp, yp, w, h = cv2.boundingRect(cnt)
cv2.rectangle(cv_image, (xp, yp), (xp + w, yp + h), [0, 255, 255],
2)
cv2.circle(cv_image, (int(xp + w / 2), int(yp + h / 2)), 5,
(55, 255, 155), 4)
if not math.isnan(
cv_depthimage2[int(yp + h / 2)][int(xp + w / 2)]):
zc = cv_depthimage2[int(yp + h / 2)][int(xp + w / 2)]
X1 = getXYZ(xp + w / 2, yp + h / 2, zc, fx, fy, cx, cy)
print "x:", X1[0], "y:", X1[1], "z:", X1[2]
else:
continue
else:
#################Draw contours#####################################
# In task1, you need to call the function "cv2.drawContours" to show
# object contour in RVIZ
#
#
cv2.drawContours(cv_image, contours_blue, -1, (130, 25, 60), -1)
#x_str_blue, y_str_blue = cnt[0][0][:]
#font_blue = cv2.FONT_HERSHEY_SIMPLEX
#cv2.putText(cv_image, "Blue", (x_str_blue, y_str_blue), font_blue, 1, (0, 255, 255), 2, cv2.LINE_AA)
M_blue = cv2.moments(cnt)
cX_blue = int(M_blue["m10"] / M_blue["m00"])
cY_blue = int(M_blue["m01"] / M_blue["m00"])
#cv2.circle(cv_image, (cX_blue, cY_blue), 10, (1, 227, 254), -1)
c = max(contours_blue, key=cv2.contourArea)
extRight = tuple(c[c[:, :, 0].argmax()][0])
#cv2.circle(cv_image, extRight, 5, (0, 255, 0), -1)
if (len(cnt) >= 5):
ellipse = cv2.fitEllipse(cnt)
cv2.ellipse(cv_image, ellipse, (0, 255, 0), 2)
(x, y), (MA, ma), angle = cv2.fitEllipse(cnt)
if (angle >= 90) and (angle <= 180):
angle = angle - 90
ell_x = int(x + 100 * math.cos(angle * 0.0174532925))
ell_y = int(y + 100 * math.sin(angle * 0.0174532925))
ell_x_short = int(x + 100 * math.sin(angle * 0.0174532925))
ell_y_short = int(y - 100 * math.cos(angle * 0.0174532925))
else:
ell_x = int(x + 100 * math.sin(angle * 0.0174532925))
ell_y = int(y - 100 * math.cos(angle * 0.0174532925))
ell_x_short = int(x - 100 * math.cos(angle * 0.0174532925))
ell_y_short = int(y - 100 * math.sin(angle * 0.0174532925))
cv2.line(cv_image, (cX_blue, cY_blue), (ell_x, ell_y),
(0, 255, 0), 3) # x-axis
cv2.line(cv_image, (cX_blue, cY_blue),
(cX_blue, cY_blue - 100), (255, 0, 0), 3) # z-axis
cv2.line(cv_image, (cX_blue, cY_blue),
(ell_x_short, ell_y_short), (0, 0, 255), 3) # y-axix
if (cX_blue < len(depth) and cY_blue < len(depth[0])):
cZ_blue = depth[cX_blue][cY_blue]
xyz_blue = getXYZ(cX_blue, cY_blue, cZ_blue / 1000, fx, fy,
cx, cy)
# rosrun tf tf_echo /arm_base_link /head_tilt_link
matrix = quaternion_matrix([0.937, 0.001, 0.349, -0.004])
matrix[0][3] = -0.117
matrix[1][3] = 0.000
matrix[2][3] = 0.488
# rosrun tf tf_echo /base_link /head_tilt_link
#matrix = quaternion_matrix([0.937, 0.001, 0.349, -0.004])
#matrix[0][3] = -0.02
#matrix[1][3] = 0.000
#matrix[2][3] = 0.585
xyz = np.array(
[xyz_blue[2], -xyz_blue[0], -xyz_blue[1], 1])
final_xyz = matrix.dot(xyz)
#matrix_rot_x = np.array([[1, 0, 0, 0], [0, -1, 0, 0], [0, 0, -1, 0], [0, 0, 0, 1]])
#final_xyz_rot_x = matrix_rot_x.dot(final_xyz)
if (final_xyz[0] <= 0.45):
final_xyz_re = np.array(
[final_xyz[0] + 0.1, -final_xyz[1] + 0.02, 0.05])
print(final_xyz_re)
command = Pose()
command.position.x = xyz_blue[0]
command.position.y = xyz_blue[1]
command.position.z = xyz_blue[2]
command.orientation.x = 0
command.orientation.y = 0.707
command.orientation.z = 0
command.orientation.w = 0.707
#print(command)
robot_command_pub.publish(command)
###################################################################
if detect_shape:
peri = cv2.arcLength(cnt, True)
obj_num = cv2.approxPolyDP(cnt, 0.04 * peri, True)
if len(obj_num) == 3:
obj_shape = "triangle"
elif len(obj_num) == 4:
obj_shape = "square"
else:
obj_shape = "circle"
if len(cnt) < 1:
continue
x_str, y_str = cnt[0][0][:]
font = cv2.FONT_HERSHEY_SIMPLEX
if obj_shape == "triangle":
cv2.putText(cv_image, "Triangle", (x_str, y_str), font, 1,
(0, 255, 255), 2, cv2.LINE_AA)
elif obj_shape == "square":
cv2.putText(cv_image, "Square", (x_str, y_str), font, 1,
(0, 255, 255), 2, cv2.LINE_AA)
elif obj_shape == "circle":
cv2.putText(cv_image, "Circle", (x_str, y_str), font, 1,
(0, 255, 255), 2, cv2.LINE_AA)
if calculate_size:
##################################################
# In task3, we offer the methods to calculate area.
# If you want to use the method TA offers, you will need to
# assign vertex list of single object to "vtx_list" and finish
# functions "get_side_length", "get_radius".
# You can also write your own code to calculate
# area. if so, please ignore and comment the line 193 - 218,
# and write your code there.
#
#
# vtx_list = ?? #hint: vtx_list is similar to cnt
##################################################
vtx_list_tri = cv2.approxPolyDP(cnt, 0.2 * peri, True)
vtx_list_squ = cv2.approxPolyDP(cnt, 0.1 * peri, True)
vtx_list_cir = cv2.approxPolyDP(cnt, 0.2 * peri, True)
#print(vtx_list)
if obj_shape == "triangle":
tri_side_len = get_side_length(vtx_list_tri,
cv_depthimage2)
if tri_side_len is None:
continue
tri_area = tri_side_len**2 * math.sqrt(3) / 4
string = "%.3e" % tri_area
cv2.putText(cv_image, string, (x_str, y_str + 30), font, 1,
(0, 255, 255), 2, cv2.LINE_AA)
elif obj_shape == "square":
squ_side_len = get_side_length(vtx_list_squ,
cv_depthimage2)
if squ_side_len is None:
continue
squ_area = squ_side_len**2
string = "%.3e" % squ_area
cv2.putText(cv_image, string, (x_str, y_str + 30), font, 1,
(0, 255, 255), 2, cv2.LINE_AA)
elif obj_shape == "circle":
circle_radius = get_radius(vtx_list_cir, cv_depthimage2)
if circle_radius is None:
continue
circle_area = circle_radius**2 * math.pi
string = "%.3e" % circle_area
cv2.putText(cv_image, string, (x_str, y_str + 30), font, 1,
(0, 255, 255), 2, cv2.LINE_AA)
img_result_pub.publish(
cv_bridge.cv2_to_imgmsg(cv_image, encoding="passthrough"))
def main():
# Begin capturing video. You can modify what video source to use with VideoCapture's argument. It's currently set
# to be your webcam.
# print device list
dev_list = uvc.device_list()
print(dev_list)
worldCapture = uvc.Capture(dev_list[1]["uid"])
eyeCapture = uvc.Capture(dev_list[0]["uid"])
# Resolution
width = 1280
height = 720
midX = int(width / 2)
midY = int(height / 2)
worldCapture.frame_mode = (width, height, 60)
eyeCapture.frame_mode = (640, 480, 60)
# Blink detection variables
eyeState = 1
eyeTime = None
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
while True:
# To quit this program press q.
if cv2.waitKey(1) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
frame = worldCapture.get_frame_robust()
# Eye tracking stuff per eyeFrame
eyeFrame = eyeCapture.get_frame_robust()
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (5, 5))
retval, thresholded = cv2.threshold(eyeFrame.gray, 40, 255, 0)
cv2.imshow("threshold", thresholded)
closed = cv2.erode(cv2.dilate(thresholded, kernel, iterations=1), kernel, iterations=1)
cv2.imshow("closed", closed)
thresholded, contours, hierarchy = cv2.findContours(closed, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
drawing = np.copy(eyeFrame.bgr)
cv2.drawContours(drawing, contours, -1, (255, 0, 0), 2)
i = 0
# Calc and draw contours
for contour in contours:
area = cv2.contourArea(contour)
if area < 100:
continue
bounding_box = cv2.boundingRect(contour)
extend = area / (bounding_box[2] * bounding_box[3])
# reject the contours with big extend
if extend > 0.8:
continue
i += 1
# calculate countour center and draw a dot there
m = cv2.moments(contour)
if m['m00'] != 0:
center = (int(m['m10'] / m['m00']), int(m['m01'] / m['m00']))
cv2.circle(drawing, center, 3, (0, 255, 0), -1)
# fit an ellipse around the contour and draw it into the image
try:
ellipse = cv2.fitEllipse(contour)
cv2.ellipse(drawing, box=ellipse, color=(0, 255, 0))
except:
pass
if eyeState == 1 and i == 0:
eyeState = 0
eyeTime = time.time()
elif eyeState == 0 and i == 1:
eyeState = 1
t = time.time() - eyeTime
if t > 0.3:
print("BLINK DETECTION!")
sock.sendto('SELECT'.encode(), ('127.0.0.1', 8898))
# show the frame
cv2.imshow("Drawing", drawing)
image_gray = np.array(frame.gray)
image = np.array(frame.bgr)
qr_codes = decode(image)
# Draw the center
cv2.rectangle(image,(midX - 1, midY - 1),(midX + 1, midY +1),(255, 255, 255),3)
# Pupil tracking
# QR Code processing
if len(qr_codes) > 0:
qrs = []
for qr in qr_codes:
tmp = qr.rect
cv2.rectangle(image, (tmp.left, tmp.top), (tmp.left + tmp.width, tmp.top + tmp.height), (255, 0, 0), 3)
# Draw the middle of the qr code
qrX = tmp.left + int(tmp.width / 2)
qrY = tmp.top + int(tmp.height / 2)
cv2.rectangle(image, (qrX - 1, qrY - 1), (qrX + 1, qrY + 1), (255, 255, 255), 3)
distance = round(math.hypot(qrX - midX, qrY - midY))
print(qr)
qrs.append((distance, qr))
selected = sorted(qrs, key=lambda x: x[0])[0][1]
print(selected.data)
# Send color data of the selected qr code to helm.
qr_values = str(selected.data).split(',')
sock.sendto(qr_values[1].encode(), ('127.0.0.1', 8899))
sock.sendto(qr_values[0].encode(), ('127.0.0.1', 8898))
print(selected)
cv2.rectangle(image, (selected.rect.left, selected.rect.top),
(selected.rect.left + selected.rect.width, selected.rect.top + selected.rect.height),
(0,255,0), 3)
# Displays the current frame
cv2.imshow('Current', image)
import numpy as np
import cv2
img = np.zeros((512, 512, 3), np.uint8) # 绘制一个黑色图片画布
cv2.line(img, (0, 0), (512, 512), (255, 0, 0), 5)
cv2.rectangle(img, (100, 0), (510, 128), (255, 255, 0), 3)
cv2.circle(img, (447, 100), 20, (0, 255, 0), 5)
cv2.circle(img, (200, 100), 20, (0, 255, 0), -1)
cv2.ellipse(img, (200, 300), (80, 50), 0, 0, 180, 255, -1)
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(img, 'OpenCV', (10, 500), font, 3, (255, 255, 255), 2, cv2.LINE_AA)
cv2.imshow('draw_line', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
def calcul_traitement(self, frame, thres):
""" Amélioration de l'image par binarisation d'Otsu """
# find contours in the binary image
contours, hierarchy = cv2.findContours(thres, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=cv2.contourArea, reverse=True)[:1]
#print(contours)
for c in contours:
# permet de fit une ellipse sur toutes les formes identifiés sur l'image
if len(c) < 5:
break
area = cv2.contourArea(c)
if area <= 10: # skip ellipses smaller then
continue
#cv2.drawContours(frame, [c], 0, (0,255,0), 3)
# calculate moments for each contour
M = cv2.moments(c)
# calculate x,y coordinate of center
if M["m00"] != 0:
self.cX = int(M["m10"] / M["m00"])
self.cY = int(M["m01"] / M["m00"])
else:
self.cX, self.cY = 0, 0
#Fit une ellipse sur le(s) faisceau(x)
self.ellipse = cv2.fitEllipse(c)
#print('Ellipse : ', self.ellipse)
#Fit un rectangle sur la zone d'intérêt pour la zoomer par la suite
self.x, self.y, self.w, self.h = cv2.boundingRect(c)
#rectangle = cv2.rectangle(frame,(self.x,self.y),(self.x+self.w,self.y+self.h),(0,175,175),1)
#print('Rectangle : Position = ', self.x,',',self.y,'; Size = ',self.w,',',self.h)
av_fond = self.fond(frame) #sort la moyenne du fond
av_img = self.img - av_fond #retranche le fond de l'image
img_indices = self.img - av_img < 0 #Vérifie que l'image sans fond n'a pas pixel inférieur à 0
self.img[img_indices] = 0 #remplace les pixels inférieur à 0 par 0
av_frame = np.array(frame - av_fond).astype(
np.uint8
) #Retranche le fond de l'image et le mets en 8bits entier pour le transformer en couleur
frame_indices = frame - av_frame < 0
frame[frame_indices] = 0
#Remet l'image en RGB pour y dessiner toutes les formes par la suite et en couleur
frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2RGB)
#Dessine un cercle sur tous les blobs de l'image (formes blanches)
cv2.circle(frame, (self.cX, self.cY), 2, (0, 0, 255), -1)
#Dessiner l'ellipse
thresh = cv2.ellipse(frame, self.ellipse, (0, 255, 0), 1)
#Dessine les formes sur l'image
cv2.line(frame, (self.cX, 0), (self.cX, frame.shape[0]), (255, 0, 0),
1) #Dessine une croix sur le barycentre de l'image
cv2.line(frame, (0, self.cY), (frame.shape[1], self.cY), (255, 0, 0),
1)
#coupe l'image sur le ROI
crop_img = self.crop(frame)
self.crop_img = self.crop(self.img)
return crop_img, self.ellipse, self.cX, self.cY
def inscribe_ellipse(result, ellipse, color, thickness):
cv2.ellipse(result, ellipse, color, thickness)
def job2(frame_queue, b):
print("open pose")
import argparse
parser = argparse.ArgumentParser()
parser.add_argument(
'--input',
help='Path to image or video. Skip to capture frames from camera')
parser.add_argument('--thr',
default=0.2,
type=float,
help='Threshold value for pose parts heat map')
parser.add_argument('--width',
default=368,
type=int,
help='Resize input to specific width.')
parser.add_argument('--height',
default=368,
type=int,
help='Resize input to specific height.')
args = parser.parse_args()
BODY_PARTS = {
"Nose": 0,
"Neck": 1,
"RShoulder": 2,
"RElbow": 3,
"RWrist": 4,
"LShoulder": 5,
"LElbow": 6,
"LWrist": 7,
"RHip": 8,
"RKnee": 9,
"RAnkle": 10,
"LHip": 11,
"LKnee": 12,
"LAnkle": 13,
"REye": 14,
"LEye": 15,
"REar": 16,
"LEar": 17,
"Background": 18
}
POSE_PAIRS = [["Neck", "RShoulder"], ["Neck", "LShoulder"],
["RShoulder", "RElbow"], ["RElbow", "RWrist"],
["LShoulder", "LElbow"], ["LElbow", "LWrist"],
["Neck", "RHip"], ["RHip", "RKnee"], ["RKnee", "RAnkle"],
["Neck", "LHip"], ["LHip", "LKnee"], ["LKnee", "LAnkle"],
["Neck", "Nose"], ["Nose", "REye"], ["REye", "REar"],
["Nose", "LEye"], ["LEye", "LEar"]]
inWidth = args.width
inHeight = args.height
net = cv2.dnn.readNetFromTensorflow(".\pose\graph_opt.pb")
while cv2.waitKey(1) < 0:
if frame_queue.empty():
cv2.waitKey(1)
continue
frame = frame_queue.get()
print("job2222222222")
frameWidth = frame.shape[1]
frameHeight = frame.shape[0]
net.setInput(
cv2.dnn.blobFromImage(frame,
1.0, (inWidth, inHeight),
(127.5, 127.5, 127.5),
swapRB=True,
crop=False))
out = net.forward()
out = out[:, :
19, :, :] # MobileNet output [1, 57, -1, -1], we only need the first 19 elements
assert (len(BODY_PARTS) == out.shape[1])
points = []
for i in range(len(BODY_PARTS)):
# Slice heatmap of corresponging body's part.
heatMap = out[0, i, :, :]
# Originally, we try to find all the local maximums. To simplify a sample
# we just find a global one. However only a single pose at the same time
# could be detected this way.
_, conf, _, point = cv2.minMaxLoc(heatMap)
x = (frameWidth * point[0]) / out.shape[3]
y = (frameHeight * point[1]) / out.shape[2]
# Add a point if it's confidence is higher than threshold.
points.append((int(x), int(y)) if conf > args.thr else None)
for pair in POSE_PAIRS:
partFrom = pair[0]
partTo = pair[1]
assert (partFrom in BODY_PARTS)
assert (partTo in BODY_PARTS)
idFrom = BODY_PARTS[partFrom]
idTo = BODY_PARTS[partTo]
if points[idFrom] and points[idTo]:
cv2.line(frame, points[idFrom], points[idTo], (0, 255, 0), 3)
cv2.ellipse(frame, points[idFrom], (3, 3), 0, 0, 360,
(0, 0, 255), cv2.FILLED)
cv2.ellipse(frame, points[idTo], (3, 3), 0, 0, 360,
(0, 0, 255), cv2.FILLED)
t, _ = net.getPerfProfile()
freq = cv2.getTickFrequency() / 1000
cv2.putText(frame, '%.2fms' % (t / freq), (10, 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0))
cv2.imshow('OpenPose using OpenCV', frame)
key = cv2.waitKey(100) & 0xFF
if key == ord('q'):
break
import cv2
import numpy as np
img = np.zeros((480, 640, 3), np.uint8)
# cv2.line(img, (10, 20), (300, 400), (255, 136, 83), 5, 16)
# cv2.rectangle(img, (10, 10), (100, 100), (255, 136, 83), -1)
cv2.circle(img, (320, 240), 100, (255, 136, 83))
cv2.circle(img, (320, 240), 5, (255, 136, 83), -1, 16)
cv2.ellipse(img, (320, 240), (100, 50), 15, 0, 360, (255, 136, 83))
pts = np.array([(300, 10), (150, 100), (450, 100)], np.int32)
cv2.polylines(img, [pts], True, (255, 136, 83))
cv2.fillPoly(img, [pts], (255, 136, 83))
cv2.putText(img, "Hello OpenCV~", (10, 400), cv2.FONT_HERSHEY_PLAIN, 3,
(255, 136, 83))
cv2.imshow('draw', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
# cv2.rectangle(img1, (384, 0), (510, 128), (0, 255, 0), 3)
# cv_show("img", img)
# 3. 画圆 cv2.circle()
# 指定圆心坐标和半径大小
cv2.circle(img, (447, 63), 63, (0, 0, 255), -1)
# # cv_show("img", img)
# 4. 画椭圆 cv2.ellipse()
# 输入几个参数
# 1. 中心点的位置坐标
# 2. 长轴和短轴的长度
# 3. 椭圆沿逆时针方向旋转的角度
# 4. 椭圆弧沿顺时针方向起始的角度和结束角度，如果是0 和 360，就是整个椭圆
# ellipse = cv2.ellipse(img, (256, 256), (100, 50), 0, 0, 180, 255, -1)
cv2.ellipse(img, (256, 256), (100, 50), 0, 0, 360, (0, 255, 0), -1,
cv2.LINE_AA)
# # cv_show("img", img)
# 5. 画多边形 cv2.polylines(img, pts, isClosed, color[, thickness[, lineType[, shift]]])
# isClosed: 多边形是否闭合
pts = np.array([[10, 5], [20, 30], [70, 20], [50, 10]], np.int32)
pts = pts.reshape((-1, 1, 2))
# 这里reshape 的第一个参数,表明这一维的长度是根据后面的维度的计算出来的。
cv2.polylines(img, [pts], True, (0, 255, 0), 5, cv2.LINE_AA)
# 在图片上添加文字
# cv2.putText(img, text, org, fontFace, fontScale, color[, thickness[, lineType[, bottomLeftOrigin]]])
# img，图片
# text，想要输出到图像上的的文本
# org，文字的起始坐标（左下角为起点）
# position，输出位置的坐标
plt.subplot(2, 3, i + 1), plt.imshow(images[i], 'gray')
plt.title(titles[i])
plt.xticks([]), plt.yticks([])
#plt.show()
# Contours ------------------------------------
contours, hierarchy = cv2.findContours(th1, 1, 2)
# print(len(contours)) # 266
for i in range(0, len(contours) - 1):
cnt = contours[i]
area = cv2.contourArea(cnt)
if area > 500 and area < 2000:
#M = cv2.moments(cnt)
ellipse = cv2.fitEllipse(cnt)
im = cv2.ellipse(img, ellipse, (0, 255, 0), 2)
# -------------------------------------
# Blob detector para th1
params = cv2.SimpleBlobDetector_Params()
# Change thresholds
#params.minThreshold = 50 # Darker (lightness como en HSL)
#params.maxThreshold = 100 # Lighter
# Filter by Area.
params.filterByArea = True
params.minArea = 500
params.maxArea = 3000
def get_blob_center(image, color, camera):
""" Computes the center of the dot for a picture from camera 0.
Metric to detect ellipses: Area of the enclosing ellipse minus area of the contour in ratio to the contour area.
Args:
image: Image from camera
boundaries: Boundaries for the specified color for cv2.inrange
Returns:
center: X/Y coordinates of center of dot
"""
# color values in RGB
boundaries_red = ([0, 10, 10], [17, 255, 255])
boundaries_red_1 = ([0, 10, 10], [30, 255, 255])
#boundaries_blue = ([90, 50, 50], [120, 255, 255])
boundaries_blue = ([100, 10, 10], [180, 255, 255])
mask = 0
img = cv2.cvtColor(image.copy(), cv2.COLOR_BGR2HSV)
if camera == 0:
#delete noise in the upper part of the image for the top camera
overlay = np.zeros((160, 640, 3), np.uint8)
img[:overlay.shape[0], :overlay.shape[1]] = overlay
#get the contours of the right color
if color == "red":
if camera == 0:
lower_boundary = np.array(boundaries_red[0])
upper_boundary = np.array(boundaries_red[1])
else:
lower_boundary = np.array(boundaries_red_1[0])
upper_boundary = np.array(boundaries_red_1[1])
mask = mask + cv2.inRange(img, lower_boundary, upper_boundary)
if color == "blue":
lower_boundary = np.array(boundaries_blue[0])
upper_boundary = np.array(boundaries_blue[1])
mask = cv2.inRange(img, lower_boundary, upper_boundary)
_, cnts, _ = cv2.findContours(mask, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
if camera == 0:
# area1 and area2 are the range of contour area
area1 = 250
area2 = 5000
diff_best = area2 + 1
max_diff = 4.5
max_ellipse_stretch = 5
best_ellipse = None
center = -1
#iterate through the contours
for cnt in cnts:
if area1 < cv2.contourArea(cnt) < area2:
temp_ellipse = cv2.fitEllipse(cnt)
(x, y), (MA, ma), angle = temp_ellipse
# compute metrics
area_ellipse = (np.pi * MA * ma)
area_cnt = cv2.contourArea(cnt)
diff = ((area_ellipse - cv2.contourArea(cnt)) / area_cnt)
if min(MA, ma) != 0:
ellipse_stretch = (max(MA, ma) / min(MA, ma))
else:
ellipse_stretch = max_ellipse_stretch + 1
#check metrics
if diff < diff_best and ellipse_stretch < max_ellipse_stretch and diff < max_diff:
diff_best = diff
best_ellipse = temp_ellipse
if best_ellipse is not None:
(x, y), (MA, ma), angle = best_ellipse
center = (int(x), int(y))
cv2.circle(img,
center,
1, (0, 255, 0),
thickness=1,
lineType=8,
shift=0)
cv2.ellipse(img, best_ellipse, (255, 0, 0), 2, cv2.LINE_AA)
cv2.imshow('ellipse', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imwrite("pic_found" + str(random.randint(0, 1000)) + ".png",
image)
print("center:", center)
else:
cv2.imwrite(
"pic_not_found" + str(random.randint(0, 1000)) + ".png", image)
print("no dots found!")
else: #camera == 1
# area1 and area2 are the range of contour area
area1 = 200
area2 = 200000
max_cnt = None
max_area = 0
center = -1
# iterate through the contours
for cnt in cnts:
if area1 < cv2.contourArea(cnt) < area2:
if cv2.contourArea(cnt) > max_area:
max_cnt = cnt
max_area = cv2.contourArea(cnt)
if max_cnt is not None:
((x, y), radius) = cv2.minEnclosingCircle(max_cnt)
center = (int(x), int(y))
cv2.circle(img,
center,
int(radius), (0, 255, 0),
thickness=1,
lineType=8,
shift=0)
cv2.imshow('circle', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imwrite("pic_found" + str(random.randint(0, 1000)) + ".png",
image)
print("center:", center)
else:
cv2.imwrite(
"pic_not_found" + str(random.randint(0, 1000)) + ".png", image)
print("no dots found!")
#cv2.imwrite("pic"+str(random.randint(0,1000))+".png", image)
return center
#create a block image
img = np.zeros((512, 512, 3), np.uint8)
# 画椭圆
'''
params
image
center location (x,y).
axes lengths (major axis length, minor axis length).
angle is the angle of rotation of ellipse in anti-clockwise direction.
startAngle and endAngle denotes the starting and ending of ellipse arc measured in clockwise direction from major axis
color
thickness
'''
cv2.ellipse(img, (256, 256), (100, 50), 0, 0, 360, 255, -1)
plt.imshow(img)
plt.show()
# In[11]:
# Create a black image
img = np.zeros((512, 512, 3), np.uint8)
# Draw a diagonal blue line with thickness of 5 px
img = cv2.line(img, (0, 0), (511, 511), (255, 0, 0), 5)
#Drawing Rectangle
img = cv2.rectangle(img, (384, 0), (510, 128), (0, 255, 0), 3)
# Drawing Circle
Date: Jan 24
Title: openCV
Purpose: editing pictures
@author: CTL
"""
import numpy as np
import cv2
img = np.zeros((1000, 1777, 3),
np.uint8) #This line is to create a black image
cv2.line(img, (0, 0), (511, 511), (255, 0, 0), 5) #This is to drwa a blue line
cv2.rectangle(img, (900, 0), (343, 656), (0, 255, 0),
3) #This line is to draw a rectangle
cv2.circle(img, (447, 63), 63, (0, 0, 255), -1) #This line is to draw a circle
cv2.ellipse(img, (256, 256), (100, 50), 0, 0, 180, 255,
-1) #This line is to draw a ellipse
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(img, 'shutDown', (10, 500), font, 4, (255, 255, 255), 2,
cv2.LINE_AA) #This line is to put a text
#This line is to show the image
#cv2.imshow('image',image)
'''
#This line is to save the image
cv2.inwrite('black.png',img)
'''
img1 = cv2.imread('black.png')
img2 = cv2.imread('glassess.png')
#This is to blend two pictures from 0% to 100%
import cv2 as cv
# 哈尔级联人脸定位器
fd = cv.CascadeClassifier('haar/face.xml')
ed = cv.CascadeClassifier('haar/eye.xml')
nd = cv.CascadeClassifier('haar/nose.xml')
vc = cv.VideoCapture(0)
while True:
frame = vc.read()[1]
faces = fd.detectMultiScale(frame, 1.3, 5)
for l, t, w, h in faces:
a, b = int(w / 2), int(h / 2)
cv.ellipse(frame, (l + a, t + b), (a, b), 0, 0, 360, (255, 0, 255), 2)
# 把face裁出来，然后识别眼和鼻子的位置
face = frame[t:t + h, l:l + w]
eyes = ed.detectMultiScale(face, 1.3, 5)
for l, t, w, h in eyes:
a, b = int(w / 2), int(h / 2)
cv.ellipse(face, (l + a, t + b), (a, b), 0, 0, 360, (0, 255, 0), 2)
noses = nd.detectMultiScale(face, 1.3, 5)
for l, t, w, h in noses:
a, b = int(w / 2), int(h / 2)
cv.ellipse(face, (l + a, t + b), (a, b), 0, 0, 360, (0, 255, 255),
2)
cv.imshow('VideoCapture', frame)
if cv.waitKey(33) == 27:
break
vc.release()
cv.destroyAllWindows()
def evaluate_droplet(img,
y_base,
mask: Tuple[int, int, int, int] = None) -> Droplet:
"""
Analyze an image for a droplet and determine the contact angles
:param img: the image to be evaluated as np.ndarray
:param y_base: the y coordinate of the surface the droplet sits on
:returns: a Droplet() object with all the informations
"""
drplt = Droplet()
# crop img from baseline down (contains no useful information)
crop_img = img[:y_base, :]
shape = img.shape
height = shape[0]
width = shape[1]
if USE_GPU:
crop_img = cv2.UMat(crop_img)
# calculate thrresholds
thresh_high, thresh_im = cv2.threshold(img, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
thresh_low = 0.5 * thresh_high
# thresh_high = 179
# thresh_low = 76
# values only for 8bit images!
# apply canny filter to image
# FIXME adjust canny params, detect too much edges
bw_edges = cv2.Canny(crop_img, thresh_low, thresh_high)
# block detection of syringe
if (not mask is None):
x, y, w, h = mask
bw_edges[:, x:x + w] = 0
#img[:, x:x+w] = 0
masked = True
else:
masked = False
edge = find_contour(bw_edges, masked)
if USE_GPU:
# fetch contours from gpu memory
# cntrs = [cv2.UMat.get(c) for c in contours]
edge = cv2.UMat.get(edge)
if DEBUG & DBG_SHOW_CONTOURS:
# img = cv2.drawContours(img,cntrs,-1,(100,100,255),2)
img = cv2.drawContours(img, edge, -1, (255, 0, 0), 2)
# apply ellipse fitting algorithm to droplet
(x0, y0), (maj_ax, min_ax), phi_deg = cv2.fitEllipse(edge)
phi = radians(phi_deg)
a = maj_ax / 2
b = min_ax / 2
# diesen fit vllt zum laufen bringen https://scikit-image.org/docs/0.15.x/api/skimage.measure.html
#points = edge.reshape(-1,2)
#points[:,[0,1]] = points[:,[1,0]]
# ell = EllipseModel()
# if not ell.estimate(points): raise RuntimeError('Couldn\'t fit ellipse')
# x0, y0, a, b, phi = ell.params
# maj_ax = 2*a
# min_ax = 2*b
# phi_deg = degrees(phi)
if DEBUG & DBG_DRAW_ELLIPSE:
img = cv2.ellipse(img, (int(round(x0)), int(round(y0))),
(int(round(a)), int(round(b))),
int(round(phi * 180 / pi)),
0,
360, (255, 0, 255),
thickness=1,
lineType=cv2.LINE_AA)
#img = cv2.ellipse(img, (int(round(x0)),int(round(y0))), (int(round(a)),int(round(b))), 0, 0, 360, (0,0,255), thickness=1, lineType=cv2.LINE_AA)
# calculate intersections of ellipse with baseline
intersection = calc_intersection_line_ellipse((x0, y0, a, b, phi),
(0, y_base))
if intersection is None or not isinstance(intersection, list):
raise ContourError('No valid intersections found')
x_int_l = min(intersection)
x_int_r = max(intersection)
foc_len = sqrt(abs(a**2 - b**2))
# calc slope and angle of tangent at intersections
m_t_l = calc_slope_of_ellipse((x0, y0, a, b, phi), x_int_l, y_base)
m_t_r = calc_slope_of_ellipse((x0, y0, a, b, phi), x_int_r, y_base)
# calc angle from inclination of tangents
angle_l = (pi - atan2(m_t_l, 1)) % pi
angle_r = (atan2(m_t_r, 1) + pi) % pi
# calc area of droplet
area = calc_area_of_droplet((x_int_l, x_int_r), (x0, y0, a, b, phi),
y_base)
# calc height of droplet
drplt_height = calc_height_of_droplet((x0, y0, a, b, phi), y_base)
# write values to droplet object
drplt.angle_l = degrees(angle_l)
drplt.angle_r = degrees(angle_r)
drplt.maj = maj_ax
drplt.min = min_ax
drplt.center = (x0, y0)
drplt.phi = phi
drplt.tilt_deg = phi_deg
drplt.tan_l_m = m_t_l
drplt.tan_r_m = m_t_r
drplt.line_l = (x_int_l - y_base / m_t_l, 0,
x_int_l + (height - y_base) / m_t_l, height)
drplt.line_r = (x_int_r - y_base / m_t_r, 0,
x_int_r + (height - y_base) / m_t_r, height)
drplt.int_l = (x_int_l, y_base)
drplt.int_r = (x_int_r, y_base)
drplt.foc_pt1 = (x0 + foc_len * cos(phi), y0 + foc_len * sin(phi))
drplt.foc_pt2 = (x0 - foc_len * cos(phi), y0 - foc_len * sin(phi))
drplt.base_diam = x_int_r - x_int_l
drplt.area = area
drplt.height = drplt_height
drplt.is_valid = True
if DEBUG & DBG_DRAW_TAN_ANGLE:
# painting
y_int = int(round(y_base))
img = cv2.line(img, (int(round(x_int_l - (y_int / m_t_l))), 0), (int(
round(x_int_l + ((height - y_int) / m_t_l))), int(round(height))),
(255, 0, 255),
thickness=1,
lineType=cv2.LINE_AA)
img = cv2.line(img, (int(round(x_int_r - (y_int / m_t_r))), 0), (int(
round(x_int_r + ((height - y_int) / m_t_r))), int(round(height))),
(255, 0, 255),
thickness=1,
lineType=cv2.LINE_AA)
img = cv2.ellipse(img, (int(round(x_int_l)), y_int), (20, 20),
0,
0,
-int(round(angle_l * 180 / pi)), (255, 0, 255),
thickness=1,
lineType=cv2.LINE_AA)
img = cv2.ellipse(img, (int(round(x_int_r)), y_int), (20, 20),
0,
180,
180 + int(round(angle_r * 180 / pi)), (255, 0, 255),
thickness=1,
lineType=cv2.LINE_AA)
img = cv2.line(img, (0, y_int), (width, y_int), (255, 0, 0),
thickness=2,
lineType=cv2.LINE_AA)
img = cv2.putText(img, '<' + str(round(angle_l * 180 / pi, 1)),
(5, y_int - 5), cv2.FONT_HERSHEY_COMPLEX, .5,
(0, 0, 0))
img = cv2.putText(img, '<' + str(round(angle_r * 180 / pi, 1)),
(width - 80, y_int - 5), cv2.FONT_HERSHEY_COMPLEX,
.5, (0, 0, 0))
import cv2
img = np.zeros((512,512,3), np.uint8)
# Draw a diagonal blue line with thickness of 5px
img = cv2.line(img,(0,0),(511,511),(255,0,0),5) # First parameter is the image, then come the starting and ending
# points followed by BGR color scheme and line thickness
# Drawing a rectangle
img = cv2.rectangle(img,(384,0),(510,128),(0,255,0),3)
# Drawing a circle
img = cv2.circle(img,(447,63),63,(0,0,255),-1)
# Drawing ellipse
img = cv2.ellipse(img,(256,256),(100,50),30,0,180,(50,255,100),-1)
# Drawing a polygon
pts = np.array([[10,5],[20,30],[70,20],[50,10]],np.int32)
pts = pts.reshape((-1,1,2))
img = cv2.polylines(img,[pts],False,(0,255,255))
# Adding text to images
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(img,'OpenCV',(10,500),font,4,(255,255,255),2,cv2.LINE_AA)
cv2.imshow('OpenCV',img)
cv2.waitKey(0)
cv2.destroyAllWindows()
def draw_torso(npimg, Centers, col):
#i = 0
torso = []
tryvar = lambda varpos: Centers[varpos] if varpos in Centers.keys(
) else None
lshould = tryvar(5)
rshould = tryvar(2)
neck = tryvar(1)
minus = -1
angle = 0
groin = []
if lshould and rshould and neck:
dx = (lshould[0] - rshould[0])
dy = (lshould[1] - rshould[1])
d = int(np.sqrt(dx * dx + dy * dy))
if dx and dy:
angle = np.arctan(dy * 1. / dx) * 180 / np.pi
cv2.ellipse(npimg, (neck[0], (lshould[1] + rshould[1]) / 2),
(d / 2, int(d * 1.4)), angle, 0, 180, col, -20)
cv2.ellipse(npimg, (neck[0] - dy,
(lshould[1] + rshould[1]) / 2 + int(d * 1.4)),
(d / 2, int(d * 1.5)), angle, 180, 360, col, -20)
groin.append([lshould[0] - int(dy * 1.4), lshould[1] + int(dx * 1.4)])
groin.append([groin[0][0] - dx, groin[0][1] - dy])
groin.append([groin[1][0] - dy, groin[1][1] + dx])
groin.append([(groin[2][0] + groin[0][0] - dy) / 2,
(groin[0][1] + dx + groin[0][1]) / 2])
groin.append([groin[0][0] - dy, groin[0][1] + dx])
groin = np.asarray(groin)
groin = groin.reshape((-1, 1, 2), )
cv2.fillPoly(npimg, [groin], col)
#cv2.line(npimg,(groin[0][0],groin[0][1]) ,(groin[1][0],groin[1][1]),[0,255,255],d/6)
#cv2.line(npimg,(groin[2][0],groin[2][1]) ,(groin[3][0],groin[3][1]),[0,255,255],d/6)
torso.append([lshould[0], lshould[1]])
torso.append([rshould[0], rshould[1]])
torso.append([neck[0] + dy / 2, neck[1] - int(dx * 0.35)])
torso = np.asarray(torso)
torso = torso.reshape((-1, 1, 2), )
cv2.fillPoly(npimg, [torso], col)
cv2.line(npimg, (rshould[0] - dy / 15, rshould[1] + dx / 15),
(lshould[0] - dy / 15, lshould[1] + dx / 15), col, d / 6)
return npimg
elif neck and lshould:
should = lshould
minus = 1
elif neck and rshould:
should = rshould
else:
return npimg
#this code runs if only one shoulder is observed
dx = (should[0] - neck[0]) * 2
dy = (should[1] - neck[1]) * 2
d = int(np.sqrt(dx * dx + dy * dy))
if dx and dy:
angle = np.arctan(dy * 1. / dx) * 180 / np.pi
cv2.ellipse(npimg, (neck[0], neck[1]), (d / 2, int(d * 1.5)), angle, 0,
180, col, -1)
cv2.ellipse(npimg, (neck[0] - dy, neck[1] + int(d * 1.5)),
(d / 2, int(d * 1.5)), angle, 180, 360, col, -1)
torso.append([should[0], should[1]])
torso.append([should[0] - dx, should[1] - dy])
torso.append([neck[0] + dy / 2 * minus, neck[1] - int(dx * 0.35) * minus])
torso = np.asarray(torso)
torso = torso.reshape((-1, 1, 2), )
cv2.fillPoly(npimg, [torso], col)
cv2.line(npimg, (should[0], should[1]), (should[0] - dx, should[1] - dy),
col, d / 7)
return npimg
cap = cv2.VideoCapture(0)
while (True):
# Capture frame-by-frame
ret, frame = cap.read()
#Use face detection to find locations of faces in frame
faces = face_cascade.detectMultiScale(frame,
scaleFactor=1.2,
minSize=(20, 20))
for (x, y, w, h) in faces:
frame[y:y + h, x:x + w, :] = cv2.dilate(frame[y:y + h, x:x + w, :],
kernel) #blurs face
#draw weird looking face over blurred face
cv2.circle(frame, (x + w / 3, y + h / 3), h / 12, (255, 255, 255), -1,
8)
cv2.circle(frame, (x + 2 * w / 3, y + h / 3), h / 12, (255, 255, 255),
-1, 8)
cv2.circle(frame, (x + w / 3, y + h / 3), h / 24, (255, 150, 0), -1, 8)
cv2.circle(frame, (x + 2 * w / 3, y + h / 3), (h / 24), (255, 150, 0),
-1, 8)
cv2.ellipse(frame, (x + w / 2, y + 3 * h / 4), (w / 6, h / 12), 0, 0,
180, (0, 0, 255), 8)
# Display the resulting frame
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()
def draw_head(npimg, Centers, col, bol, k=[0]):
tryvar = lambda varpos: Centers[varpos] if varpos in Centers.keys(
) else None
lear = tryvar(17)
rear = tryvar(16)
leye = tryvar(15)
reye = tryvar(14)
nose = tryvar(0)
neck = tryvar(1)
if bol:
k1, k2, k6 = read.k1()
k3, k4, k5, k7, k8 = read.k2()
else:
k1, k2, k3, k4, k5, k6, k7, k8 = k
if (neck and nose):
if (lear and rear): #head circle if both ears are present
lx = lear[0]
rx = rear[0]
hx = (lx + rx) / 2 #Nope
angle = 0
dy = lear[1] - rear[1]
dx = float(lx - rx)
if dy and dx:
taneyes = dy / dx #Bruker heller tangens her for å få en relativ vinkel.
angle = np.arctan(taneyes) * 180 / np.pi
# Plasser etterpå "midpunktet" "over" basert på vinkel.
dx = int(np.linalg.norm(np.array(lear) - np.array(rear)))
#^relation for headsize, distance between ears
hy = int((rear[1] + lear[1]) / 2) #-dx/k2) #nope #fight me
hy2 = hy - int(dx / 2.5)
#limblen= int(dx/4)+1
#l =8.*dx/(abs(nose[1]-neck[1])+1)
#cv2.circle(npimg, (hx,hy), int(abs(dx*k1)), col, thickness=-limblen, lineType=8, shift=0)
cv2.ellipse(npimg, (hx, hy),
(int(dx * k1 / 1.3), int(dx * k1 * 1.5)), angle, 180,
360, col, -1)
cv2.ellipse(npimg, (hx + int(angle), hy2),
(int(dx * k1 / 1.2), int(dx * k1 / 1.3)), angle, 0,
360, col, -1)
# Addition; jawline from helper funct.
eye_jaw(npimg, [leye, reye], [False, False], col)
#head pointing left (left eye hidden)
elif rear and leye: #head circle if right ear is present + faceline
rx = rear[0]
dx = leye[0] - rx #/10+1 #dist between ear n eye
dy = (leye[1] - rear[1])
angle = 0
if dy and dx:
tan = dy / float(dx)
angle = np.arctan(tan) * 180 / np.pi
dx = int(np.linalg.norm(np.array(rear) - np.array(leye)))
hx = int(rx + dx / 10. * 4 * k7 * 0.95) #- dx*20 / (rx-leye[0]))
#Jacob's magic circle coord (next to ear) ?? wtf. fight me
hy = int((rear[1] + leye[1]) / 2 + dx / 10. * k3 * 1.6)
hy2 = hy - dx / 10
#limblen = int((dx+abs(rx-leye[0])/2)*0.4)+1
#cv2.circle(npimg, (hx,hy), int(abs(nose[0]-rx)*k4), col, thickness=-limblen, lineType=8, shift=0)
cv2.ellipse(npimg, (hx, hy),
(int(dx * k4 * 0.85), int(dx * k4 * 0.73)),
-angle - 20, 0, 360, col, -1)
#cv2.ellipse(npimg,(hx,hy2),(int(abs(nose[0]-rx)*k4*0.85),int(abs(nose[0]-rx)*k4*0.65)) ,-20,0,360,col,-1)
eye_jaw(npimg, [leye, reye], [False, rear], col)
elif lear and reye: #head circle if left ear is present + faceline
lx = lear[0]
reyex = reye[0]
dx = (lx - reyex) #/10+1
dy = (lear[1] - reye[1])
angle = 0
if dy and dx:
tan = dy / float(dx)
angle = np.arctan(tan) * 180 / np.pi
dx = int(np.linalg.norm(np.array(lear) - np.array(reye)))
hx = int(lx - dx / 10. * 4 * k7 *
0.9) #+ dx*20. /(lx-reyex))#circle center, next to ear
hy = int((lear[1] + reye[1]) / 2 +
dx / 10. * k3 * 1.6) #circle center, slightly above ear
hy2 = hy - dx / 10
#limblen = int((abs(lx-reyex)/2+dx)*k5)
#cv2.circle(npimg, (hx,hy), int(abs(nose[0]-lx)*k4), col, thickness=-limblen, lineType=8, shift=0)
cv2.ellipse(npimg, (hx, hy),
(int(dx * k4 * 0.85), int(dx * k4 * 0.73)),
-angle + 20, 0, 360, col, -1)
#cv2.ellipse(npimg,(hx,hy2),(int(abs(nose[0]-lx)*k4*0.85),int(abs(nose[0]-lx)*k4*0.65)) ,20,0,360,col,-1)
eye_jaw(npimg, [leye, reye], [lear, False], col)
return npimg
# applying kalman filter on image position data
kalman_filter.input_latest_noisy_measurement(image_position)
posteri_estimate_graph.append(
kalman_filter.get_latest_estimated_measurement())
# separating estimated values for easier plotting
estimation = np.zeros(shape=(len(posteri_estimate_graph), 2))
for i in range(0, len(posteri_estimate_graph)):
temp2 = posteri_estimate_graph[i]
estimation[i, 0] = temp2[0]
estimation[i, 1] = temp2[1]
# video frame size
height, width = image.shape[:2]
opencv.ellipse(image, (int(estimation[-1, 0] * width),
int(estimation[-1, 1] * height + 15)),
(70, 90), -180, 0, 360, (255, 0, 0), 2)
# plotting trajectory points
for j in range(2, len(estimation)):
opencv.circle(image, (int(estimation[j, 0] * width),
int(estimation[j, 1] * height + 15)),
5, (0, 0, 255), -1)
opencv.putText(image, "Object", (10, 70),
opencv.FONT_HERSHEY_SIMPLEX, 3, (0, 255, 0), 5)
opencv.putText(image, "tracking", (10, 140),
opencv.FONT_HERSHEY_SIMPLEX, 3, (0, 255, 0), 5)
#opencv.putText(image, "Object tracking", (100, 100), opencv.FONT_HERSHEY_DUPLEX, 2.0, (0, 0, 255))
opencv.imshow("Robot camera feed", image)