def merge_intersected(contours):
ret_val = []
merged_index = [] #lista indeksa kontura koje su već spojene sa nekim
for i,contour1 in enumerate(contours): #slova
if i in merged_index:
continue
rect1 = cv2.minAreaRect(contour1)
for j,contour2 in enumerate(contours): #kukice
if j in merged_index or i == j:
continue
rect2 = cv2.minAreaRect(contour2)
#TODO 2 - izvršiti spajanje kukica iznad slova
#spajanje dva niza je moguće obaviti funkcijom np.concatenate((contour1,contour2))
indicator, vertices = cv2.rotatedRectangleIntersection(rect1, rect2)
if indicator>0:
#spajanje kontura
ret_val.append(np.concatenate((contour1,contour2)))
merged_index.append(i)
merged_index.append(j)
#svi regioni koji se nisu ni sa kim spojili idu u listu kontura, bez spajanja
for idx,contour in enumerate(contours):
if idx not in merged_index:
ret_val.append(contour)
return ret_val
def drawRects(img, ctrs):
i = 1
rectList = []
for ct in ctrs[0]:
x, y, w, h = cv2.boundingRect(ct)
#process only vertical rectagles (ie, w<h) with w and h > 1
if w < h and w > 10 and h > 10:
#print i, ". ", len(ct), " -- ", cv2.boundingRect(ct), (x+w/2), cv2.minAreaRect(ct)
rectList.append([cv2.boundingRect(ct), cv2.minAreaRect(ct)])
clr=(random.randrange(0,255),random.randrange(0,255),random.randrange(0,255))
#cv2.drawContours(image=img, contours=ct, contourIdx=-1, color=clr , thickness=-1)
cv2.rectangle(img, (x,y), (x+w,y+h), clr, 5)
cv2.fillConvexPoly(img, ct, clr)
cv2.rectangle(img, (x+w/2-3,y), (x+w/2+3,y+h), (255,255,255), -1)
cv2.rectangle(img, (x,y+h/2-3), (x+w,y+h/2+3), (255,255,255), -1)
rotRect = cv2.minAreaRect(ct)
box = cv2.cv.BoxPoints(rotRect)
box = np.int0(box)
print box
cv2.drawContours(img, [box], 0, (0,0,255),2)
#cv2.imshow("asdsdasdadasdasd",img)
#key = cv2.waitKey(1000)
i = i + 1
cv2.rectangle(img, (318,0), (322,640), (255,255,255), -1)
cv2.imshow("Output",img)
print "done"
return rectList
def detect_objects(imageFile, thresh_area=0.002, top=3):
print ''
print "==================="
image = cv2.imread(imageFile)
print 'Processing image:', imageFile, 'of size:', image.shape
grayscale_img = cv2.imread(imageFile, 0)
ret, thresh = cv2.threshold(grayscale_img, 127, 255, 0)
contours, hierarchy = cv2.findContours(thresh, 1, 2)
# calculate the threshold size
height, width = grayscale_img.shape[:2]
image_area = height * width
object_threshold = thresh_area * image_area
# filter out valid contours
valid_contours = filter(lambda cont: cv2.minAreaRect(cont)[1][0] * \
cv2.minAreaRect(cont)[1][1]>object_threshold, contours)
objects = []
for cnt in valid_contours:
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
cv2.drawContours(image, [box], 0, (0,0,0), 1)
objects.append(box)
print
top_colors = process(image, objects, top)
for index, color in enumerate(top_colors):
print '%i. %s' % (index+1, color)
def get_motions(f, fMask, thickness=1, color=(170, 170, 170)):
'''
Iterates over the contours in a mask and draws a bounding box
around the ones that encompas an area greater than a threshold.
This will return an image of just the draw bock (black bg), and
also an array of the box points.
'''
rects_mot = []
f_rects = np.zeros(f.shape, np.uint8)
# get contours
if imutils.is_cv3():
_, cnts, hierarchy = cv2.findContours(
fMask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
elif imutils.is_cv2():
cnts, hierarchy = cv2.findContours(
fMask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
# loop over the contours
for c in cnts:
# if the contour is too small, ignore it
if cv2.contourArea(c) < contourThresh:
continue
if imutils.is_cv3():
box = cv2.boxPoints(cv2.minAreaRect(c))
elif imutils.is_cv2():
box = cv2.cv.BoxPoints(cv2.minAreaRect(c))
box = np.int0(box)
cv2.drawContours(f_rects, [box], 0, color, thickness)
rects_mot.append(cv2.boundingRect(c))
return f_rects, rects_mot
def findDirection(self,circle1,circle2):
#Divide the bound into two halves.
rect1 = cv2.minAreaRect(getPointList(self.point1,self.point3,self.pointm1,self.pointm2))
rect2 = cv2.minAreaRect(getPointList(self.point2,self.point4,self.pointm1,self.pointm2))
r1Count = 0
r2Count = 0
#Check the count of each "corner" in each half.
valid = False
corners = getCornerList(self.point1.x,self.point1.y,self.point4.x,self.point4.y)
#print "corners", corners
for corner in corners:
x,y = corner.ravel()
#if(circle1.contains(x,y) || circle2.contains(x,y))
if (checkBounds(x,y,self.point1,self.point3,self.pointm1,self.pointm2)):
r1Count +=1
elif(checkBounds(x,y,self.point2,self.point4,self.pointm1,self.pointm2)):
r2Count +=1
print "r1/rr2 count:", r1Count,r2Count
#if(cv2.pointPolygonTest(rect1,(x,y),False)== 1):
# r1Count += 1
#if(cv2.pointPolygonTest(rect2,(x,y),False) == 1):
# r2Count += 1
if(r1Count > r2Count):
circle2.setNext(circle1)
if(r2Count > r1Count):
circle1.setNext(circle2)
def get_centroids (contours, frame): centres = [] if contours: for i in range(len(contours)): moments = cv2.moments(contours[i]) centres.append((int(moments['m10']/moments['m00']), int(moments['m01']/moments['m00']))) if i>0: dist = calculateDistance(centres[i-1][0],centres[i-1][1],centres[i][0],centres[i][1]) area=cv2.contourArea(contours[i]) prevarea=cv2.contourArea(contours[i-1]) if dist < 120: if area > prevarea: rect = cv2.minAreaRect(contours[i]) box = cv2.boxPoints(rect) box = np.int0(box) print(box) frame = cv2.drawContours(frame,[box],0,(0,0,255),2) else : rect = cv2.minAreaRect(contours[i-1]) box = cv2.boxPoints(rect) box = np.int0(box) print(box) frame = cv2.drawContours(frame,[box],0,(0,0,255),2) else: rect = cv2.minAreaRect(contours[i]) box = cv2.boxPoints(rect) box = np.int0(box) frame = cv2.drawContours(frame,[box],0,(0,0,255),2) print(box) return centres, frame
def _read_kresimir_results():
# Load downloaded matlab csv results
mat = scipy.io.loadmat(expanduser('~/data/camtrawl_stereo_sample_data/Haul_83/Haul_083_qcresult.mat'))
header = ub.readfrom(expanduser('~/data/camtrawl_stereo_sample_data/Haul_83/mat_file_header.csv')).strip().split(',')
data = mat['lengthsqc']
mat_df = pd.DataFrame(data, columns=header)
mat_df['current_frame'] = mat_df['current_frame'].astype(np.int)
mat_df['Species'] = mat_df['Species'].astype(np.int)
mat_df['QC'] = mat_df['QC'].astype(np.int)
# Transform so each row corresponds to one set of (x, y) points per detection
bbox_cols1 = ['LX1', 'LX2', 'LX3', 'LX4', 'LY1', 'LY2', 'LY3', 'LY4', 'Lar', 'LboxL', 'WboxL', 'aveL']
bbox_pts1 = mat_df[bbox_cols1[0:8]] # NOQA
bbox_pts1_ = bbox_pts1.values
bbox_pts1_ = bbox_pts1_.reshape(len(bbox_pts1_), 2, 4).transpose((0, 2, 1))
bbox_cols2 = ['RX1', 'RX2', 'RX3', 'RX4', 'RY1', 'RY2', 'RY3', 'RY4', 'Rar', 'LboxR', 'WboxR', 'aveW']
bbox_pts2 = mat_df[bbox_cols2] # NOQA
bbox_pts2 = mat_df[bbox_cols2[0:8]] # NOQA
bbox_pts2_ = bbox_pts2.values
bbox_pts2_ = bbox_pts2_.reshape(len(bbox_pts2_), 2, 4).transpose((0, 2, 1))
# Convert matlab bboxes into python-style bboxes
mat_df['obox1'] = [ctalgo.OrientedBBox(*cv2.minAreaRect(pts[:, None, :].astype(np.int)))
for pts in bbox_pts1_]
mat_df['obox2'] = [ctalgo.OrientedBBox(*cv2.minAreaRect(pts[:, None, :].astype(np.int)))
for pts in bbox_pts2_]
mat_df.drop(bbox_cols2, axis=1, inplace=True)
mat_df.drop(bbox_cols1, axis=1, inplace=True)
return mat_df
def draw_walls(self):
left_wall_points = np.array([self.transform(point) for point in self.left_wall_points])
right_wall_points = np.array([self.transform(point) for point in self.right_wall_points])
rect = cv2.minAreaRect(left_wall_points[:,:2].astype(np.float32))
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
cv2.drawContours(self.grid, [box], 0, 128, -1)
rect = cv2.minAreaRect(right_wall_points[:,:2].astype(np.float32))
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
cv2.drawContours(self.grid, [box], 0, 128, -1)
# So I dont have to comment abunch of stuff out for debugging
dont_display = True
if dont_display:
return
# Bob Ross it up (just for display)
left_f, right_f = self.transform(self.left_f), self.transform(self.right_f)
left_b, right_b = self.transform(self.left_b), self.transform(self.right_b)
boat = self.transform(self.boat_pos)
target = self.transform(self.target)
cv2.circle(self.grid, tuple(boat[:2].astype(np.int32)), 8, 255)
cv2.circle(self.grid, tuple(target[:2].astype(np.int32)), 15, 255)
cv2.circle(self.grid, tuple(self.transform(self.mid_point)[:2].astype(np.int32)), 5, 255)
cv2.circle(self.grid, tuple(left_f[:2].astype(np.int32)), 10, 255)
cv2.circle(self.grid, tuple(right_f[:2].astype(np.int32)), 10, 255)
cv2.circle(self.grid, tuple(left_b[:2].astype(np.int32)), 3, 125)
cv2.circle(self.grid, tuple(right_b[:2].astype(np.int32)), 3, 128)
cv2.imshow("test", self.grid)
cv2.waitKey(0)
def getRects(ctrs, imageOut=None):
i = 1
rectList = []
#print "getRects(): {0} contours".format(len(ctrs[0]))
for ct in ctrs[0]:
#ct = ct.astype(np.int32)
bbox = cv2.boundingRect(ct)
x, y, w, h = bbox
length = ""
#process only vertical rectagles (ie, w<h) with w and h > 1
if w < h and w > 30 and h > 70:
#print i, ". ", len(ct), " -- ", cv2.boundingRect(ct), (x+w/2), cv2.minAreaRect(ct)
#dist = 320-(x+w/2)
#direction = 1
#if dist < 0:
# direction = -1
#print "Distance to center: ", dist, "pixels -- ", dist*0.0192, "inches --", dist*0.0192*1622/9.89,"revolutions"
#if (x < 320) and ((x+w) > 320):
if h > 173:
length = "large"
elif h > 140:
length = "medium"
elif h > 100:
length = "small"
#print i, " : ", cv2.boundingRect(ct), " -- ", length, "---", x, x+w, y, h
#color detection code here...
color = "red"
rectList.append([cv2.boundingRect(ct), cv2.minAreaRect(ct),length, color])
if imageOut is not None:
clr=(random.randrange(0,255),random.randrange(0,255),random.randrange(0,255))
#cv2.drawContours(image=imageOut, contours=ct, contourIdx=-1, color=clr , thickness=-1)
cv2.rectangle(imageOut, (x,y), (x+w,y+h), clr, 5)
#cv2.fillConvexPoly(imageOut, ct, clr)
cv2.rectangle(imageOut, (x+w/2-3,y), (x+w/2+3,y+h), (255,255,255), -1)
cv2.rectangle(imageOut, (x,y+h/2-3), (x+w,y+h/2+3), (255,255,255), -1)
rotRect = cv2.minAreaRect(ct)
box = cv2.cv.BoxPoints(rotRect)
box = np.int0(box)
#print box
#cv2.drawContours(imageOut, [box], 0, (0,0,255),2)
i = i + 1
if imageOut is not None:
cv2.rectangle(imageOut, (318,0), (322,640), (255,255,255), -1)
#cv2.imshow("Rects", imageOut)
#print "done"
## sort rectList by the first tuple - so that they are from left to right in image.
rectList.sort(key=lambda tup: tup[0])
return rectList
def process(self, imageLeftRect, imageRightRect, imageDisparityRect, cameraModel, stereoCameraModel, upper, lower):
assert(imageLeftRect is not None)
feedback = TrackObjectFeedback()
feedback.found = False
imageHLS = cv2.cvtColor(imageLeftRect, cv2.COLOR_BGR2HLS)
lower = np.array([0,70,50], dtype = 'uint8')
upper = np.array([200,255,255], dtype='uint8')
mask=cv2.inRange(imageHLS, lower,upper) #HLS thresholds
output = cv2.bitwise_and(imageLeftRect, imageLeftRect, mask=mask)
self.image_pub.publish(self.bridge.cv2_to_imgmsg(imageLeftRect, "bgr8"))
#mask=cv2.inRange(imageHSV, np.array([20,30,80],dtype='uint8'),np.array([40,52,120],dtype='uint8'))
cnts = cv2.findContours(mask.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
contours = cnts[1]
if len(contours) == 0:
print("No contours")
return feedback
rects = []
for contour in contours: #adapted from https://github.com/opencv/opencv/blob/master/samples/python/squares.py
epsilon = cv2.arcLength(contour, True)*0.05
contour = cv2.approxPolyDP(contour, epsilon, True)
if len(contour) == 4 and cv2.isContourConvex(contour):
contour = contour.reshape(-1, 2)
max_cos = np.max([angle_cos( contour[i], contour[(i+1) % 4], contour[(i+2) % 4] ) for i in xrange(4)])
if max_cos < 0.1:
rects.append(contour)
if len(rects) > 1:
rects = greatestNAreaContours(rects, 2)
rect1 = list(cv2.minAreaRect(rects[0]))
rect2 = list(cv2.minAreaRect(rects[1]))
if(rect1[1][0] < rect1[1][1]): #Fix wonky angles from opencv (I think)
rect1[2] = (rect1[2] + 180) * 180/3.141
else:
rect1[2] = (rect1[2] + 90) * 180/3.141
if(rect2[1][0] < rect2[1][1]):
rect2[2] = (rect2[2] + 180) * 180/3.141
else:
rect2[2] = (rect2[2] + 90) * 180/3.141
gateCenter = (int((rect1[0][0] + rect2[0][0])/2), int((rect1[0][1] + rect2[0][1])/2))
self.feedback_msg.center = gateCenter
self.feedback_msg.size = imageRightRect.shape
self.feedback_pub.publish(self.feedback_msg)
#feedback.center = gateCenter
#feedback.size = imageRightRect.shape
if gateCenter[0] - rect1[0][0] > 0:
feedback.width = (rect2[0][0]+(rect2[1][0]/2)) - (rect1[0][0] - (rect1[1][0]/2))
else:
feedback.width = (rect1[0][0] -(rect1[1][0]/2)) - (rect2[0][0]+(rect2[1][0]/2))
feedback.height = rect1[1][1]
feedback.found = True
return feedback
def get_cube_upright():
# Uses the depth image to only take the part of the image corresponding to the closest point and a bit further
global depth_img_avg
global img_bgr8_clean
closest_pnt = np.amin(depth_img_avg)
# resize the depth image so it matches the color one
depth_img_avg = cv2.resize(depth_img_avg, (1280, 960))
# generate a mask with the closest points
img_detection = np.where(depth_img_avg < closest_pnt + val_depth_capture, depth_img_avg, 0)
# put all the pixels greater than 0 to 255
ret, mask = cv2.threshold(img_detection, 0.0, 255, cv2.THRESH_BINARY)
# convert to 8-bit
mask = np.array(mask, dtype=np.uint8)
im2, contours, hierarchy = cv2.findContours(mask, 1, 2, offset=(0, -6))
useful_cnts = list()
uprightrects = list()
img_bgr8_clean_copy = img_bgr8_clean.copy()
for cnt in contours:
if 9000 < cv2.contourArea(cnt) < 15000:
if 420 < cv2.arcLength(cnt, 1) < 560:
useful_cnts.append(cnt)
else:
print("Wrong Lenght 450 < " + str(cv2.arcLength(cnt, 1)) + str(" < 570"))
else:
print ("Wrong Area: 9000 < " + str(cv2.contourArea(cnt)) + " < 15000")
for index, cnts in enumerate(useful_cnts):
min_area_rect = cv2.minAreaRect(cnts) # minimum area rectangle that encloses the contour cnt
(center, size, angle) = cv2.minAreaRect(cnts)
width, height = size[0], size[1]
if not (0.7*height < width < 1.3*height):
print("Wrong Height/Width: " + str(0.7*height) + " < " + str(width) + " < " + str(1.3*height))
continue
points = cv2.boxPoints(min_area_rect) # Find four vertices of rectangle from above rect
points = np.int32(np.around(points)) # Round the values and make it integers
cv2.drawContours(img_bgr8_clean_copy, [points], 0, (0, 0, 255), 2)
cv2.drawContours(img_bgr8_clean_copy, cnts, -1, (255, 0, 255), 2)
cv2.waitKey(1)
# if we rotate more than 90 degrees, the width becomes height and vice-versa
if angle < -45.0:
angle += 90.0
width, height = size[0], size[1]
size = (height, width)
rot_matrix = cv2.getRotationMatrix2D(center, angle, 1.0)
# rotate the entire image around the center of the parking cell by the
# angle of the rotated rect
imgwidth, imgheight = (img_bgr8_clean.shape[0], img_bgr8_clean.shape[1])
rotated = cv2.warpAffine(img_bgr8_clean, rot_matrix, (imgheight, imgwidth), flags=cv2.INTER_CUBIC)
# extract the rect after rotation has been done
sizeint = (np.int32(size[0]), np.int32(size[1]))
uprightrect = cv2.getRectSubPix(rotated, sizeint, center)
uprightrects.append(uprightrect)
uprightrect_copy = uprightrect.copy()
cv2.drawContours(uprightrect_copy, [points], 0, (0, 0, 255), 2)
cv2.imshow('uprightRect ' + str(index), uprightrect_copy)
cv2.imshow('RBG', img_bgr8_clean_copy)
cv2.waitKey(1)
objects_detector(uprightrects)
def processCam(cap):
bx = -1
by = -1
# Capture frame-by-frame
ret, frame = cap.read()
# Our operations on the frame come here
#gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)#HSV
#white led ring: 45,2,240 - 130,40,255
lower_lim = np.array([37,10,180])#80,23,235
upper_lim = np.array([106,63,255])#102,167,255
mask = cv2.inRange(hsv, lower_lim, upper_lim)
img, contours, heirarchy = cv2.findContours(mask,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
img = cv2.inRange(hsv, lower_lim, upper_lim)
img = cv2.cvtColor(img,cv2.COLOR_GRAY2BGR)
contours = findBigContours(contours)
# find big contours
#biggestContourIndex = findBiggestContour(contours)
biggestContourIndex, secondBiggestIndex = findSecondBiggestContour(contours)
#bigContours = findBigContours(contours)
#biggestContourIndex = findBestAR(bigContours)
if(len(contours) != 0):
# find box around contour and it's center
recta = cv2.minAreaRect(contours[biggestContourIndex])
rectb = cv2.minAreaRect(contours[secondBiggestIndex])
boxa = cv2.boxPoints(recta)
boxb = cv2.boxPoints(rectb)
rect = cv2.minAreaRect(np.concatenate([boxa,boxb]))
box = cv2.boxPoints(rect)
bx = int((box[0][0] + box[2][0])/2)
by = int((box[0][1] + box[2][1])/2)
#x,y,w,h = cv2.boundingRect(contours[biggestContourIndex])
#if(h != 0):
# print("aspect ratio: " + str(h/float(w)))
#print("center: " + str(bx) + ', ' + str(by))
box = np.int0(box)
img = cv2.drawContours(img,[box],0,(0,0,255),1)
img = cv2.circle(img,(bx,by),4,(0,255,255),-1)
# find centroid from moments
#M = cv2.moments(contours[biggestContourIndex])
#if(M['m00'] != 0):
# cx = int(M['m10']/M['m00'])
# cy = int(M['m01']/M['m00'])
# img = cv2.circle(img,(cx,cy),4,(255,255,0),-1)
#img = cv2.drawContours(img, contours, biggestContourIndex, (255,255,0), 3)
#img = cv2.drawContours(img, contours, secondBiggestIndex, (255,0,0), 3)
for i in range(len(contours)):
col = cv2.contourArea(contours[i]) / 20
img = cv2.drawContours(img, contours, i, (0,255-col,col), 1)
return img, bx, by
def callback(self,data):
try:
img = self.bridge.imgmsg_to_cv2(data, "bgr8")
except CvBridgeError as e:
print(e)
#imageHSV = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
contours = ThreshAndContour(img, self.upper, self.lower)
contours = contours[1]
#output = cv2.bitwise_and(img, img, mask=mask)
if len(contours) == 0:
return None
rects = []
#cv2.drawContours(img,contours,-1, (0,255,0), 3)
for contour in contours: #adapted from https://github.com/opencv/opencv/blob/master/samples/python/squares.py
epsilon = cv2.arcLength(contour, True)*0.05
contour = cv2.approxPolyDP(contour, epsilon, True)
if len(contour) == 4 and cv2.isContourConvex(contour):
contour = contour.reshape(-1, 2)
max_cos = np.max([angle_cos( contour[i], contour[(i+1) % 4], contour[(i+2) % 4] ) for i in range(4)])
if max_cos < 0.1:
rects.append(contour)
if len(rects) > 1:
rects = sorted(contours, key=cv2.contourArea, reverse=True)
rect1 = cv2.minAreaRect(rects[0])
rect2 = cv2.minAreaRect(rects[1])
if(rect1[1][0] < rect1[1][1]): #Fix wonky angles from opencv (I think)
rect1 = (rect1[0], rect1[1], (rect1[2] + 180) * 180/3.141)
else:
rect1 = (rect1[0], rect1[1], (rect1[2] + 90) * 180/3.141)
if(rect2[1][0] < rect2[1][1]):
rect2 = (rect2[0], rect2[1], (rect2[2] + 180) * 180/3.141)
else:
rect2 = (rect2[0], rect2[1], (rect2[2] + 90) * 180/3.141)
box = cv2.boxPoints(rect1)
box = np.int0(box)
#cv2.drawContours(img,[box],-1,(0,0,255),2)
box = cv2.boxPoints(rect2)
box = np.int0(box)
#cv2.drawContours(img,[box],-1,(0,0,255),2)
gateLocation = None
gateAxis = None
gateAngle = None
gateCenter = (int((rect1[0][0] + rect2[0][0])/2), int((rect1[0][1] + rect2[0][1])/2))
cv2.circle(img,gateCenter,5,(0,255,0),3)
try:
self.image_pub.publish(self.bridge.cv2_to_imgmsg(img,"bgr8"))
except CvBridgeError as e:
print(e)
def DrawMark(image,contours,mark,I=255,border=2): rect = cv2.minAreaRect(contours[mark]) box = cv2.cv.BoxPoints(rect) box = np.int0(box) #Get Corners for box 2 rect1 = cv2.minAreaRect(contours[mark-1]) box1 = cv2.cv.BoxPoints(rect1) box1 = np.int0(box1) #Draw cv2.drawContours(image,[box],0,(I,I,I),border) cv2.drawContours(image,[box1],0,(I,I,I),border)
def find(img, hue_min=20, hue_max=175, sat_min=0, sat_max=255, val_min=0, val_max=255):
"""
Detect the qualification gate.
:param img: HSV image from the bottom camera
:return: tuple of location of the center of the gate in a "targeting" coordinate system: origin is at center of image, axes range [-1, 1]
"""
img = np.copy(img)
bin = vision_util.hsv_threshold(img, hue_min, hue_max, sat_min, sat_max, val_min, val_max)
canny = vision_util.canny(bin, 50)
# find contours after first processing it with Canny edge detection
contours, hierarchy = cv2.findContours(canny, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
hulls = vision_util.convex_hulls(contours)
cv2.drawContours(bin, hulls, -1, 255)
cv2.imshow('bin', bin)
hulls.sort(key=hull_score)
if len(hulls) < 2:
return ()
# get the two highest scoring candidates
left = cv2.minAreaRect(hulls[0])
right = cv2.minAreaRect(hulls[1])
# if we got left and right mixed up, switch them
if right[0][0] < left[0][0]:
left, right = right, left
confidence = score_pair(left, right)
if confidence < 80:
return 0, 0
# draw hulls in Blaze Orange
cv2.drawContours(img, hulls, -1, (0, 102, 255), -1)
# draw green outlines so we know it actually detected it
cv2.drawContours(img, hulls, -1, (0, 255, 0), 2)
cv2.imshow('img', img)
center_actual = (np.mean([left[0][0], right[0][0]]), np.mean([left[0][1], right[0][1]]))
# shape[0] is the number of rows because matrices are dumb
center = (center_actual[0] / img.shape[1], center_actual[1] / img.shape[0])
# convert to the targeting system of [-1, 1]
center = ((center[0] * 2) - 1, (center[1] * 2) - 1)
return center
def detectSmallSquare(gray, info,blank,sm=50):
chosen_cnt = []
chosen_cntx = []
cent = (-1,-1)
gray = cv2.GaussianBlur(gray, (3,3),0)
#gray = cv2.GaussianBlur(gray, (9,9),2)
area = gray.shape[0]*gray.shape[1]
min = np.amin(gray)
max = np.amax(gray)
thresh = min + (max-min)/1.5
mask = np.uint8(cv2.Canny(gray, thresh/2, thresh))
kern = cv2.getStructuringElement(cv2.MORPH_RECT, (3,3))
mask = cv2.dilate(mask, kern, iterations=1)
#mask = cv2.erode(mask, kern, iterations=1)
outImg = cv2.cvtColor(mask, cv2.COLOR_GRAY2BGR)
contours, hierr = cv2.findContours(mask, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE)
contours.sort(key=cv2.contourArea, reverse=True)
if len(contours) >= 1:
for currCnt in contours:
rect = cv2.minAreaRect(currCnt)
ellipse = cv2.fitEllipse(currCnt)
#if cv2.contourArea(currCnt) > 5000 and (ellipse[1][1]/ellipse[1][0]) >= 3:
if cv2.contourArea(currCnt) > 1000 and VUtil.checkRectangle(currCnt):
info['detected'] = True
cent = VUtil.getCentroid(currCnt)
cent = (cent[0],cent[1]-70)
chosen_cnt.append(cent)
chosen_cntx.append(currCnt)
info['centroid'] = cent
VUtil.drawInfo(outImg,info)
VUtil.getRailDOA(currCnt,outImg,info,blank)
if len(chosen_cnt) > 1:
info['detected'] = True
info['centroid'] = VUtil.averageCentroids(chosen_cnt)
VUtil.groupContoursAlign(chosen_cntx,outImg,info,blank)
chosen_cnt.sort(key=lambda x:x[0], reverse=True)
chosen_cntx.sort(key=cv2.contourArea, reverse=True)
chosen_cntx.sort(key=lambda x:VUtil.getCentroid(x)[0],reverse=True)
rect_r = cv2.minAreaRect(chosen_cntx[0])
rect_l = cv2.minAreaRect(chosen_cntx[-1])
cv2.drawContours(outImg, [np.int0(cv2.cv.BoxPoints(rect_l))], -1, PURPLE,3)
cv2.drawContours(outImg, [np.int0(cv2.cv.BoxPoints(rect_r))], -1, YELLOW,3)
cv2.drawContours(blank, [np.int0(cv2.cv.BoxPoints(rect_l))], -1, PURPLE,2)
cv2.drawContours(blank, [np.int0(cv2.cv.BoxPoints(rect_r))], -1, YELLOW,2)
if sm < 0:
info['centroid'] = chosen_cnt[-1]
else:
info['centroid'] = chosen_cnt[0]
VUtil.drawInfo(outImg,info)
return outImg
def areSimilar(cont1, cont2): (x1, y1), (w1, h1), angle1 = cv2.minAreaRect(cont1) (x2, y2), (w2, h2), angle2 = cv2.minAreaRect(cont2) (area1, area2) = (w1*h1, w2*h2) distance = ((x1-x2)**2 + (y1-y2)**2)**0.5 areaDifference = area1 / area2 - 1 angleDifference = angle1 - angle2 if (distance < MIN_BOX_DISTANCE and abs(areaDifference) < 0.2 and abs(angleDifference) < 20): return True else: return False
def pull_anchors(flist, n, fltr_contours):
""" Returns 3 anchor points for frames having equal n contours
"""
# amount of contours found in frame 0
if n == 1:
ctrl_pts = []
# bounding rectangle to get 4 coords.
for i in range(len(flist)):
rect = cv2.minAreaRect(fltr_contours[i])
box = cv2.cv.BoxPoints(rect)
# rect = ( center (x,y), (width, height), angle of rotation )
# x1, y1 ; x1 + width, y1 + height
x1, y1 = box[0]
x2, y2 = box[1]
x3, y3 = box[2]
pts = np.array((x1, y1), (x2, y2), (x3, y3))
# -- get data array sorted by n-th column (n= 1)
pts = pts[np.argsort(pts[:, 1])]
ctrl_pts.append(pts)
return ctrl_pts
# 2 cnts
elif n == 2:
# initial random indexes to extract 4 corners
# 2 from each bounding rectangle
ctrl_pts = []
for i in range(len(flist)):
rect1 = cv2.minAreaRect(fltr_contours[i][0])
box1 = cv2.cv.BoxPoints(rect1)
rect2 = cv2.minAreaRect(fltr_contours[i][1])
box2 = cv2.cv.BoxPoints(rect2)
# coordinates 2 from each
x1, y1 = box1[0]
x2, y2 = box1[1]
x3, y3 = box2[0]
pts = np.array((x1, y1), (x2, y2), (x3, y3))
# -- get data array sorted by n-th column (n= 1)
pts = pts[np.argsort(pts[:, 1])]
ctrl_pts.append(pts)
return ctrl_pts
else:
# get all centers
center_contours = find_centers(flist, fltr_contours)
print center_contours
pts = []
for i in range(len(flist)):
coords = copy(center_contours[i])
# sort by argsort col n=1 and grab first 3 pts
tmp = coords[np.argsort(coords[:, 1])]
tmp = concatenate((tmp[:2], tmp[-1:]), axis=0)
pts.append(tmp)
return pts
def draw(self):
"""
draw - Method
@summary:
"""
#Internal shape colour - Blue
colours = [(89, 73, 48)]
for x in self.interior:
cv2.drawContours(self.img, [x], 0, colours[random.randint(0, len(colours)-1)],2)
cv2.drawContours(self.img, [self.exterior], 0, (43, 58, 255),2)
rect = cv2.minAreaRect(self.exterior)
box = cv2.cv.BoxPoints(rect)
box = numpy.int0(box)
if config.DEBUG:
#Draw the center point
cv2.circle(self.img, self.getCentrePoint(), 10, (0,0,255))
cv2.drawContours(self.img, [box],0,(0,0,255),2)
cv2.imshow('Material', self.img)
img1 = Image.fromarray(cv2.cvtColor(self.img, cv2.COLOR_BGR2RGB))
self._drawLine(img1, [(box[0][0], box[0][1]), (box[1][0], box[1][1])], (255, 58, 48))
self._drawLine(img1, [(box[1][0], box[1][1]), (box[2][0], box[2][1])], (255, 58, 48))
self._drawLine(img1, [(box[2][0], box[2][1]), (box[3][0], box[3][1])], (255, 58, 48))
self._drawLine(img1, [(box[3][0], box[3][1]), (box[0][0], box[0][1])], (255, 58, 48))
for x in self.interior:
rect = cv2.minAreaRect(x)
box = cv2.cv.BoxPoints(rect)
box = numpy.int0(box)
self._drawLine(img1, [(box[0][0], box[0][1]), (box[1][0], box[1][1])], (48, 73, 89))
self._drawLine(img1, [(box[1][0], box[1][1]), (box[2][0], box[2][1])], (48, 73, 89))
self._drawLine(img1, [(box[2][0], box[2][1]), (box[3][0], box[3][1])], (48, 73, 89))
self._drawLine(img1, [(box[3][0], box[3][1]), (box[0][0], box[0][1])], (48, 73, 89))
quad = self.tag.quad
self._drawLine(img1, [(quad[0][0], quad[0][1]), (quad[1][0], quad[1][1])], (96, 96, 96), 2, False)
self._drawLine(img1, [(quad[1][0], quad[1][1]), (quad[2][0], quad[2][1])], (96, 96, 96), 2, False)
self._drawLine(img1, [(quad[2][0], quad[2][1]), (quad[3][0], quad[3][1])], (96, 96, 96), 2, False)
self._drawLine(img1, [(quad[3][0], quad[3][1]), (quad[0][0], quad[0][1])], (96, 96, 96), 2, False)
if config.DEBUG:
img1.show()
img1.save(os.path.abspath(config.OUTLINE_DIR+os.path.basename(self.filename)), "JPEG")
def run(self):
while True:
f, orig_img = self.capture.read()
orig_img = cv2.flip(orig_img, 1)
img = cv2.GaussianBlur(orig_img, (5,5), 0)
img = cv2.cvtColor(orig_img, cv2.COLOR_BGR2HSV)
img = cv2.resize(img, (len(orig_img[0]) / self.scale_down, len(orig_img) / self.scale_down))
red_lower = np.array([0, 150, 0],np.uint8)
red_upper = np.array([5, 255, 255],np.uint8)
red_binary = cv2.inRange(img, red_lower, red_upper)
dilation = np.ones((15, 15), "uint8")
red_binary = cv2.dilate(red_binary, dilation)
contours, hierarchy = cv2.findContours(red_binary, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
max_area = 0
largest_contour = None
for idx, contour in enumerate(contours):
area = cv2.contourArea(contour)
if area > max_area:
max_area = area
largest_contour = contour
if not largest_contour == None:
moment = cv2.moments(largest_contour)
if moment["m00"] > 1000 / self.scale_down:
rect = cv2.minAreaRect(largest_contour)
rect = ((rect[0][0] * self.scale_down, rect[0][1] * self.scale_down), (rect[1][0] * self.scale_down, rect[1][1] * self.scale_down), rect[2])
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
cv2.drawContours(orig_img,[box], 0, (0, 0, 255), 2)
cv2.imshow("ColourTrackerWindow", orig_img)
if cv2.waitKey(20) == 27:
cv2.destroyWindow("ColourTrackerWindow")
self.capture.release()
break
def locate(self, geo_image, image, marked_image):
'''Find sticks in image and return list of FieldItem instances.'''
# Extract out just blue channel from BGR image.
#blue_channel, _, _ = cv2.split(image)
#_, mask = cv2.threshold(blue_channel, 160, 255, 0)
# Convert Blue-Green-Red color space to HSV
hsv_image = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
lower_blue = np.array([90, 90, 50], np.uint8)
upper_blue = np.array([130, 255, 255], np.uint8)
mask = cv2.inRange(hsv_image, lower_blue, upper_blue)
# Night time testing
lower_blue = np.array([90, 10, 5], np.uint8)
upper_blue = np.array([142, 255, 255], np.uint8)
mask = cv2.inRange(hsv_image, lower_blue, upper_blue)
filtered_rectangles = []
# Open mask (to remove noise) and then dilate it to connect contours.
kernel = np.ones((5,5), np.uint8)
mask_open = cv2.morphologyEx(mask, cv2.MORPH_OPEN, kernel)
mask = cv2.dilate(mask_open, kernel, iterations = 1)
# Find outer contours (edges) and 'approximate' them to reduce the number of points along nearly straight segments.
contours, hierarchy = cv2.findContours(mask.copy(), cv2.cv.CV_RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
#contours = [cv2.approxPolyDP(contour, .1, True) for contour in contours]
# Create bounding box for each contour.
bounding_rectangles = [cv2.minAreaRect(contour) for contour in contours]
if marked_image is not None:
for rectangle in bounding_rectangles:
# Show rectangles using bounding box.
drawRect(marked_image, rectangle, (0,0,0), thickness=2)
# Remove any rectangles that couldn't be a plant based off specified size.
min_stick_size = self.stick_diameter * 0.75 # looking straight down on it
max_stick_size = self.stick_length * 1.25 # laying flat on the ground
filtered_rectangles.extend(filter_by_size(bounding_rectangles, geo_image.resolution, min_stick_size, max_stick_size, enforce_min_on_w_and_h=True))
if ImageWriter.level <= ImageWriter.DEBUG:
# Debug save intermediate images
mask_filename = postfix_filename(geo_image.file_name, 'blue_thresh')
ImageWriter.save_debug(mask_filename, mask)
if marked_image is not None:
for rectangle in filtered_rectangles:
# Show rectangles using colored bounding box.
purple = (255, 0, 255)
drawRect(marked_image, rectangle, purple, thickness=2)
sticks = []
for i, rectangle in enumerate(filtered_rectangles):
# Just give default name for saving image until we later go through and assign to plant group.
stick = FieldItem(name = 'stick' + str(i), bounding_rect = rectangle)
sticks.append(stick)
return sticks
def mask(img):
biggest =None
max_area = 0
grey = cv2.cvtColor(img,cv2.COLOR_RGB2GRAY)
#blk = cv2.bitwise_not(grey)
kernel = cv2.getStructuringElement(cv2.MORPH_ELLIPSE,(3,3))
res = cv2.morphologyEx(grey,cv2.MORPH_OPEN,kernel)
ret,thresh = cv2.threshold(grey,127,255,0)
contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_NONE)
dest = np.zeros(thresh.shape, np.uint8)
print contours[::1]
print len(contours)
print hierarchy
for cnt in contours[::1]:
rect = cv2.minAreaRect(cnt)
points = cv2.cv.BoxPoints(rect)
points = np.int0(np.around(points))
#cv2.drawContours(dest, [cnt],0,(0,255,0),2)
#cv2.polylines(dest, [points], True,( 255,255,255), 2 )
cv2.fillPoly(orig, [cnt], (100,20,90), 4)
cv2.fillPoly(dest, [cnt], (255,255,255), 4)
x = cv2.cvtColor(dest,cv2.COLOR_GRAY2RGB)
cv2.imshow('contour-highlighted image.jpg', x)
cv2.imwrite("../../images/bound.jpg", x)
cv2.imshow('masked image', orig)
def filter(seg,area,label):
"""
Apply the filter.
The final list is ranked by area.
"""
good = label[area > TextRegions.minArea]
area = area[area > TextRegions.minArea]
filt,R = [],[]
for idx,i in enumerate(good):
mask = seg==i
xs,ys = np.where(mask)
coords = np.c_[xs,ys].astype('float32')
rect = cv2.minAreaRect(coords)
box = np.array(cv2.boxPoints(rect))
h,w,rot = TextRegions.get_hw(box,return_rot=True)
f = (h > TextRegions.minHeight
and w > TextRegions.minWidth
and TextRegions.minAspect < w/h < TextRegions.maxAspect
and area[idx]/w*h > TextRegions.pArea)
filt.append(f)
R.append(rot)
# filter bad regions:
filt = np.array(filt)
area = area[filt]
R = [R[i] for i in range(len(R)) if filt[i]]
# sort the regions based on areas:
aidx = np.argsort(-area)
good = good[filt][aidx]
R = [R[i] for i in aidx]
filter_info = {'label':good, 'rot':R, 'area': area[aidx]}
return filter_info
def blackbodysegment(img1, lowerlim, upperlim):
element = cv2.getStructuringElement(cv2.MORPH_CROSS, (4, 4))
img_np = np.asarray(img1)
blue, green, red = img_np.T
res = green > 100 # |(red>50)|(blue>50)
res = res.astype(np.uint8) * 255
res = np.transpose(res)
offset = 50
img_erode = cv2.erode(res, element)
ret, thresh = cv2.threshold(img_erode, 127, 255, 0)
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
# img_crop = img1
for i in range(len(contours)):
rect = cv2.minAreaRect(contours[i])
(x, y), (w, h), theta = rect
if w * h > lowerlim and w * h < upperlim:
rect = (x + 5, y + 10), (w + offset, h + offset), theta
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
img_crop = img1[box[2][1] : box[0][1], box[1][0] : box[3][0]]
break
# cv2.drawContours(img1, [box], 0, (0,0,255), 2)
return img_crop
def detectBlobs(d1):
contours, hierarchy = cv2.findContours(d1,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
raw_bins = []
if len(contours) >= 1:
cnt = contours[0]
cv2.drawContours(d1, contours, -1, (255, 255, 255), 3)
max_w = 0
max_h = 0
max_x = 0
max_y = 0
avg_x = 0
avg_y = 0
count = 0
for h, cnt in enumerate(contours):
#hull = cv2.convexHull(cnt)
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
x,y,w,h = cv2.boundingRect(cnt)
avg_x += x+w/2
avg_y += y+h/2
count += 1
if (w*h >max_w*max_h):
max_w, max_h, max_x, max_y = w, h, x, y
d1 = cv2.cvtColor(d1, cv2.COLOR_GRAY2BGR,d1, 3)
cv2.rectangle(d1,(max_x,max_y),(max_x+max_w,max_y+max_h),(0,255,0),2)
cv2.circle(d1, (int(avg_x/count), int(avg_y/count)), 15, (255,0,0), -1)
cv2.circle(d1, (int(max_x+max_w/2), int(max_y+max_h/2)), 15, (0,255,0), -1)
vis_to_ard(int(max_x+max_w/2),int(max_y+max_h/2))
return d1
def get_hp_bars(binary):
_, contours, _ = cv2.findContours(binary, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
center, (height, width), angle = cv2.minAreaRect(cnt)
if 2 < height < 4 and 5 < width < 80 and 89 < -angle < 91:
box = cv2.boxPoints((center, (height, width), angle))
yield np.int0(box)
def barcode_detect(img):
image = img
# load the image and convert it to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
sobelgx = cv2.Sobel(gray,cv2.CV_64F,1,0,ksize=3)
sobelgy = cv2.Sobel(gray,cv2.CV_64F,0,1,ksize=3)
# subtract the y-gradient from the x-gradient
gradient = sobelgx - sobelgy
gradient = cv2.convertScaleAbs(gradient)
# blur and threshold the image
blurred = cv2.blur(gradient, (3, 3))
_, thresh = cv2.threshold(blurred, 225, 255, cv2.THRESH_BINARY)
# construct a closing kernel and apply it to the thresholded image
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (21, 7))
closed = cv2.morphologyEx(thresh, cv2.MORPH_CLOSE, kernel)
# perform a series of erosions and dilations
closed = cv2.erode(closed, None, iterations=4)
closed = cv2.dilate(closed, None, iterations=4)
# find the contours in the thresholded image, then sort the contours
# by their area, keeping only the largest one
(_, contours, _) = cv2.findContours(closed, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
c = sorted(contours, key=cv2.contourArea, reverse=True)[0]
# compute the rotated bounding box of the largest contour
rect = cv2.minAreaRect(c)
box = np.int0(cv2.boxPoints(rect))
return box
def MomentDescriptor(name, thres):
img1=cv2.imread(name)
# img=img1
img=cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY)
# edges=cv2.Canny(img, thres, thres*2)
#Image to draw the contours
drawing=np.zeros(img.shape[:2], np.uint8)
ret,thresh = cv2.threshold(img,thres,255,0)
contours, hierarchy=cv2.findContours(thresh,cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
MomentVector=[]
for cnt in contours:
M=cv2.moments(cnt) #Calculate moments
if M['m00']!=0:
Cx=int(M['m10']/M['m00'])
Cy=int(M['m01']/M['m00'])
Moments_Area=M['m00'] # Contour area moment
Contours_Area=cv2.contourArea(cnt) # Contour area using in_built function
#Draw moment
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# cv2.drawContours(img1,contours, 0, (0,255,0),3) #draw contours in green color
cv2.drawContours(img1,[box],0,(0,0,255),1)
cv2.circle(img1, (Cx,Cy), 3,(0,255,0), -1)#draw centroids in red color
MomentVector.append([M['m00'],Cx,Cy])
cv2.imshow('winname',img1)
cv2.waitKey(5000)
print MomentVector
def getShape(contour):
p = cv2.arcLength(contour, True)
aV = cv2.approxPolyDP(contour, 0.04 * p, True)
vertices = len(aV)
if vertices == 3:
return 'Triangle'
elif vertices == 4:
rect = cv2.minAreaRect(contour)
contourArea = cv2.contourArea(contour)
fittedArea = rect[1][0] * rect[1][1]
#print "Countor Area:", contourArea , " Fiited A:", fittedArea
(x, y, w, h) = cv2.boundingRect(aV)
ar = w / float(h)
if .95 * fittedArea <= contourArea and ar >= 0.95 and ar <= 1.05:
return 'Square'
else:
return 'Rectangle'
elif vertices == 5:
return 'Pentagon'
elif vertices == 6:
return 'Hexagon'
elif vertices == 7:
return 'Heptagon'
else:
(xC, yC), radius = cv2.minEnclosingCircle(contour)
contourArea = cv2.contourArea(contour)
fittedArea = radius*radius*3.14
# print "Countor Area:", contourArea , " Circle A:", fittedArea
if abs(contourArea-fittedArea) / max(contourArea, fittedArea) < 0.10:
return 'Circle'
else:
return str(str(len(aV))+'-Polygon')
return 'Unknown'
def calMoments(name, thres):
img1=cv2.imread(name)
img=cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY)
# edges=cv2.Canny(img, thres, thres*2)
#Image to draw the contours
drawing=np.zeros(img.shape[:2], np.uint8)
ret,thresh = cv2.threshold(img,127,255,0)
contours, hierarchy=cv2.findContours(thresh,cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
for cnt in contours:
M=cv2.moments(cnt) #Calculate moments
if M['m00']!=0:
Cx=int(M['m10']/M['m00'])
Cy=int(M['m01']/M['m00'])
C_x=M['m10']/M['m00']
print C_x
Moments_Area=M['m00'] # Contour area moment
Contours_Area=cv2.contourArea(cnt) # Contour area using in_built function
# #Draw moment
rect = cv2.minAreaRect(cnt)
box = cv2.cv.BoxPoints(rect)
box = np.int0(box)
# cv2.drawContours(img1,contours, 0, (0,255,0),3) #draw contours in green color
cv2.drawContours(img1,[box],0,(0,0,255),5)
cv2.circle(img1, (Cx,Cy), 5,(0,255,0), -1)#draw centroids in red color
cv2.imshow("Original", img1)
cv2.waitKey(0)
def detect(self):
res10 = np.zeros_like(self.img)
boxRes = self.img.copy()
regions, bboxes = self.getMSERegions(self.grayImg)
n1 = len(regions)
# print('num bboxes:',n1)
n2, n3, n4, n5, n6, n7, n8, n9, n10 = [0] * 9
bar = progressbar.ProgressBar(maxval=n1,
widgets=[
progressbar.Bar(marker='=',
left='[',
right=']'), ' ',
progressbar.SimpleProgress()
])
bar.start()
## Coloring the regions
for i, region in enumerate(regions):
bar.update(i + 1)
if self.getRegionArea(
region
) > self.grayImg.shape[0] * self.grayImg.shape[1] * AREA_LIM:
n2 += 1
if self.getRegionPerimeter(
region) > 2 * (self.grayImg.shape[0] +
self.grayImg.shape[1]) * PERIMETER_LIM:
n3 += 1
if self.getAspectRatio(region) < ASPECT_RATIO_LIM:
n4 += 1
if (self.getOccupyRate(region) > OCCUPATION_LIM[0]
) and (self.getOccupyRate(region) <
OCCUPATION_LIM[1]):
n5 += 1
if (self.getCompactness(region) >
COMPACTNESS_LIM[0]) and (
self.getCompactness(region) <
COMPACTNESS_LIM[1]):
n6 += 1
# x, y, w, h = cv2.boundingRect(region)
x, y, w, h = bboxes[i]
# strokeWidths, strokeWidths_opp, strokes = self.getStrokes((x, y, w, h))
strokeWidths, strokeWidths_opp = self.getStrokes(
(x, y, w, h))
if DIRECTION != "both+":
strokeWidths = np.append(strokeWidths,
strokeWidths_opp,
axis=0)
strokeWidth, strokeWidthCount, mean, std, xMin, xMax = self.getStrokeProperties(
strokeWidths)
else:
strokeWidth, strokeWidthCount, mean, std, xMin, xMax = self.getStrokeProperties(
strokeWidths)
strokeWidth_opp, strokeWidthCount_opp, mean_opp, std_opp, xMin_opp, xMax_opp = self.getStrokeProperties(
strokeWidths_opp)
if strokeWidthCount_opp > strokeWidthCount: ## Take the strokeWidths with max of counts strokeWidth (most probable one)
strokeWidths = strokeWidths_opp
strokeWidth = strokeWidth_opp
strokeWidthCount = strokeWidthCount_opp
mean = mean_opp
std = std_opp
xMin = xMin_opp
xMax = xMax_opp
if len(strokeWidths) > SWT_TOTAL_COUNT:
n7 += 1
if std < SWT_STD_LIM:
n8 += 1
strokeWidthSizeRatio = strokeWidth / (
1.0 *
max(self.getRegionShape(region)))
if strokeWidthSizeRatio > STROKE_WIDTH_SIZE_RATIO_LIM:
n9 += 1
strokeWidthVarianceRatio = (
1.0 * strokeWidth) / (std**std)
if strokeWidthVarianceRatio > STROKE_WIDTH_VARIANCE_RATIO_LIM:
n10 += 1
res10 = self.colorRegion(
res10, region)
bar.finish()
# print("{} regions left.".format(n10))
## Binarize regions
binarized = np.zeros_like(self.grayImg)
rows, cols, color = np.where(res10 != [0, 0, 0])
binarized[rows, cols] = 255
## Dilate regions and find contours
kernel = np.zeros((KSIZE, KSIZE), dtype=np.uint8)
kernel[(KSIZE // 2)] = 1
if TESS:
print("Tesseract eliminates..")
res = np.zeros_like(self.grayImg)
dilated = cv2.dilate(binarized.copy(), kernel, iterations=ITERATION)
image, contours, hierarchies = cv2.findContours(
dilated, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
print("num contours", len(contours))
boxes = []
for i, (contour, hierarchy) in enumerate(zip(contours,
hierarchies[0])):
if hierarchy[-1] == -1:
# x, y, w, h = cv2.boundingRect(contour)
# if (y - MARGIN > 0) and (y + h + MARGIN < self.height) and (x - MARGIN > 0) and (x + w + MARGIN < self.width):
# boxes.append([x-MARGIN, y-MARGIN, x+w+MARGIN, y+h+MARGIN])
# else:
# boxes.append([x, y, x+w, y+h])
if TESS:
x, y, w, h = cv2.boundingRect(contour)
if (y - MARGIN > 0) and (y + h + MARGIN < self.height
) and (x - MARGIN > 0) and (
x + w + MARGIN < self.width):
cv2.imwrite(
"text.jpg", self.final[y - MARGIN:y + h + MARGIN,
x - MARGIN:x + w + MARGIN])
else:
cv2.imwrite("text.jpg", self.final[y:y + h, x:x + w])
###################
## Run tesseract ##
###################
string = pytesseract.image_to_string(
Image.open("text.jpg"))
if string is not u'':
rect = cv2.minAreaRect(contour)
box = cv2.boxPoints(rect)
box = np.int0(box)
boxes.append(box)
cv2.drawContours(self.final, [box], 0, (0, 255, 0), 2)
cv2.drawContours(res, [box], 0, 255, -1)
# print(string)
os.remove("text.jpg")
else:
rect = cv2.minAreaRect(contour)
box = cv2.boxPoints(rect)
box = np.int0(box)
boxes.append(box)
# cv2.drawContours(self.final, [box], 0, (0, 255, 0), 2)
# cv2.drawContours(res, [box], 0, 255, -1)
return res, boxes
def siamese_track(state,
im,
mask_enable=False,
refine_enable=False,
use_cuda=True,
preprocessed=False):
p = state['p']
net = state['net']
avg_chans = state['avg_chans']
window = state['window']
target_pos = state['target_pos']
target_sz = state['target_sz']
wc_x = target_sz[1] + p.context_amount * sum(target_sz)
hc_x = target_sz[0] + p.context_amount * sum(target_sz)
s_x = np.sqrt(wc_x * hc_x)
scale_x = p.exemplar_size / s_x
d_search = (p.instance_size - p.exemplar_size) / 2
pad = d_search / scale_x
s_x = s_x + 2 * pad
crop_box = [
target_pos[0] - round(s_x) / 2, target_pos[1] - round(s_x) / 2,
round(s_x),
round(s_x)
]
if preprocessed:
x_crop = Variable(im_to_torch(im).unsqueeze(0))
else:
# extract scaled crops for search region x at previous target position
x_crop = Variable(
get_subwindow_tracking(im, target_pos, p.instance_size, round(s_x),
avg_chans).unsqueeze(0))
if mask_enable:
score, delta, mask = net.track_mask(
x_crop.cuda() if use_cuda else x_crop)
else:
score, delta = net.track(x_crop.cuda() if use_cuda else x_crop)
delta = delta.permute(1, 2, 3, 0).contiguous().view(4,
-1).data.cpu().numpy()
score = F.softmax(score.permute(1, 2, 3,
0).contiguous().view(2, -1).permute(1, 0),
dim=1).data[:, 1].cpu().numpy()
delta[0, :] = delta[0, :] * p.anchor[:, 2] + p.anchor[:, 0]
delta[1, :] = delta[1, :] * p.anchor[:, 3] + p.anchor[:, 1]
delta[2, :] = np.exp(delta[2, :]) * p.anchor[:, 2]
delta[3, :] = np.exp(delta[3, :]) * p.anchor[:, 3]
def change(r):
return np.maximum(r, 1. / r)
def sz(w, h):
pad = (w + h) * 0.5
sz2 = (w + pad) * (h + pad)
return np.sqrt(sz2)
def sz_wh(wh):
pad = (wh[0] + wh[1]) * 0.5
sz2 = (wh[0] + pad) * (wh[1] + pad)
return np.sqrt(sz2)
# size penalty
target_sz_in_crop = target_sz * scale_x
s_c = change(sz(delta[2, :], delta[3, :]) /
(sz_wh(target_sz_in_crop))) # scale penalty
r_c = change((target_sz_in_crop[0] / target_sz_in_crop[1]) /
(delta[2, :] / delta[3, :])) # ratio penalty
penalty = np.exp(-(r_c * s_c - 1) * p.penalty_k)
pscore = penalty * score
# cos window (motion model)
pscore = pscore * (1 - p.window_influence) + window * p.window_influence
best_pscore_id = np.argmax(pscore)
pred_in_crop = delta[:, best_pscore_id] / scale_x
lr = penalty[best_pscore_id] * score[best_pscore_id] * p.lr # lr for OTB
res_x = pred_in_crop[0] + target_pos[0]
res_y = pred_in_crop[1] + target_pos[1]
res_w = target_sz[0] * (1 - lr) + pred_in_crop[2] * lr
res_h = target_sz[1] * (1 - lr) + pred_in_crop[3] * lr
target_pos = np.array([res_x, res_y])
target_sz = np.array([res_w, res_h])
# for Mask Branch
if mask_enable:
best_pscore_id_mask = np.unravel_index(best_pscore_id,
(5, p.score_size, p.score_size))
delta_x, delta_y = best_pscore_id_mask[2], best_pscore_id_mask[1]
if refine_enable:
if use_cuda:
mask = net.track_refine(
(delta_y, delta_x)).cuda().sigmoid().squeeze().view(
p.out_size, p.out_size).cpu().data.numpy()
else:
mask = net.track_refine(
(delta_y, delta_x)).sigmoid().squeeze().view(
p.out_size, p.out_size).cpu().data.numpy()
else:
mask = mask[0, :, delta_y, delta_x].sigmoid(). \
squeeze().view(p.out_size, p.out_size).cpu().data.numpy()
def crop_back(image, bbox, out_sz, padding=-1):
a = (out_sz[0] - 1) / bbox[2]
b = (out_sz[1] - 1) / bbox[3]
c = -a * bbox[0]
d = -b * bbox[1]
mapping = np.array([[a, 0, c], [0, b, d]]).astype(np.float)
crop = cv2.warpAffine(image,
mapping, (out_sz[0], out_sz[1]),
flags=cv2.INTER_LINEAR,
borderMode=cv2.BORDER_CONSTANT,
borderValue=padding)
return crop
s = crop_box[2] / p.instance_size
sub_box = [
crop_box[0] + (delta_x - p.base_size / 2) * p.total_stride * s,
crop_box[1] + (delta_y - p.base_size / 2) * p.total_stride * s,
s * p.exemplar_size, s * p.exemplar_size
]
s = p.out_size / sub_box[2]
back_box = [
-sub_box[0] * s, -sub_box[1] * s, state['im_w'] * s,
state['im_h'] * s
]
mask_in_img = crop_back(mask, back_box, (state['im_w'], state['im_h']))
target_mask = (mask_in_img > p.seg_thr).astype(np.uint8)
if cv2.__version__[-5] == '4':
contours, _ = cv2.findContours(target_mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_NONE)
else:
_, contours, _ = cv2.findContours(target_mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_NONE)
cnt_area = [cv2.contourArea(cnt) for cnt in contours]
if len(contours) != 0 and np.max(cnt_area) > 100:
contour = contours[np.argmax(cnt_area)] # use max area polygon
polygon = contour.reshape(-1, 2)
# pbox = cv2.boundingRect(polygon) # Min Max Rectangle
prbox = cv2.boxPoints(
cv2.minAreaRect(polygon)) # Rotated Rectangle
# box_in_img = pbox
rbox_in_img = prbox
else: # empty mask
location = cxy_wh_2_rect(target_pos, target_sz)
rbox_in_img = np.array(
[[location[0], location[1]],
[location[0] + location[2], location[1]],
[location[0] + location[2], location[1] + location[3]],
[location[0], location[1] + location[3]]])
target_pos[0] = max(0, min(state['im_w'], target_pos[0]))
target_pos[1] = max(0, min(state['im_h'], target_pos[1]))
target_sz[0] = max(10, min(state['im_w'], target_sz[0]))
target_sz[1] = max(10, min(state['im_h'], target_sz[1]))
state['target_pos'] = target_pos
state['target_sz'] = target_sz
state['score'] = score
state['mask'] = mask_in_img if mask_enable else []
state['ploygon'] = rbox_in_img if mask_enable else []
return state
def detect(self, msg):
img = self.bridge.imgmsg_to_cv2(msg, "rgb8")
# blur, filter colors, dilate and erode to define edges, and find contours
blur = cv2.GaussianBlur(img, (self.gauss_k, self.gauss_k), 0)
mask = self.filterColors(blur)
mask = cv2.dilate(mask, None, iterations=2)
mask = cv2.erode(mask, None, iterations=1)
inf, cnts, hrch = cv2.findContours(mask.copy(), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
try:
cnts = sorted(cnts, key=cv2.contourArea, reverse=True)[:10]
except:
pass
epsilon = 0.1
squares = []
corners2D = None
R = None
t = None
cx = 0
cy = 0
for cnt in cnts:
# approximate the contour
peri = cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, epsilon * peri, True)
# if our approximated contour has four points, then we
# can assume that we have found our square
if len(approx) == 4:
squares.append(approx)
for square in squares:
rect = cv2.minAreaRect(square)
w, h = rect[1]
# x,y,w,h = cv2.boundingRect(square)
# set a lower threshold
if ((w < 40) or (h < 40)):
continue
else:
pass
# verify width and height are similar
aspect_ratio = w / h
if (not ((aspect_ratio > 0.9) and (aspect_ratio < 1.1))):
continue
else:
pass
# verify area
valid_area = self.verifyArea(w, h, square)
if (not valid_area):
continue
else:
pass
box = cv2.boxPoints(rect)
box = np.array(box, dtype="int")
rect = perspective.order_points(
box
) # order points: top-left, top-right, down-right, down-left
# https://www.pyimagesearch.com/2016/03/21/ordering-coordinates-clockwise-with-python-and-opencv/
square = square.reshape(
(-1, 2)) # square_couples[0][0].reshape((-1,2))
square = perspective.order_points(square)
#screenCnt = square.reshape((4, 2))
# get centroid
m = cv2.moments(square)
try:
cx = int(m["m10"] / m["m00"])
cy = int(m["m01"] / m["m00"])
corners2D = square.astype('float32')
# corners2D = np.concatenate((screenCnt2, centroid), axis = 0)
R, t, R_exp = self.getPose(self.corners3D, corners2D)
img = self.draw_frame(img, (cx, cy), R_exp, t)
except ZeroDivisionError:
pass
break
self.pub_center(img, cx, cy, corners2D, R, t)
maskmsg = self.bridge.cv2_to_imgmsg(mask, "mono8")
self.mask.publish(maskmsg)
# contourArea() : Calculates a contour area perimeter = cv.arcLength(cnt,True) # arcLength() : Calculates a contour perimeter or a curve length epsilon = 0.1*perimeter approx = cv.approxPolyDP(cnt,epsilon,True) # approxPolyDP : Approximates a polygonal curve with specified precision # Convex Hull hull = cv.convexHull(cnt) # Checking Convexity k = cv.isContourConvex(cnt) # Bounding Rectangle # straight bounding rectangle x,y,w,h = cv.boundingRect(cnt) cv.rectangle(img,(x,y),(x+w,y+h),(0,255,0),2) # rotated rectangle rect = cv.minAreaRect(cnt) box = cv.boxPoints(rect) box = np.int0(box) cv.drawContours(img,[box],0,(0,0,255),2) # Minimum Enclosing circle (x,y),radius = cv.minEnclosingCircle(cnt) center = (int(x),int(y)) radius = int(radius) cv.circle(img,center,radius,(0,255,0),2) # Fitting an Ellipse ellipse = cv.fitEllipse(cnt) cv.ellipse(img,ellipse,(0,255,0),2) # Fitting a Line rows,cols = img.shape[:2] [vx,vy,x,y] = cv.fitLine(cnt, cv.DIST_L2,0,0.01,0.01) lefty = int((-x*vy/vx) + y)
def func_thr(img, window_name, file_name):
############ rotated
height, width = img.shape
img = cv2.bitwise_not(img)
ret, thresh = cv2.threshold(img, 0, 255,
cv2.THRESH_BINARY | cv2.THRESH_OTSU)
coords = np.column_stack(np.where(thresh > 0))
angle = cv2.minAreaRect(coords)[-1]
if angle < -45:
angle = -(90 + angle)
else:
angle = -angle
# rotate the image to deskew it
#(h, w) = save_img.shape[:2]
center = (width // 2, height // 2)
M = cv2.getRotationMatrix2D(center, angle, 1.0)
rotated = cv2.warpAffine(img,
M, (width, height),
flags=cv2.INTER_CUBIC,
borderMode=cv2.BORDER_REPLICATE)
print("[INFO] angle: {:.3f}".format(angle))
rotated = cv2.bitwise_not(rotated)
#cv2.imshow('rotated', rotated)
#cv2.waitKey(0)
cv2.imwrite('r_{}_{}'.format(int(angle), file_name), rotated)
threshold_name = 'Ths'
cv2.createTrackbar(threshold_name, window_name, 0, 255, nothing)
cv2.setTrackbarPos(threshold_name, window_name, 140)
while (1):
height, width = img.shape
ths = cv2.getTrackbarPos(threshold_name, window_name)
ret, gray = cv2.threshold(rotated, ths, 255, cv2.THRESH_BINARY)
save_img = gray.copy()
height_ratio = 1200
if height >= height_ratio and height_ratio != height:
resize_width = (width * height_ratio) // height
height, width = height_ratio, resize_width
img_resize = cv2.resize(gray, (width, height))
else:
img_resize = gray
img_resize = cv2.fastNlMeansDenoising(img_resize, None, 15, 7, 21)
cv2.imshow(window_name, img_resize)
if cv2.waitKey(30) & 0xFF == 27:
cv2.imwrite('t_{}_{}'.format(ths, file_name), save_img)
break
#save_img = threshold 된 이미지
### rotated 가 최종
dataframe = pytesseract.image_to_data(
save_img,
lang='kor3+eng',
output_type=Output.DATAFRAME,
config="--psm 4 --oem 1 -c tessedit_char_whitelist=-01234567890XYZ:@")
list_dataframe = dataframe_to_list(data_frame=dataframe)
removed = df_list_removeNan(list_dataframe)
topNheight_list = dflist_roi(removed)
print(removed)
cut_roi(img=save_img, axis_list=topNheight_list, file_name=file_name)
def script(self):
# construct the argument parse and parse the arguments
# ap = argparse.ArgumentParser()
# ap.add_argument("-i", "--image", required=True,
# help="path to the input image")
# ap.add_argument("-w", "--width", type=float, required=True,
# help="width of the left-most object in the image (in inches)")
# args = vars(ap.parse_args())
# load the image, convert it to grayscale, and blur it slightly
image = cv2.imread(self.fileName)
image = cv2.resize(image,
None,
fx=0.5,
fy=0.5,
interpolation=cv2.INTER_CUBIC)
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (7, 7), 0)
# perform edge detection, then perform a dilation + erosion to
# close gaps in between object edges
edged = cv2.Canny(gray, 10, 10)
edged = cv2.dilate(edged, None, iterations=1)
edged = cv2.erode(edged, None, iterations=1)
# find contours in the edge map
cnts = cv2.findContours(edged.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
# sort the contours from left-to-right and initialize the
# 'pixels per metric' calibration variable
(cnts, _) = contours.sort_contours(cnts)
pixelsPerMetric = None
orig = None
for c in cnts:
# if the contour is not sufficiently large, ignore it
if cv2.contourArea(c) < 100:
continue
# compute the rotated bounding box of the contour
orig = image.copy()
box = cv2.minAreaRect(c)
box = cv2.cv.BoxPoints(box) if imutils.is_cv2() else cv2.boxPoints(
box)
box = np.array(box, dtype="int")
# order the points in the contour such that they appear
# in top-left, top-right, bottom-right, and bottom-left
# order, then draw the outline of the rotated bounding
# box
box = perspective.order_points(box)
cv2.drawContours(orig, [box.astype("int")], -1, (0, 255, 0), 2)
# loop over the original points and draw them
for (x, y) in box:
cv2.circle(orig, (int(x), int(y)), 5, (0, 0, 255), -1)
# unpack the ordered bounding box, then compute the midpoint
# between the top-left and top-right coordinates, followed by
# the midpoint between bottom-left and bottom-right coordinates
(tl, tr, br, bl) = box
(tltrX, tltrY) = (tl[0] + tr[0]) * 0.5, (tl[1] + tr[1]) * 0.5
(blbrX, blbrY) = (bl[0] + br[0]) * 0.5, (bl[1] + br[1]) * 0.5
# compute the midpoint between the top-left and top-right points,
# followed by the midpoint between the top-righ and bottom-right
(tlblX, tlblY) = (tl[0] + bl[0]) * 0.5, (tl[1] + bl[1]) * 0.5
(trbrX, trbrY) = (tr[0] + br[0]) * 0.5, (tr[1] + br[1]) * 0.5
# draw the midpoints on the image
cv2.circle(orig, (int(tltrX), int(tltrY)), 5, (255, 0, 0), -1)
cv2.circle(orig, (int(blbrX), int(blbrY)), 5, (255, 0, 0), -1)
cv2.circle(orig, (int(tlblX), int(tlblY)), 5, (255, 0, 0), -1)
cv2.circle(orig, (int(trbrX), int(trbrY)), 5, (255, 0, 0), -1)
# draw lines between the midpoints
cv2.line(orig, (int(tltrX), int(tltrY)), (int(blbrX), int(blbrY)),
(255, 0, 255), 2)
cv2.line(orig, (int(tlblX), int(tlblY)), (int(trbrX), int(trbrY)),
(255, 0, 255), 2)
# compute the Euclidean distance between the midpoints
dA = dist.euclidean((tltrX, tltrY), (blbrX, blbrY))
dB = dist.euclidean((tlblX, tlblY), (trbrX, trbrY))
# if the pixels per metric has not been initialized, then
# compute it as the ratio of pixels to supplied metric
# (in this case, inches)
if pixelsPerMetric is None:
pixelsPerMetric = dB / 7.87
# compute the size of the object
dimA = dA / pixelsPerMetric
dimB = dB / pixelsPerMetric
# draw the object sizes on the image
cv2.putText(orig, "{:.1f}in".format(dimA),
(int(tltrX - 15), int(tltrY - 10)),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (255, 255, 255), 2)
cv2.putText(orig, "{:.1f}in".format(dimB),
(int(trbrX + 10), int(trbrY)),
cv2.FONT_HERSHEY_SIMPLEX, 0.65, (255, 255, 255), 2)
# show the output image
cv2.imshow("Image", orig)
break
# Specify the paths for the 2 files
protoFile = "pose/coco/pose_deploy_linevec.prototxt"
weightsFile = "pose/coco/pose_iter_440000.caffemodel"
nPoints = 18
POSE_PAIRS = [[1, 0], [1, 2], [1, 5], [2, 3], [3, 4], [5, 6], [6, 7],
[1, 8], [8, 9], [9, 10], [1, 11], [11, 12], [12, 13],
[0, 14], [0, 15], [14, 16], [15, 17]]
# Read the network into Memory
net = cv2.dnn.readNetFromCaffe(protoFile, weightsFile)
frameWidth = orig.shape[1]
frameHeight = orig.shape[0]
threshold = 0.1
net = cv2.dnn.readNetFromCaffe(protoFile, weightsFile)
# Specify the input image dimensions
inWidth = 368
inHeight = 368
# Prepare the frame to be fed to the network
inpBlob = cv2.dnn.blobFromImage(orig,
1.0 / 255, (inWidth, inHeight),
(0, 0, 0),
swapRB=False,
crop=False)
# Set the prepared object as the input blob of the network
net.setInput(inpBlob)
output = net.forward()
H = output.shape[2]
W = output.shape[3]
# Empty list to store the detected keypoints
points = []
for i in range(1, nPoints):
if (i == 9 or i == 10):
continue
# confidence map of corresponding body's part.
probMap = output[0, i, :, :]
# Find global maxima of the probMap.
minVal, prob, minLoc, point = cv2.minMaxLoc(probMap)
# Scale the point to fit on the original image
x = (frameWidth * point[0]) / W
y = (frameHeight * point[1]) / H
if prob > threshold:
cv2.circle(orig, (int(x), int(y)),
3, (0, 255, 255),
thickness=-1,
lineType=cv2.FILLED)
cv2.putText(orig,
"{}".format(i), (int(x), int(y)),
cv2.FONT_HERSHEY_SIMPLEX,
0.5, (0, 255, 0),
1,
lineType=cv2.LINE_AA)
# Add the point to the list if the probability is greater than the threshold
points.append((int(x), int(y)))
else:
points.append(None)
if (i == 11):
break
Shoulder = (points[4][0] - points[1][0]) / pixelsPerMetric
Length = (points[7][1] - points[1][1]) / pixelsPerMetric
Arm = (points[3][1] - points[1][1]) / pixelsPerMetric
self.info = "shoulder " + str(Shoulder) + "\nlength " + str(
Length) + "\nArm-length " + str(Arm) + "\n"
if (Shoulder < 12):
self.info += "Your T-shirt size is Small"
elif (Shoulder < 13):
self.info += "Your T-shirt size is Medium"
else:
self.info += "Your T-shirt size is Large"
self.label1.configure(text=self.info)
print(self.info)
cv2.imshow("Image", orig)
cv2.waitKey(0)
cv2.destroyAllWindows()
ret4, thresh = cv2.threshold(imgray, 0, 255,
cv2.THRESH_BINARY_INV + cv2.THRESH_OTSU)
cv2.imshow('thresh', thresh)
print('all good')
image, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_LIST,
cv2.CHAIN_APPROX_NONE)
cnt = contours[-1]
#image = cv2.drawContours(res2,contours,1, (0,255,0), 3)
cv2.drawContours(res2, (cnt), 1, (0, 255, 0), 3)
img = cv2.drawContours(frame, [cnt], 0, (0, 255, 0), 3)
x, y, w, h = cv2.boundingRect(cnt)
cv2.rectangle(res2, (x, y), (x + w, y + h), (0, 255, 0), 2)
rect = cv2.minAreaRect(cnt)
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(res2, [box], 0, (0, 0, 255), 2)
cv2.imshow('frame1', res2)
cv2.imshow('frame', frame)
x, y, w, h = cv2.boundingRect(cnt)
aspect_ratio = float(w) / h
print(aspect_ratio)
area = cv2.contourArea(cnt)
x, y, w, h = cv2.boundingRect(cnt)
rect_area = w * h
extent = float(area) / rect_area
print(extent)
def split_text_line3(line, step, img, step_align=True):
"""
按照 minAreaRect 对文本进行划分
:param line:
(x1,y1,x2,y2,x3,y3,x4,y4)
矩形四点坐标的顺序： left-top, right-top, right-bottom, left-bottom
:return: [(anchor_xmin, anchor_ymin, anchor_xmax, anchor_ymax)]
"""
if isinstance(line, torch.Tensor):
line = line.cpu().data.numpy()
global global_k_is_none_count
if DEBUG:
img = draw_four_vectors(img, line)
# 首先，按照step切分img
step_max = int(np.ceil(img.shape[1] / step))
max_start_col = step_max - 1
xmin, ymin, xmax, ymax = get_ltrb(line)
width = xmax - xmin
height = ymax - ymin
if height > MAX_HEIGHT_WIDTH_SCALE * width:
return []
if xmax - xmin < step:
# 过滤掉特别小的框
return []
anchor_count = int(math.ceil(width / step))
if DEBUG:
img = draw_bounding_box(img, (xmin, ymin, xmax, ymax))
rect = cv2.minAreaRect(
np.asarray([[line[0], line[1]], [line[2], line[3]], [line[4], line[5]],
[line[6], line[7]]]))
# 获得最小 rotate rect 的四个角点
box = cv2.boxPoints(rect)
box = order_points(box)
if DEBUG:
img = draw_four_vectors(img,
(box[0][0], box[0][1], box[1][0], box[1][1],
box[2][0], box[2][1], box[3][0], box[3][1]),
color=(255, 55, 55))
# 获取anchor的相关信息
p1 = Point(box[0][0], box[0][1])
p2 = Point(box[1][0], box[1][1])
p3 = Point(box[2][0], box[2][1])
p4 = Point(box[3][0], box[3][1])
mid_p12 = Point((box[0][0] + box[1][0]) / 2, (box[0][1] + box[1][1]) / 2)
mid_p34 = Point((box[2][0] + box[3][0]) / 2, (box[2][1] + box[3][1]) / 2)
if mid_p12.y >= mid_p34.y:
print('bugs happen , this line is not useful')
return []
l1 = Line(p1, p2)
l2 = Line(p2, p3)
l3 = Line(p3, p4)
l4 = Line(p4, p1)
lines = [l1, l2, l3, l4]
if l1.k is None:
global_k_is_none_count += 1
print("l1 K is None")
print(p1)
print(p2)
print(p3)
print(p4)
return []
quad = []
splited_lines = []
side_refinement = []
shift = ((np.ceil((xmax - xmin) / step)) * step - (xmax - xmin)) / 2
if step_align:
anchor_start = int(np.floor(xmin / step) * step)
anchor_end = int((np.ceil(xmax / step)) * step)
if abs(anchor_start - xmin) > (step // 2):
anchor_start = anchor_start + step
if abs(anchor_end - xmax) > (step // 2):
anchor_end = anchor_end - step
else:
anchor_start = int(np.floor(xmin - shift))
anchor_end = int(np.floor(xmax + shift))
interval = int((anchor_end - anchor_start) / step)
for start in range(interval):
# 这里的down，up是按照y轴方向上的大小来定义的，靠近0的是down，即在上方的是down
if anchor_start + start * step > max_start_col * step:
continue
grid_start = anchor_start + start * step
grid_end = anchor_start + (start + 1) * step
line_left_down = Point(grid_start, 0)
line_left_up = Point(grid_start, height)
line_right_down = Point(grid_end, 0)
line_right_up = Point(grid_end, height)
line_left = Line(line_left_down, line_left_up)
line_right = Line(line_right_down, line_right_up)
# 计算和 box的上下的line的交点
left_down = line_left.cross(l1)
left_up = line_left.cross(l3)
right_down = line_right.cross(l1)
right_up = line_right.cross(l3)
center_y = (left_down.y + right_down.y) / 2 + (
(left_up.y + right_up.y) / 2 -
(left_down.y + right_down.y) / 2) / 2
center_x = (grid_start + grid_end) / 2
h = (left_up.y - left_down.y + right_up.y - right_down.y) / 2
dh = (left_up.y - right_up.y + left_down.y -
right_down.y) / 2 # dh 定义成左侧减去右侧
splited_lines.append((center_x, center_y, h, dh, step))
quad.append((left_down.x, left_down.y, right_down.x, right_down.y,
right_up.x, right_up.y, left_up.x, left_up.y))
if DEBUG:
img = draw_four_vectors(img, (
left_down.x,
left_down.y,
right_down.x,
right_down.y,
right_up.x,
right_up.y,
left_up.x,
left_up.y,
),
color=(0, 255, 55))
cv2.imshow('test', img)
cv2.waitKey()
# 考虑side refinement
# if abs(center_x - xmin) < 8:
# side_refinement.append(center_x - xmin)
# elif abs(center_x - xmax) < 8:
# side_refinement.append(center_x - xmax)
# else:
# side_refinement.append(-999)
if start == 0:
side_refinement.append(center_x - xmin)
elif start == interval - 1:
side_refinement.append(center_x - xmax)
else:
side_refinement.append(-999)
if DEBUG:
cv2.imshow('test', img)
cv2.waitKey()
splited_lines = np.array(splited_lines)
quad = np.array(quad)
return quad, splited_lines, side_refinement
def getTargetPixelCoords(img):
# returns the pixel coordinates of the target site in an image, as well as number of vision tapes detected
# may need to change algorithm depending on what your current build season's game is (may or may not include numberOfVisionTapesDetected)
# newcameramtx, roi = cv2.getOptimalNewCameraMatrix(CAMERA_MATRIX, DISTORTION_CONSTANTS, (IMAGE_WIDTH, IMAGE_HEIGHT), 1, (IMAGE_WIDTH, IMAGE_HEIGHT))
# img = cv2.undistort(image, CAMERA_MATRIX, DISTORTION_CONSTANTS, None, newcameramtx)
g = img.copy() # separate green image channel
g[:, :, 0] = 0
g[:, :, 2] = 0
r = img.copy() # separate red image channel
r[:, :, 0] = 0
r[:, :, 1] = 0
img = g - r # create new image subtracting red channel from green channel
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY) # convert to grayscale
mask = cv2.inRange(gray, LOWER_GRAY, UPPER_GRAY) # create grayscale mask
res = cv2.bitwise_and(gray, gray,
mask=mask) # apply grayscale mask to image
_, contours, __ = cv2.findContours(
mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE) # find contours in the image
targetCoords = [] # array to hold target coordinates
points = [] # list of highest corners of rectangles
numberOfVisionTapesDetected = 0
for contour in contours:
contour_area = cv2.contourArea(contour)
rect = cv2.minAreaRect(
contour) # minimum area rectangle around contour
rect_width = rect[1][0] # height of rectangle around contour is tilted
rect_height = rect[1][
1] # height of rectangle around contour is tilted
rect_angle = rect[
2] # angle at which rectangle around contour is tilted
if (isValidTarget(contour_area, rect_width, rect_height, rect_angle)):
# if condition to check if detected rectangle is a piece of vision tape
numberOfVisionTapesDetected = numberOfVisionTapesDetected + 1 # add one to number of vision tapes detected
box = cv2.boxPoints(rect) # find corners of vision tape
box = np.int0(box) # convert to int0 array
points.append(
getMinYPoint(box)
) # add the highest corner of the detected vision tape to the list of points
cv2.drawContours(
res, [box], 0, (255),
4) # draw box around detected vision tape in output image
if (len(points) > 0):
targetCoords = list(
sum(points) / len(points)
) # centroid of the highest corners of the detected vision tapes
targetCoords.append(
numberOfVisionTapesDetected) # number of vision tapes detected
cv2.circle(res, (int(targetCoords[0]), int(targetCoords[1])), 4, (255),
-1) # draw dot on target area in output image
else:
targetCoords.append(numberOfVisionTapesDetected
) # add number of vision tapes detected to result
cv2.imwrite(
'/Users/yiyi/Desktop/cv/contours/' +
datetime.datetime.now().strftime("%Y_%m_%d_%H_%M_%S") + '.jpg', res
) # write output image with white dot on target area and white boxes around detected vision tapes
return targetCoords # result is the centroid of the highest corners of the detected vision tapes
def draw_contour(contour, img):
min_square_size = 987
images = []
area = cv2.contourArea(contour)
rect = cv2.minAreaRect(screenCnt)
# If the contour is not really small, or really big
h, w = img.shape[0], img.shape[1]
print('area == ' + str(area))
if area > min_square_size and area < h * w - (2 * (h + w)):
# Get the four corners of the contour
epsilon = .1 * cv2.arcLength(contour, True)
approx = cv2.approxPolyDP(contour, epsilon, True)
print("========================================================")
# now that we have our screen contour, we need to determine
# the top-left, top-right, bottom-right, and bottom-left
# points so that we can later warp the image -- we'll start
# by reshaping our contour to be our finals and initializing
# our output rectangle in top-left, top-right, bottom-right,
# and bottom-left order
pts = screenCnt.reshape(4, 2)
rect = np.zeros((4, 2), dtype="float32")
# the top-left point has the smallest sum whereas the
# bottom-right has the largest sum
s = pts.sum(axis=1)
rect[0] = pts[np.argmin(s)]
rect[2] = pts[np.argmax(s)]
# compute the difference between the points -- the top-right
# will have the minumum difference and the bottom-left will
# have the maximum difference
diff = np.diff(pts, axis=1)
rect[1] = pts[np.argmin(diff)]
rect[3] = pts[np.argmax(diff)]
# now that we have our rectangle of points, let's compute
# the width of our new image
(tl, tr, br, bl) = rect
widthA = np.sqrt(((br[0] - bl[0])**2) + ((br[1] - bl[1])**2))
widthB = np.sqrt(((tr[0] - tl[0])**2) + ((tr[1] - tl[1])**2))
# ...and now for the height of our new image
heightA = np.sqrt(((tr[0] - br[0])**2) + ((tr[1] - br[1])**2))
heightB = np.sqrt(((tl[0] - bl[0])**2) + ((tl[1] - bl[1])**2))
# take the maximum of the width and height values to reach
# our final dimensions
maxWidth = max(int(widthA), int(widthB))
maxHeight = max(int(heightA), int(heightB))
# construct our destination points which will be used to
# map the screen to a top-down, "birds eye" view
dst = np.array([[0, 0], [maxWidth - 1, 0],
[maxWidth - 1, maxHeight - 1], [0, maxHeight - 1]],
dtype="float32")
# calculate the perspective transform matrix and warp
# the perspective to grab the screen
M = cv2.getPerspectiveTransform(rect, dst)
warp = cv2.warpPerspective(frame, M, (maxWidth, maxHeight))
#cv2.imshow('warp', warp)
#cv2.waitKey()
locs = text_area_detect(warp)
print("========================================================")
images.append(warp.copy())
return images, locs
def digitize_sudoku(sudoku_image, test=False):
gray = cv2.cvtColor(sudoku_image, cv2.COLOR_BGR2GRAY)
black_box = np.zeros((28,28,3),np.uint8)
black_box = cv2.cvtColor(black_box, cv2.COLOR_BGR2GRAY)
h, w = sudoku_image.shape[0], sudoku_image.shape[1]
# Sudoku object that will contain all the information
sudoku = Sudoku.instance()
# Let The borders of the whole grid (4)
sudoku_border = 4
border = 4
x = w/9
y = h/9
for i in range(9):
for j in range(9):
# We get the position of each case (simply dividing the image in 9)
top = int(round(y*i+border))
left = int(round(x*j+border))
right = int(round(x*(j+1)-border))
bottom = int(round(y*(i+1)-border))
if i == 0:
top+=sudoku_border
if i == 8:
bottom-=sudoku_border
if j == 0:
left+=sudoku_border
if j == 8:
right-=sudoku_border
point = [[[left, top]],[[right, top]],[[left, bottom]],[[right, bottom]]]
square, _ = crop(gray, point)
grid_square = square.copy()
contours, _ = cv2.findContours(grid_square, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
cv2.drawContours(grid_square, contours, -1, (255, 255, 255), 2)
contours, _ = cv2.findContours(grid_square, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
num_grid_img_position = [top, right, bottom, left]
if contours:
conts = sorted(contours, key=cv2.contourArea, reverse=True)
# seelcting the biggest contour
cnt = conts[0]
minarea = x*y*0.04
if cv2.contourArea(cnt) > minarea:
# Cropping out the number from grid
rect = cv2.minAreaRect(cnt)
box = cv2.boxPoints(rect)
box = np.int0(box)
minx , miny = max(min(box, key=lambda g: g[0])[0], 0),max(min(box, key=lambda g: g[1])[1], 0)
maxx ,maxy = min(max(box, key=lambda g: g[0])[0], int(x)),min(max(box, key=lambda g: g[1])[1], int(y))
number_image = square[miny:maxy, minx:maxx]
if number_image is None or number_image.shape[0] < 2 or number_image.shape[1] < 2:
# If no number in there
sudoku.update_grid(black_box, (i, j), num_grid_img_position)
else:
final = number_image.copy()
final = cv2.adaptiveThreshold(final, 255, cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY_INV, 7, 7)
final = make_square(final)
final = final/255
#final = optimize_digit(final)
sudoku.update_grid(final, (i, j), num_grid_img_position)
else:
sudoku.update_grid(black_box, (i, j), num_grid_img_position)
else:
sudoku.update_grid(black_box, (i, j), num_grid_img_position)
return sudoku
def draw_rotated_rect(self, image, contour):
rect = cv2.minAreaRect(contour)
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(image, [box], -1, (255, 0, 0), 3)
return rect
def restoreSkewByMarkers(self):
_,_, angle = cv2.minAreaRect(self._getMagentaMarkers())
angle = angle%90 if angle%90<45 else angle%90-90
self._print("Skew correction: rotating by %+f°"%angle)
self.im = rotateImage(self.im, angle, cv2.INTER_NEAREST)
img = cv2.imread('detect_blob.png')
# 避免修改原图
img = img.copy()
binary = threshold_demo(img)
# 轮廓发现
out, contours, hierarchy = cv2.findContours(binary, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
for i in range(len(contours)):
cv2.drawContours(img, contours, i, (0, 0, 255), 2, 8)
# 面积
area = cv2.contourArea(contours[i])
# 弧长
perimeter = cv2.arcLength(contours[i], True)
print('the %dth contours, area: %d, perimeter: %d' % (i, area, perimeter))
# 计算包围目标的最小矩形区域
rect = cv2.minAreaRect(contours[i])
cx, cy = rect[0]
# 获得包围矩形的四个顶点坐标
box = cv2.boxPoints(rect)
box = np.int0(box)
cv2.drawContours(img, [box], 0, (0, 0, 255), 2)
cv2.circle(img, (np.int32(cx), np.int32(cy)), 2, (255, 0, 0), 2, 8, 0)
cv2.imshow('contours-Matrix', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
[10, 20, 70, 30]]
print 'RotatedRoi:', RotatedRoi1
Point_2x1 = np.array([10, 20]).reshape(2, 1)
drawPoints(Img1, Point_2x1, 255)
print Point_2x1.ravel(), 'in RotatedRoi?', inRoi(Point_2x1, RotatedRoi1, ROI_TYPE_ROTATED)
Point_2x1 = np.array([10, 10]).reshape(2, 1)
drawPoints(Img1, Point_2x1, 255)
print Point_2x1.ravel(), 'in RotatedRoi?', inRoi(Point_2x1, RotatedRoi1, ROI_TYPE_ROTATED)
Point_2x1 = np.array([70, 70]).reshape(2, 1)
drawPoints(Img1, Point_2x1, 255)
drawPoints(Img1, Point_2x1, 255, offset=(-10, 10))
print Point_2x1.ravel(), 'in RotatedRoi?', inRoi(Point_2x1, RotatedRoi1, ROI_TYPE_ROTATED)
drawRoi(Img1, RotatedRoi1, ROI_TYPE_ROTATED, color=255, thickness=-1)
drawRoi(Img2, RotatedRoi2, ROI_TYPE_ROTATED, color=255, offset=(-50, -50))
Contours, _ = cv2.findContours(image=Img2.copy(), mode=cv2.RETR_EXTERNAL, method=cv2.CHAIN_APPROX_NONE)
Rect = cv2.minAreaRect(Contours[0])
Box = cv2.cv.BoxPoints(Rect)
BoxImg = np.zeros((200, 200), np.uint8)
drawRoi(Img2, Box, ROI_TYPE_ROTATED, color=255)
drawRoi(Img1, RotatedRoi1, ROI_TYPE_ROTATED, color=255, offset=(20, 20))
# drawRoi(Img2, RotatedRoi2, ROI_TYPE_ROTATED, color=255, offset=(20, 20))
cv2.imshow('Roi2', Img2)
cv2.imshow('Roi1', Img1)
cv2.waitKey()
# Img = (np.random.random((100, 100)) * 255).astype(np.uint8)
# roi_xywh = [10, 10, 20, 20]
# roi_xyxy = [10, 10, 30, 30]
# print 'Roi_xywh: ', roi_xywh
# roi_xywh2xyxy = cvtRoi(roi=roi_xywh, flag=ROI_CVT_XYWH2XYXY)
# roi_xyxy2xywh = cvtRoi(roi=roi_xyxy, flag=ROI_CVT_XYXY2XYWH)
def recognition():
"""
"""
img0 = cv2.imread(pic_path)
gray = cv2.cvtColor(img0, cv2.COLOR_BGR2GRAY)
#高斯矩阵的尺寸(只能取奇数)越大，标准差越大，处理过的图像模糊程度越大
# gray = cv2.GaussianBlur(gray, (5, 5), 0)
#边缘检测
gray = cv2.Canny(gray, 50, 100)
img = deal_block(gray)
show_pic(img)
#return 所处理的图像, 轮廓的点集,轮廓的属性矩阵
_, cnts, _ = cv2.findContours(img.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
#轮廓排序，使第一个轮廓为最左边参照物
cnts = sorted(cnts, key=lambda k: np.min(k[:, :, 0]), reverse=False)
scale = None
blue = (255, 0, 0)
green = (0, 255, 0)
red = (0, 0, 255)
pink = (255, 0, 255)
orig = img0.copy()
count = 0
for c in cnts:
if cv2.contourArea(c) < 100:
#去除小轮廓
continue
count += 1
orig1 = img0.copy()
cv2.drawContours(orig1, [c], -1, (255, 255, 0), 2)
show_pic(orig1)
# 获取最小包围矩形
rect = cv2.minAreaRect(c)
box = cv2.boxPoints(rect)
cv2.drawContours(orig, [box.astype("int")], -1, green, 2)
show_pic(orig)
for point in box:
cv2.circle(orig, (point[0], point[1]), 5, red, -1)
show_pic(orig)
(p1, p2, p3, p4) = box
midpoint1 = getMidPoint(p1, p2)
midpoint2 = getMidPoint(p2, p3)
midpoint3 = getMidPoint(p3, p4)
midpoint4 = getMidPoint(p4, p1)
for midpoint in [midpoint1, midpoint2, midpoint3, midpoint4]:
cv2.circle(orig, midpoint, 5, blue, -1)
show_pic(orig)
cv2.line(orig, midpoint1, midpoint3, pink, 2)
cv2.line(orig, midpoint2, midpoint4, pink, 2)
show_pic(orig)
#通过查看参照物来初始化pixelsPerMetric变量
dis13 = getDistanceByPosition(midpoint1, midpoint3)
dis24 = getDistanceByPosition(midpoint2, midpoint4)
if scale is None:
if dis24 > dis13:
scale = dis24 / standard
else:
scale = dis13 / standard
reald1 = dis13 / scale
reald2 = dis24 / scale
if reald1 > reald2:
rad = reald1
else:
rad = reald2
value = "unknown"
if rad > 235:
value = "1 yuan"
else:
Ymin = np.min(c[:, :, 0])
Ymax = np.max(c[:, :, 0])
Xmin = np.min(c[:, :, 1])
Xmax = np.max(c[:, :, 1])
orig1 = cv2.imread(pic_path, 0)
cropImg = orig1[Xmin:Xmax, Ymin:Ymax]
value = orb_deal(cropImg)
value = str(value) + "jiao"
# break
#照片/添加的文字/左上角坐标/字体/字体大小/颜色/字体粗细
cv2.putText(orig, '%s' % (value),
(midpoint1[0] - 10, midpoint1[1] + 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (255, 0, 0), 2)
cv2.putText(orig, '%.1fmm' % (rad / 10.0),
(midpoint2[0] + 10, midpoint2[1] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1)
show_pic(orig)
cv2.putText(orig, '%s' % (str(count)), (20, 20), cv2.FONT_HERSHEY_SIMPLEX,
0.5, (0, 0, 0), 4)
show_pic(orig)
def main_func(image_path):
#start
PATH_ORIGINAL = image_path
originalPath = PATH_ORIGINAL
imgSkewed = Image.open(originalPath)
imgSwt = pillowfight.swt(imgSkewed, output_type=pillowfight.SWT_OUTPUT_BW_TEXT)
imgSwt.save(PATH_SWT)
# saved skewed Image
# imageCopied = convertPilImageToCv2Image(imgSwt)
image = convertPilImageToCv2Image(imgSwt)
results, image = east(image)
# TODO
rect = results[-4][0]
# import pdb
# pdb.set_trace()
roi = image[rect[1]-40:rect[3]+40, rect[0]-40:rect[2]+40]
if roi==[]:
roi = image[rect[1]-4:rect[3], rect[0]-4:rect[2]]
# cv2.imwrite(PATH_CROP_AFTER_EAST, roi)
# roi = image[rect[1]-4:rect[3], rect[0]-4:rect[2]]
image = roi
# for rect in results[-2]:
# roi = image[rect[1]-40:rect[3]+40, rect[0]-40:rect[2]+40]
# cv2.imwrite('crop.jpg',roi)
# break
#################################################################################################
# convert the image to grayscale and flip the foreground
# and background to ensure foreground is now "white" and
# the background is "black"
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
gray = cv2.bitwise_not(gray)
# threshold the image, setting all foreground pixels to
# 255 and all background pixels to 0
thresh = cv2.threshold(gray, 0, 255,
cv2.THRESH_BINARY | cv2.THRESH_OTSU)[1]
# grab the (x, y) coordinates of all pixel values that
# are greater than zero, then use these coordinates to
# compute a rotated bounding box that contains all
# coordinates
coords = np.column_stack(np.where(thresh > 0))
angle = cv2.minAreaRect(coords)[-1]
# the `cv2.minAreaRect` function returns values in the
# range [-90, 0); as the rectangle rotates clockwise the
# returned angle trends to 0 -- in this special case we
# need to add 90 degrees to the angle
if angle < -45:
angle = -(90 + angle)
# otherwise, just take the inverse of the angle to make
# it positive
else:
angle = -angle
# print("angle " + str(angle))
# rotate the image to deskew it
(h, w) = image.shape[:2]
center = (w // 2, h // 2)
M = cv2.getRotationMatrix2D(center, angle, 1.0)
img = cv2.imread(PATH_ORIGINAL)
(h, w) = img.shape[:2]
rotated = cv2.warpAffine(img, M, (w, h),
flags=cv2.INTER_CUBIC, borderMode=cv2.BORDER_REPLICATE)
# # draw the correction angle on the image so we can validate it
# cv2.putText(rotated, "Angle: {:.2f} degrees".format(angle),
# (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 0, 255), 2)
# show the output image
# print("[INFO] angle: {:.3f}".format(angle))
# cv2.imshow("Input", image)
# cv2.imshow("Rotated", rotated)
# cv2.imwrite(PATH_ORIGINAL_ROTATED,rotated)
# cv2.waitKey(0)
#################################################################
image = convertCv2ImageToPilImage(rotated)
image.save(PATH_300_DPI_IMAGE,dpi=(300,300))
results, image = east(convertPilImageToCv2Image(image))
# print(results)
######################################################################################################33\
imgSkewed = Image.open(PATH_300_DPI_IMAGE)
# imgSwt = pillowfight.swt(imgSkewed, output_type=pillowfight.SWT_OUTPUT_BW_TEXT)
imgSkewed.save(PATH_SWT)
cmd = "tesseract " + PATH_SWT + " test -l eng --psm 11 --oem 1"
returned_value = os.system(cmd)
# returns the exit code in unix
text = open("test.txt", "r")
text1 = str(text.read())
print(text.read())
return (text1)
def extract_rows_columns(gray_image):
inverted = cv2.bitwise_not(gray_image)
blurred = cv2.GaussianBlur(inverted, (5, 5), 0)
height, width = gray_image.shape
thresholded = cv2.threshold(blurred, 128, 255,
cv2.THRESH_BINARY | cv2.THRESH_OTSU)[1]
# show_wait_destroy("extract_rows_columns", thresholded)
# A verticle kernel of (1 X kernel_length), which will detect all the verticle lines from the image.
vertical_kernel_height = math.ceil(height * 0.1)
verticle_kernel = cv2.getStructuringElement(cv2.MORPH_RECT,
(1, vertical_kernel_height))
# A horizontal kernel of (kernel_length X 1), which will help to detect all the horizontal line from the image.
horizontal_kernel_width = math.ceil(width * 0.3)
hori_kernel = cv2.getStructuringElement(cv2.MORPH_RECT,
(horizontal_kernel_width, 1))
# Morphological operation to detect vertical lines from an image
img_temp1 = cv2.erode(thresholded, verticle_kernel, iterations=3)
# show_wait_destroy("extract_rows_columns", img_temp1)
verticle_lines_img = cv2.dilate(img_temp1, verticle_kernel, iterations=3)
# show_wait_destroy("extract_rows_columns", verticle_lines_img)
_, vertical_contours, _ = cv2.findContours(verticle_lines_img.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# Sort all the contours by top to bottom.
(vertical_contours,
vertical_bounding_boxes) = sort_contours(vertical_contours,
method="left-to-right")
filtered_vertical_bounding_boxes = list(
filter(lambda x: vertical_boxes_filter(x, height),
vertical_bounding_boxes))
# Morphological operation to detect horizontal lines from an image
img_temp2 = cv2.erode(thresholded, hori_kernel, iterations=3)
horizontal_lines_img = cv2.dilate(img_temp2, hori_kernel, iterations=3)
# show_wait_destroy("extract_rows_columns", horizontal_lines_img)
_, horizontal_contours, _ = cv2.findContours(horizontal_lines_img.copy(),
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
horizontal_contours, horizontal_bounding_boxes = sort_contours(
horizontal_contours, method="top-to-bottom")
filtered_horizontal_bounding_boxes = list(
filter(lambda x: horizontal_boxes_filter(x, width),
horizontal_bounding_boxes))
# if DEBUG:
color_image = cv2.cvtColor(gray_image.copy(), cv2.COLOR_GRAY2BGR)
cv2.drawContours(color_image, vertical_contours, -1, (0, 255, 0), 2)
cv2.drawContours(color_image, horizontal_contours, -1, (255, 0, 0), 2)
# for filtered_horizontal_bounding_box in filtered_horizontal_bounding_boxes:
# x,y,w,h = filtered_horizontal_bounding_box
# cv2.rectangle(color_image,(x,y),(x+w,y+h),(0,255,255),2)
#
# for filtered_vertical_bounding_box in filtered_vertical_bounding_boxes:
# x,y,w,h = filtered_vertical_bounding_box
# cv2.rectangle(color_image,(x,y),(x+w,y+h),(0,255,255),2)
# show_wait_destroy("horizontal_vertical_contours", color_image)
extracted_rows_columns = []
for idx_h, horizontal_bounding_box in enumerate(
filtered_horizontal_bounding_boxes):
if idx_h == 0:
continue
# previous horizontal box
hx_p, hy_p, hw_p, hh_p = filtered_horizontal_bounding_boxes[idx_h - 1]
hx_c, hy_c, hw_c, hh_c = horizontal_bounding_box
extracted_columns = []
for idx_v, vertical_bounding_box in enumerate(
filtered_vertical_bounding_boxes):
if idx_v == 0:
continue
# previous horizontal box
vx_p, vy_p, vw_p, vh_p = filtered_vertical_bounding_boxes[idx_v -
1]
vx_c, vy_c, vw_c, vh_c = vertical_bounding_box
table_cell = gray_image[hy_p:hy_c + hh_c, vx_p:vx_c + vw_c]
blurred = cv2.GaussianBlur(table_cell, (5, 5), 0)
# cv2.rectangle(color_image,(vx_p,hy_p),(vx_c+vw_c,hy_c+hh_c),(255,0,0),2)
thresholded = cv2.threshold(blurred, 128, 255,
cv2.THRESH_BINARY | cv2.THRESH_OTSU)[1]
im2, contours, hierarchy = cv2.findContours(
thresholded, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
contours = sorted(contours, key=cv2.contourArea, reverse=True)
rect = cv2.minAreaRect(contours[0])
box = cv2.boxPoints(rect)
box = np.int0(box)
extracted = four_point_transform(
table_cell.copy(),
box.reshape(4, 2))[1:-1, 1:-1] # remove 1 px from each side
ret, extracted = cv2.threshold(extracted, 165, 255,
cv2.THRESH_BINARY)
extracted_columns.append(extracted)
# cv2.drawContours(color_image, [contours[0]], -1, (0,255,0), 3)
extracted_rows_columns.append(extracted_columns)
# show_wait_destroy("horizontal_lines_img",color_image)
return extracted_rows_columns
image = cv2.imread('images/tankwa/8.jpg')
# convert the image to grayscale and flip the foreground
# and background to ensure foreground is now "white" and
# the background is "black"
gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
gray = cv2.bitwise_not(gray)
# threshold the image, setting all foreground pixels to
# 255 and all background pixels to 0
thresh = cv2.threshold(gray, 0, 255, cv2.THRESH_BINARY | cv2.THRESH_OTSU)[1]
# grab the (x, y) coordinates of all pixel values that
# are greater than zero, then use these coordinates to
# compute a rotated bounding box that contains all
# coordinates
coords = np.column_stack(np.where(thresh > 0))
angle = cv2.minAreaRect(coords)[-1]
# the `cv2.minAreaRect` function returns values in the
# range [-90, 0); as the rectangle rotates clockwise the
# returned angle trends to 0 -- in this special case we
# need to add 90 degrees to the angle
if angle < -45:
angle = -(90 + angle)
# otherwise, just take the inverse of the angle to make
# it positive
else:
angle = -angle
# rotate the image to deskew it
(h, w) = image.shape[:2]
center = (w // 2, h // 2)
M = cv2.getRotationMatrix2D(center, angle, 1.0)
def hi2():
#import numpy as np
img = cv2.imread('image4.jpg')
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
im2 = cv2.GaussianBlur(gray, (3,3), 0)
dimen=im2.shape
#edges = cv2.Canny(im2, 75, 150)
ret,thresh = cv2.threshold(im2,45 ,255,0)
try:
contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
for i in range(0,len(contours)):
cnt = contours[i]
M = cv2.moments(cnt)
if(M["m00"] != 0 and cv2.contourArea(cnt)<18000 and cv2.contourArea(cnt)>150):
cX = int(M["m10"] / M["m00"])
cY = int(M["m01"] / M["m00"])
perimeter = cv2.arcLength(cnt,True)
#epsilon = 0.1*perimeter
rect = cv2.minAreaRect(cnt)
box = cv2.boxPoints(rect)#
#print(list(a)[0],list(b)[0],list(c)[0],list(d)[0])
listy = []
for row in range(4):
inner_list = []
for col in range(2):
inner_list.append(box[row][col])
#print(inner_list[col][row])
print(inner_list[0])
print(inner_list[1])
cv2.putText(im2,str(int(inner_list[0]))+'.'+str(int(inner_list[1])),(inner_list[0], inner_list[1]), cv2.FONT_HERSHEY_SIMPLEX, 1, (255,0,255), 2, cv2.LINE_AA)
listy.append(inner_list)
print("tjos/n",listy)
#box = np.int0([a][b][c][d])
#box=[[k for row in list(a)] for column in range(4)]
#print([box])
#im = cv2.drawContours(im2,list_of_lists,0,(0,255,0),2)#[[a][b][c][d]]
for i in range(4):
im=cv2.line(im2, tuple(listy[i]), tuple(listy[(i + 1) % 4]), (0,255,0), 2, cv2.LINE_AA, 0);
#im =cv2.line(im2,(listy),(x2,y2),(0,0,255),2)
print( (cX , cY),"area: ",cv2.contourArea(cnt),"perimeter:",perimeter)
cv2.circle(im, (cX, cY), 4, (0, 0, 255), -1)
'''
cv2.putText(im,str(cv2.contourArea(cnt)),(cX, cY), cv2.FONT_HERSHEY_SIMPLEX, 1, (255,0,255), 2, cv2.LINE_AA)
'''
fromCenter = False
#ROIs = cv2.selectROIs('Select ROIs', im, showCrosshair=False,fromCenter)
#im=im[int(dimen[0])-125:int(dimen[0])-25, int(dimen[1])-450:int(dimen[1])-50]
#approx = cv2.approxPolyDP(cnt,epsilon,True)
#print(approx,i)
#cv2.drawContours(im, [cnt],-2,(0,255,0))
im_ROI1=im[int(dimen[0])-125:int(dimen[0])-25, int(dimen[1])-680:int(dimen[1])-50]
im_ROI2=im[int(dimen[0])-300:int(dimen[0])-100, int(dimen[1])-640:int(dimen[1])-80]
print("1",int(dimen[0])-125,int(dimen[0])-25, int(dimen[1])-680,int(dimen[1])-50)
print("2",int(dimen[0])-300,int(dimen[0])-100, int(dimen[1])-640,int(dimen[1])-80)
while True:
cv2.imshow('Features',im )
cv2.imshow('Features0',im_ROI1 )
cv2.imshow('Features1',im_ROI2 )
if cv2.waitKey(1)& 0xFF == 27:
break
cv2.destroyAllWindows()
except (KeyboardInterrupt, SystemExit):
return 'exiting'
def area_of_contour(contour):
return cv2.minAreaRect(contour)
def get_bounding_rect(contour):
rect = cv2.minAreaRect(contour)
box = cv2.boxPoints(rect)
return np.int0(box)
def callback(self,data):
#The below two functions conver the compressed image to opencv Image
#'''
# np_arr = np.fromstring(data.data, np.uint8)
# cv_image = cv2.imdecode(np_arr, cv2.CV_LOAD_IMAGE_COLOR)
#'''
cv_image = self.bridge.imgmsg_to_cv2(data, "bgr8")
#Create copy of captured image
img_cpy = cv_image.copy()
#Color to HSV and Gray Scale conversion
hsv = cv2.cvtColor(cv_image, cv2.COLOR_BGR2HSV)
#gray = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY)
#Red_Thresholds
lower_red1 = np.array([0, 100, 100])
upper_red1 = np.array([10, 255,255])
lower_red2 = np.array([160,100,100])
upper_red2 = np.array([179,255,255])
#Blue Thresholds
lower_blue = np.array([104,110,110])
upper_blue = np.array([143,255,255])
#Green Thresholds
lower_green = np.array([60,60,46])
upper_green = np.array([97,255,255])
#GREEN STUFF
# Threshold the HSV image to get only single color portions
mask2 = cv2.inRange(hsv, lower_green, upper_green)
#Find contours(borders) for the shapes in the image
#NOTE if you get following error:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
# ValueError: need more than two values to unpack
# change following line to:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
#Pass through each contour and check if it has required properties to classify into required object
for x in range (len(contours)):
contourarea = cv2.contourArea(contours[x]) #get area of contour
if contourarea > 600: #Discard contours with a small area as this may just be noise
#The below 2 functions help you to approximate the contour to a nearest polygon
arclength = cv2.arcLength(contours[x], True)
approxcontour = cv2.approxPolyDP(contours[x], 0.02 * arclength, True)
#Find the coordinates of the polygon with respect to he camera frame in pixels
rect_cordi = cv2.minAreaRect(contours[x])
obj_x = int(rect_cordi[0][0])
obj_y = int(rect_cordi[0][1])
#Check for Square
if len(approxcontour) == 4:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((4,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*square_side_lenth)/LongestSide #focal length x Actual Border width / size of Border in pixels
Green_Id = 122
#Move to next Contour
else :
# v-----------------------v added by team 7 v-----------------------v
#Check for Triangle
if len(approxcontour) == 3:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((3,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*triangle_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Green_Id = 123
else :
#Check for Star
if len(approxcontour) == 8:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((8,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*star_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Green_Id = 121
else :
# ^-----------------------^ added by team 7 ^-----------------------^
continue
#Calculate Cordinates wrt to Camera, convert to Map
#Coordinates and publish message for storing
#319.5, 239.5 = image centre
obj_cam_x = ((obj_x - 319.5)*Distance)/focal_leng
obj_cam_y = ((obj_y - 239.5)*Distance)/focal_leng
#convert the x,y in camera frame to a geometric stamped point
P = PointStamped()
P.header.stamp = rospy.Time(0) # .now() - rospy.Time(23) # ^-----------------------^ commented by team 7 ^-----------------------^
#print ('time: ', data.header.stamp)
P.header.frame_id = 'camera_rgb_optical_frame'
P.point.x = obj_cam_x
P.point.y = obj_cam_y
P.point.z = Distance
#Transform Point into map coordinates
# trans_pt = self.tl.transformPoint('/map', P)
#fill in the publisher object to publish
obj_info_pub = object_loc()
obj_info_pub.ID = Green_Id
obj_info_pub.point.x = 0
obj_info_pub.point.y = 0
obj_info_pub.point.z = 0
#publish the message
self.object_location_pub.publish(obj_info_pub)
# RED STUFF 1
# Threshold the HSV image to get only single color portions
mask2 = cv2.inRange(hsv, lower_red1, upper_red1)
#Find contours(borders) for the shapes in the image
#NOTE if you get following error:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
# ValueError: need more than two values to unpack
# change following line to:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
#Pass through each contour and check if it has required properties to classify into required object
for x in range (len(contours)):
contourarea = cv2.contourArea(contours[x]) #get area of contour
if contourarea > 600: #Discard contours with a small area as this may just be noise
#The below 2 functions help you to approximate the contour to a nearest polygon
arclength = cv2.arcLength(contours[x], True)
approxcontour = cv2.approxPolyDP(contours[x], 0.02 * arclength, True)
#Find the coordinates of the polygon with respect to he camera frame in pixels
rect_cordi = cv2.minAreaRect(contours[x])
obj_x = int(rect_cordi[0][0])
obj_y = int(rect_cordi[0][1])
#Check for Square
if len(approxcontour) == 4:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((4,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*square_side_lenth)/LongestSide #focal length x Actual Border width / size of Border in pixels
Red_Id = 112
#Move to next Contour
else :
# v-----------------------v added by team 7 v-----------------------v
#Check for Triangle
if len(approxcontour) == 3:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((3,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*triangle_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Red_Id = 113
else :
#Check for Star
if len(approxcontour) == 8:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((8,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*star_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Red_Id = 111
else :
# ^-----------------------^ added by team 7 ^-----------------------^
continue
#Calculate Cordinates wrt to Camera, convert to Map
#Coordinates and publish message for storing
#319.5, 239.5 = image centre
obj_cam_x = ((obj_x - 319.5)*Distance)/focal_leng
obj_cam_y = ((obj_y - 239.5)*Distance)/focal_leng
#convert the x,y in camera frame to a geometric stamped point
P = PointStamped()
P.header.stamp = rospy.Time(0) # .now() - rospy.Time(23) # ^-----------------------^ commented by team 7 ^-----------------------^
#print ('time: ', data.header.stamp)
P.header.frame_id = 'camera_rgb_optical_frame'
P.point.x = obj_cam_x
P.point.y = obj_cam_y
P.point.z = Distance
#Transform Point into map coordinates
# trans_pt = self.tl.transformPoint('/map', P)
#fill in the publisher object to publish
obj_info_pub = object_loc()
obj_info_pub.ID = Red_Id
obj_info_pub.point.x = 0
obj_info_pub.point.y = 0
obj_info_pub.point.z = 0
#publish the message
self.object_location_pub.publish(obj_info_pub)
# RED STUFF 2
# Threshold the HSV image to get only single color portions
mask2 = cv2.inRange(hsv, lower_red2, upper_red2)
#Find contours(borders) for the shapes in the image
#NOTE if you get following error:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
# ValueError: need more than two values to unpack
# change following line to:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
#Pass through each contour and check if it has required properties to classify into required object
for x in range (len(contours)):
contourarea = cv2.contourArea(contours[x]) #get area of contour
if contourarea > 600: #Discard contours with a small area as this may just be noise
#The below 2 functions help you to approximate the contour to a nearest polygon
arclength = cv2.arcLength(contours[x], True)
approxcontour = cv2.approxPolyDP(contours[x], 0.02 * arclength, True)
#Find the coordinates of the polygon with respect to he camera frame in pixels
rect_cordi = cv2.minAreaRect(contours[x])
obj_x = int(rect_cordi[0][0])
obj_y = int(rect_cordi[0][1])
#Check for Square
if len(approxcontour) == 4:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((4,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*square_side_lenth)/LongestSide #focal length x Actual Border width / size of Border in pixels
Red_Id = 112
#Move to next Contour
else :
# v-----------------------v added by team 7 v-----------------------v
#Check for Triangle
if len(approxcontour) == 3:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((3,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*triangle_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Red_Id = 113
else :
#Check for Star
if len(approxcontour) == 8:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((8,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*star_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Red_Id = 111
else :
# ^-----------------------^ added by team 7 ^-----------------------^
continue
#Calculate Cordinates wrt to Camera, convert to Map
#Coordinates and publish message for storing
#319.5, 239.5 = image centre
obj_cam_x = ((obj_x - 319.5)*Distance)/focal_leng
obj_cam_y = ((obj_y - 239.5)*Distance)/focal_leng
#convert the x,y in camera frame to a geometric stamped point
P = PointStamped()
P.header.stamp = rospy.Time(0) # .now() - rospy.Time(23) # ^-----------------------^ commented by team 7 ^-----------------------^
#print ('time: ', data.header.stamp)
P.header.frame_id = 'camera_rgb_optical_frame'
P.point.x = obj_cam_x
P.point.y = obj_cam_y
P.point.z = Distance
#Transform Point into map coordinates
# trans_pt = self.tl.transformPoint('/map', P)
#fill in the publisher object to publish
obj_info_pub = object_loc()
obj_info_pub.ID = Red_Id
obj_info_pub.point.x = 0
obj_info_pub.point.y = 0
obj_info_pub.point.z = 0
#publish the message
self.object_location_pub.publish(obj_info_pub)
#BLUE STUFF
# Threshold the HSV image to get only single color portions
mask2 = cv2.inRange(hsv, lower_blue, upper_blue)
#Find contours(borders) for the shapes in the image
#NOTE if you get following error:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
# ValueError: need more than two values to unpack
# change following line to:
# contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
contours, hierarchy = cv2.findContours(mask2,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
#Pass through each contour and check if it has required properties to classify into required object
for x in range (len(contours)):
contourarea = cv2.contourArea(contours[x]) #get area of contour
if contourarea > 600: #Discard contours with a small area as this may just be noise
#The below 2 functions help you to approximate the contour to a nearest polygon
arclength = cv2.arcLength(contours[x], True)
approxcontour = cv2.approxPolyDP(contours[x], 0.02 * arclength, True)
#Find the coordinates of the polygon with respect to he camera frame in pixels
rect_cordi = cv2.minAreaRect(contours[x])
obj_x = int(rect_cordi[0][0])
obj_y = int(rect_cordi[0][1])
#Check for Square
if len(approxcontour) == 4:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((4,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*square_side_lenth)/LongestSide #focal length x Actual Border width / size of Border in pixels
Blue_Id = 132
#Move to next Contour
else :
# v-----------------------v added by team 7 v-----------------------v
#Check for Triangle
if len(approxcontour) == 3:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((3,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*triangle_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Blue_Id = 133
else :
#Check for Star
if len(approxcontour) == 8:
#print ('Length ', len(approxcontour))
cv2.drawContours(cv_image,[approxcontour],0,(0,255,255),2)
approxcontour = approxcontour.reshape((8,2))
LongestSide = Longest_Length(approxcontour)
Distance = (focal_leng*star_side_length)/LongestSide #focal length x Actual Border width / size of Border in pixels
Blue_Id = 131
else :
# ^-----------------------^ added by team 7 ^-----------------------^
continue
#Calculate Cordinates wrt to Camera, convert to Map
#Coordinates and publish message for storing
#319.5, 239.5 = image centre
obj_cam_x = ((obj_x - 319.5)*Distance)/focal_leng
obj_cam_y = ((obj_y - 239.5)*Distance)/focal_leng
#convert the x,y in camera frame to a geometric stamped point
P = PointStamped()
P.header.stamp = rospy.Time(0) # .now() - rospy.Time(23) # ^-----------------------^ commented by team 7 ^-----------------------^
#print ('time: ', data.header.stamp)
P.header.frame_id = 'camera_rgb_optical_frame'
P.point.x = obj_cam_x
P.point.y = obj_cam_y
P.point.z = Distance
#Transform Point into map coordinates
# trans_pt = self.tl.transformPoint('/map', P)
#fill in the publisher object to publish
obj_info_pub = object_loc()
obj_info_pub.ID = Blue_Id
obj_info_pub.point.x = 0
obj_info_pub.point.y = 0
obj_info_pub.point.z = 0
#publish the message
self.object_location_pub.publish(obj_info_pub)
#Display the captured image
cv2.imshow("Image",cv_image)
#cv2.imshow("HSV", hsv)
cv2.waitKey(1)
def fcenet_decode(preds,
fourier_degree,
num_reconstr_points,
scale,
alpha=1.0,
beta=2.0,
text_repr_type='poly',
score_thr=0.3,
nms_thr=0.1):
"""Decoding predictions of FCENet to instances.
Args:
preds (list(Tensor)): The head output tensors.
fourier_degree (int): The maximum Fourier transform degree k.
num_reconstr_points (int): The points number of the polygon
reconstructed from predicted Fourier coefficients.
scale (int): The down-sample scale of the prediction.
alpha (float) : The parameter to calculate final scores. Score_{final}
= (Score_{text region} ^ alpha)
* (Score_{text center region}^ beta)
beta (float) : The parameter to calculate final score.
text_repr_type (str): Boundary encoding type 'poly' or 'quad'.
score_thr (float) : The threshold used to filter out the final
candidates.
nms_thr (float) : The threshold of nms.
Returns:
boundaries (list[list[float]]): The instance boundary and confidence
list.
"""
assert isinstance(preds, list)
assert len(preds) == 2
assert text_repr_type in ['poly', 'quad']
cls_pred = preds[0][0]
tr_pred = cls_pred[0:2].softmax(dim=0).data.cpu().numpy()
tcl_pred = cls_pred[2:].softmax(dim=0).data.cpu().numpy()
reg_pred = preds[1][0].permute(1, 2, 0).data.cpu().numpy()
x_pred = reg_pred[:, :, :2 * fourier_degree + 1]
y_pred = reg_pred[:, :, 2 * fourier_degree + 1:]
score_pred = (tr_pred[1]**alpha) * (tcl_pred[1]**beta)
tr_pred_mask = (score_pred) > score_thr
tr_mask = fill_hole(tr_pred_mask)
tr_contours, _ = cv2.findContours(
tr_mask.astype(np.uint8), cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE) # opencv4
mask = np.zeros_like(tr_mask)
boundaries = []
for cont in tr_contours:
deal_map = mask.copy().astype(np.int8)
cv2.drawContours(deal_map, [cont], -1, 1, -1)
score_map = score_pred * deal_map
score_mask = score_map > 0
xy_text = np.argwhere(score_mask)
dxy = xy_text[:, 1] + xy_text[:, 0] * 1j
x, y = x_pred[score_mask], y_pred[score_mask]
c = x + y * 1j
c[:, fourier_degree] = c[:, fourier_degree] + dxy
c *= scale
polygons = fourier2poly(c, num_reconstr_points)
score = score_map[score_mask].reshape(-1, 1)
polygons = poly_nms(np.hstack((polygons, score)).tolist(), nms_thr)
boundaries = boundaries + polygons
boundaries = poly_nms(boundaries, nms_thr)
if text_repr_type == 'quad':
new_boundaries = []
for boundary in boundaries:
poly = np.array(boundary[:-1]).reshape(-1, 2).astype(np.float32)
score = boundary[-1]
points = cv2.boxPoints(cv2.minAreaRect(poly))
points = np.int0(points)
new_boundaries.append(points.reshape(-1).tolist() + [score])
return boundaries
def split_text_line2(line, step, img=None):
"""
按照 minAreaRect 对文本进行划分
:param line:
(x1,y1,x2,y2,x3,y3,x4,y4)
矩形四点坐标的顺序： left-top, right-top, right-bottom, left-bottom
:return: [(anchor_xmin, anchor_ymin, anchor_xmax, anchor_ymax)]
"""
global global_k_is_none_count
if DEBUG:
img = draw_four_vectors(img, line)
xmin, ymin, xmax, ymax = get_ltrb(line)
width = xmax - xmin
height = ymax - ymin
if height > MAX_HEIGHT_WIDTH_SCALE * width:
return []
anchor_count = int(math.ceil(width / step))
if DEBUG:
img = draw_bounding_box(img, (xmin, ymin, xmax, ymax))
rect = cv2.minAreaRect(
np.asarray([[line[0], line[1]], [line[2], line[3]], [line[4], line[5]],
[line[6], line[7]]]))
# 获得最小 rotate rect 的四个角点
box = cv2.boxPoints(rect)
box = get_clockwise(box)
if DEBUG:
img = draw_four_vectors(img,
(box[0][0], box[0][1], box[1][0], box[1][1],
box[2][0], box[2][1], box[3][0], box[3][1]),
color=(255, 55, 55))
p1 = Point(box[0][0], box[0][1])
p2 = Point(box[1][0], box[1][1])
p3 = Point(box[2][0], box[2][1])
p4 = Point(box[3][0], box[3][1])
l1 = Line(p1, p2)
l2 = Line(p2, p3)
l3 = Line(p3, p4)
l4 = Line(p4, p1)
lines = [l1, l2, l3, l4]
if l1.k is None:
global_k_is_none_count += 1
print("l1 K is None")
print(p1)
print(p2)
print(p3)
print(p4)
return []
splited_lines = []
for i in range(anchor_count):
anchor_xmin = i * step + xmin
anchor_xmax = anchor_xmin + step - 1
anchor_ymin = ymin
anchor_ymax = ymax
# 垂直于 X 轴的线
left_line = Line(Point(anchor_xmin, 0), Point(anchor_xmin, height))
right_line = Line(Point(anchor_xmax, 0), Point(anchor_xmax, height))
left_cross_pnts = [left_line.cross(l) for l in lines]
right_cross_pnts = [right_line.cross(l) for l in lines]
if l1.k < 0:
if l1.contain(right_cross_pnts[0]):
anchor_ymin = right_cross_pnts[0].y
if l4.contain(right_cross_pnts[3]):
anchor_ymax = right_cross_pnts[3].y
if l3.contain(left_cross_pnts[2]):
anchor_ymax = left_cross_pnts[2].y
if l2.contain(left_cross_pnts[1]):
anchor_ymin = left_cross_pnts[1].y
if l1.k > 0:
if l4.contain(right_cross_pnts[3]):
anchor_ymin = right_cross_pnts[3].y
if l3.contain(right_cross_pnts[2]):
anchor_ymax = right_cross_pnts[2].y
if l1.contain(left_cross_pnts[0]):
anchor_ymin = left_cross_pnts[0].y
if l2.contain(left_cross_pnts[1]):
anchor_ymax = left_cross_pnts[1].y
if anchor_ymax - anchor_ymin <= MIN_TEXT_HEIGHT:
continue
if DEBUG:
img = draw_bounding_box(
img, (anchor_xmin, anchor_ymin, anchor_xmax, anchor_ymax),
(0, 0, 255))
cv2.imshow('test', img)
cv2.waitKey()
splited_lines.append(
(anchor_xmin, anchor_ymin, anchor_xmax, anchor_ymax))
if DEBUG:
cv2.imshow('test', img)
cv2.waitKey()
return splited_lines
def draw_circle(xy,r,color):
cv2.circle(resize, (int(xy[0]), int(xy[1])) , r, color, -1)
def mid_point(a,b):
return ((a[0] + b[0]) / 2 , (a[1] + b[1]) / 2)
def draw_line(a,b):
cv2.line(resize, (int(a[0]),int(a[1])), (int(b[0]), int(b[1])), (255,0,0), thickness=2)
def distance(a,b):
return int(dist.euclidean(a,b))
for c in cnts:
box = cv2.minAreaRect(c)
box = cv2.boxPoints(box)
box = np.array(box, dtype="int")
box = Helpers.orders(box)
(tl, tr, br, bl) = box
cv2.drawContours(resize, [box.astype("int")], -1, (0, 0, 255), 2)
for xy in box:
draw_circle(xy,4,(0,255,0))
tltr = mid_point(tl,tr)
tlbl = mid_point(tl,bl)
trbr = mid_point(tr,br)
blbr = mid_point(bl,br)
def getMinRectangles(input_binary_img):
_, contours, _ = cv2.findContours(input_binary_img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE, offset=(0, 0))
min_rects = [None] * len(contours)
for i in range(len(contours)):
min_rects[i] = cv2.minAreaRect(contours[i])
return contours, min_rects
def PoseEstimator(self, frame):
# convert the frame to grayscale, blur it, and detect edges
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
blurred = cv2.GaussianBlur(gray, (7, 7), 0)
edged = cv2.Canny(blurred, 50, 150)
# find contours in the edge map
# print cv2.findContours(edged.copy(), cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)
(_, cnts, _) = cv2.findContours(edged.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
Area = 0
# loop over the contours
for c in cnts:
# approximate the contour
peri = cv2.arcLength(c, True)
approx = cv2.approxPolyDP(c, 0.01 * peri, True)
# ensure that the approximated contour is "roughly" rectangular
if len(approx) >= 4 and len(approx) <= 6:
# compute the bounding box of the approximated contour and
# use the bounding box to compute the aspect ratio
(x1, y1, w, h) = cv2.boundingRect(approx)
# print x1
# print y1
aspectRatio = w / float(h)
# compute the solidity of the original contour
Area = []
area = cv2.contourArea(c)
Area = max(area, Area)
hullArea = cv2.contourArea(cv2.convexHull(c))
solidity = area / float(hullArea)
# compute whether or not the width and height, solidity, and
# aspect ratio of the contour falls within appropriate bounds
keepDims = w > 25 and h > 25
keepSolidity = solidity > 0.9
keepAspectRatio = aspectRatio >= 0.8 and aspectRatio <= 1.2
# ensure that the contour passes all our tests
if keepDims and keepSolidity and keepAspectRatio:
# draw an outline around the target and update the status
# text
cv2.drawContours(frame, [approx], -1, (0, 0, 255), 4)
status = "Target(s) Acquired"
# This will give you the Pixel location of the rectangular box
rc = cv2.minAreaRect(approx[:])
# print rc,'rc'
box = cv2.boxPoints(rc)
pt = []
for p in box:
val = (p[0], p[1])
pt.append(val)
# print pt,'pt'
cv2.circle(frame, val, 5, (200, 0, 0), 2)
#print pt
M = cv2.moments(approx)
(cX, cY) = (int(M["m10"] / M["m00"]),
int(M["m01"] / M["m00"]))
(startX, endX) = (int(cX - (w * 0.15)),
int(cX + (w * 0.15)))
(startY, endY) = (int(cY - (h * 0.15)),
int(cY + (h * 0.15)))
cv2.line(frame, (startX, cY), (endX, cY), (0, 0, 255), 3)
cv2.line(frame, (cX, startY), (cX, endY), (0, 0, 255), 3)
#print "cX", cX
cv2.putText(frame, str(cX), (cX, cY),
cv2.FONT_HERSHEY_SIMPLEX, 2, 100)
# 2D image points. If you change the image, you need to change vector
image_points = np.array([pt], dtype="double")
# print image_points
size = frame.shape
# 3D model points.
model_points = np.array([
(0.0, 0.0, 0.0), # Rectangle center
(0.0, 13.6, 0.0), #
(13.6, 13.6, 0.0), #
(13.6, 0.0, 0.0), #
])
# Camera intrinsic parameters
focal_length = size[1]
center = (size[1] / 2, size[0] / 2)
camera_matrix = np.array(
[[focal_length, 0, center[0]],
[0, focal_length, center[1]], [0, 0, 1]],
dtype="double")
# print "Camera Matrix :\n {0}".format(camera_matrix)
criteria = (cv2.TERM_CRITERIA_EPS +
cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)
dist_coeffs = np.zeros(
(4, 1)) # Assuming no lens distortion
(success, rotation_vector,
translation_vector) = cv2.solvePnP(
model_points, image_points, camera_matrix,
dist_coeffs, criteria)
rotationMatrix = np.zeros((3, 3), np.float32)
# print "Rotation Vector:\n {0}".format(rotation_vector)
print "Translation Vector:\n {0}".format(
translation_vector)
print translation_vector[2]
cv2.putText(frame, str(round(translation_vector[2],
2)), (cX, cY + 50),
cv2.FONT_HERSHEY_SIMPLEX, 2, 100)
cv2.imshow("Image window", frame)
# Rodrigues to convert it into a Rotation vector
#print rotation_vector
dst, jacobian = cv2.Rodrigues(rotation_vector)
#print "Rotation matrix:\n {0}".format(dst)
# sy = math.sqrt(dst[0, 0] * dst[0, 0] + dst[1, 0] * [1, 0])
A = dst[2, 1] * dst[2, 2]
B = dst[1, 0] * dst[0, 0]
# C = -dst[2,0]*sy
if success:
#print cX
self.twist.linear.x = self.translate(
translation_vector[2], 45, 200, -.1, 1)
self.twist.linear.y = 0
self.twist.linear.z = 0
self.twist.angular.x = 0
self.twist.angular.y = 0
self.twist.angular.z = self.translate(
cX, 50, 600, -1, 1)
#print "Twist values are " , self.twist
try:
self.twist_pub.publish(self.twist)
print self.twist
except:
print "failed to publish"
# Eular angles
Theta_x = math.degrees(math.atan(A) * 2)
#Theta_y = math.degrees(math.atan(C)*2)
Theta_z = math.degrees(math.atan(B) * 2)
#print "Roll axis:\n {0}".format(Theta_x)
#print "Yaw axis:\n {0}".format(Theta_z)
cv2.imshow("Pose estimator", frame)
cv2.waitKey(1)
def solidity(self, contour):
w, h = cv2.minAreaRect(contour)[1]
area = w * h
contourArea = cv2.contourArea(contour)
return contourArea / area
_, frame = cap.read()
frame = np.array(np.flip(frame, 1))
frame = cv2.resize(frame, (0, 0), fx=0.5, fy=0.5)
blur = cv2.GaussianBlur(frame, (5, 5), 0)
hsv = cv2.cvtColor(blur, cv2.COLOR_BGR2HSV)
### Color Thresholds
mask = cv2.inRange(hsv, np.array([h_low, s_low, v_low]),
np.array([h_hi, s_hi, v_hi]))
### Change Here
res = cv2.bitwise_and(frame, frame, mask=mask)
im, contours, hierarchy = cv2.findContours(mask, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
if contours is not None and len(contours) > 0:
cnt = max(
contours,
key=lambda x: cv2.minAreaRect(x)[1][0] * cv2.minAreaRect(x)[1][1])
rect = cv2.minAreaRect(cnt)
boxpts = cv2.boxPoints(rect)
box = np.int0(boxpts)
cv2.drawContours(frame, [box], 0, (0, 0, 255), 5)
for corner in boxpts:
cv2.circle(frame, (corner[0], corner[1]), 10, (0, 0, 255), -1)
cv2.imshow('contours', np.hstack((frame, res)))
#else:
# cv2.imshow('contours', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
cap.release()
cv2.destroyAllWindows()
