def window(name):
# Create a frame for this window and fill it with a nice color
frame = np.zeros((200, 500, 3), np.uint8)
frame[:] = (49, 52, 49)
# Inform cvui that the components to be rendered from now one belong to
# a window in particular.
#
# If you don't inform that, cvui will assume the components belong to
# the default window (informed in cvui.init()). In that case, the
# interactions with all other windows being used will not work.
cvui.context(name)
# Show info regarding the window
cvui.printf(frame, 110, 50, '%s - click the button', name)
# Buttons return true if they are clicked
if cvui.button(frame, 110, 90, 'Button'):
cvui.printf(frame, 200, 95, 'Button clicked!')
print('Button clicked on: ', name)
# Tell cvui to update its internal structures regarding a particular window.
#
# If cvui is being used in multiple windows, you need to enclose all component
# calls between the pair cvui.context(NAME)/cvui.update(NAME), where NAME is
# the name of the window being worked on.
cvui.update(name)
# Show the content of this window on the screen
cvui.imshow(name, frame)
def windows_show(self):
cvui.update()
cvui.context(self.mainwindow_name)
cvui.imshow(self.mainwindow_name, self.mainframe)
cv2.displayStatusBar(
self.mainwindow_name,
"{:3.2f}pmm X:{:03d} Y:{:03d} Focus:{:05d} Contours:{:02d} Xmm:{:7.2f} Ymm{:7.2f} Color:{}"
.format(self.cal_line_distance_total, self.mouse_x, self.mouse_y,
int(self.focus_value), self.contours_found_quan,
self.actual_mm_x, self.actual_mm_y,
str(self.mouse_color)), 0)
def main():
# We have one mat for each window.
frame1 = np.zeros((1024, 768, 3), np.uint8)
# Create variables used by some components
window1_values = []
window2_values = []
img = cv2.imread('Images/yoga.jpg', cv2.IMREAD_COLOR)
imgRed = cv2.imread('Images/mic.jpg', cv2.IMREAD_COLOR)
imgGray = cv2.imread('Images/gamb.jpg', cv2.IMREAD_COLOR)
img = cv2.resize(img, (200, 200))
imgRed = cv2.resize(imgGray, (200, 200))
imgGray = cv2.resize(imgRed, (200, 200))
padding = 10
# Fill the vector with a few random values
for i in range(0, 20):
window1_values.append(random.uniform(0., 300.0))
window2_values.append(random.uniform(0., 300.0))
# Start two OpenCV windows
cv2.namedWindow(WINDOW1_NAME)
cv2.namedWindow(WINDOW2_NAME)
# Init cvui and inform it to use the first window as the default one.
# cvui.init() will automatically watch the informed window.
cvui.init(WINDOW1_NAME)
# Tell cvui to keep track of mouse events in window2 as well.
cvui.watch(WINDOW2_NAME)
while (True):
# Inform cvui that all subsequent component calls and events are related to window 1.
cvui.context(WINDOW1_NAME)
# Fill the frame with a nice color
frame1[:] = (49, 52, 49)
cvui.beginRow(frame1, 10, 20, -1, -1, 10)
cvui.image(img)
cvui.button(img, imgGray, imgRed)
cvui.endRow()
# Update all components of window1, e.g. mouse clicks, and show it.
cvui.update(WINDOW1_NAME)
cv2.imshow(WINDOW1_NAME, frame1)
# Check if ESC key was pressed
if cv2.waitKey(20) == 27:
break
def compact(name):
# Create a frame for this window and fill it with a nice color
frame = np.zeros((200, 500, 3), np.uint8)
frame[:] = (49, 52, 49)
# Inform cvui that the components to be rendered from now one belong to
# a window in particular.
#
# If you don't inform that, cvui will assume the components belong to
# the default window (informed in cvui.init()). In that case, the
# interactions with all other windows being used will not work.
cvui.context(name)
cvui.printf(frame, 110, 50, '%s - click the button', name)
if cvui.button(frame, 110, 90, 'Button'):
cvui.printf(frame, 200, 95, 'Button clicked!')
print('Button clicked on: ', name)
# Tell cvui to update its internal structures regarding a particular window
# then show it. Below we are using cvui.imshow(), which is cvui's version of
# the existing cv2.imshow(). They behave exactly the same, the only difference
# is that cvui.imshow() will automatically call cvui.update(name) for you.
cvui.imshow(name, frame)
def run(self):
self.main_frame = np.zeros((380, 400, 3), np.uint8)
cv.namedWindow(self.main_window_name)
cvui.init(self.main_window_name)
while True:
cvui.context(self.main_window_name)
self.main_frame[:] = (49, 52, 49)
cvui.beginColumn(self.main_frame, 50, 20, -1, -1, 10)
cvui.text('Click to open an image')
if cvui.button('Select Image'):
self.load_image()
cvui.text('Load a previously saved txt file to current image')
if cvui.button("Read Txt file"):
self.read_txt()
cvui.text('Save to txt file')
if cvui.button('Save'):
self.save_to_txt()
if cvui.button("Show/Hide Index"):
self.has_index = not self.has_index
if cvui.button("Clear All Points"):
self.points.clear()
self.high_light_point = None
cvui.text('Max click distance to select one point')
cvui.text('adjust smaller if you want to click two close points')
cvui.trackbar(200, self.threshold, 0.000, 0.02, 2, '%.4Lf')
cvui.endColumn()
cvui.update(self.main_window_name)
cv.imshow(self.main_window_name, self.main_frame)
key = cv.waitKey(20)
if key == 27 or not self.is_window_open(self.main_window_name):
self.tkinter_root.destroy()
break
if self.is_window_open(self.image_window_name):
cvui.context(self.image_window_name)
self.show_image = cv.resize(
self.origin_image, (self.actual_width, self.actual_height))
for i, point in enumerate(self.points):
if i not in self.deleted_list:
self.draw_intersection(self.show_image, point, i)
if self.high_light_point is not None:
point = self.points[self.high_light_point]
cv.circle(self.show_image,
(int(point[0] * self.actual_width),
int(point[1] * self.actual_height)), 5,
(0, 255, 255), 1)
# Fill the error window if a vibrant color
# if self.image_window_flag:
cvui.update(self.image_window_name)
cv.imshow(self.image_window_name, self.show_image)
self.keyboard(key)
def main():
# We have one mat for each window.
frame1 = np.zeros((200, 500, 3), np.uint8)
frame2 = np.zeros((200, 500, 3), np.uint8)
frame3 = np.zeros((200, 500, 3), np.uint8)
# Init cvui, instructing it to create 3 OpenCV windows.
windows = [WINDOW1_NAME, WINDOW2_NAME, WINDOW3_NAME]
cvui.init(windows, 3)
while (True):
# clear all frames
frame1[:] = (49, 52, 49)
frame2[:] = (49, 52, 49)
frame3[:] = (49, 52, 49)
# Inform cvui that all subsequent component calls and events are related to window 1.
# We do that by calling cvui.context().
cvui.context(WINDOW1_NAME)
cvui.printf(
frame1, 10, 10,
'In window1, mouse is at: %d,%d (obtained from window name)',
cvui.mouse(WINDOW1_NAME).x,
cvui.mouse(WINDOW1_NAME).y)
if cvui.mouse(WINDOW1_NAME, cvui.LEFT_BUTTON, cvui.IS_DOWN):
cvui.printf(frame1, 10, 30,
'In window1, mouse LEFT_BUTTON is DOWN')
cvui.imshow(WINDOW1_NAME, frame1)
# From this point on, we are going to render the second window. We need to inform cvui
# that all updates and components from now on are connected to window 2.
cvui.context(WINDOW2_NAME)
cvui.printf(frame2, 10, 10,
'In window2, mouse is at: %d,%d (obtained from context)',
cvui.mouse().x,
cvui.mouse().y)
if cvui.mouse(cvui.LEFT_BUTTON, cvui.IS_DOWN):
cvui.printf(frame2, 10, 30,
'In window2, mouse LEFT_BUTTON is DOWN')
cvui.imshow(WINDOW2_NAME, frame2)
# Finally we are going to render the thrid window. Again we need to inform cvui
# that all updates and components from now on are connected to window 3.
cvui.context(WINDOW3_NAME)
cvui.printf(frame3, 10, 10, 'In window1, mouse is at: %d,%d',
cvui.mouse(WINDOW1_NAME).x,
cvui.mouse(WINDOW1_NAME).y)
cvui.printf(frame3, 10, 30, 'In window2, mouse is at: %d,%d',
cvui.mouse(WINDOW2_NAME).x,
cvui.mouse(WINDOW2_NAME).y)
cvui.printf(frame3, 10, 50, 'In window3, mouse is at: %d,%d',
cvui.mouse(WINDOW3_NAME).x,
cvui.mouse(WINDOW3_NAME).y)
if cvui.mouse(WINDOW1_NAME, cvui.LEFT_BUTTON, cvui.IS_DOWN):
cvui.printf(frame3, 10, 90, 'window1: LEFT_BUTTON is DOWN')
if cvui.mouse(WINDOW2_NAME, cvui.LEFT_BUTTON, cvui.IS_DOWN):
cvui.printf(frame3, 10, 110, 'window2: LEFT_BUTTON is DOWN')
if cvui.mouse(WINDOW3_NAME, cvui.LEFT_BUTTON, cvui.IS_DOWN):
cvui.printf(frame3, 10, 130, 'window3: LEFT_BUTTON is DOWN')
cvui.imshow(WINDOW3_NAME, frame3)
# Check if ESC key was pressed
if cv2.waitKey(20) == 27:
break
def teach_step(posed='Images/yoga.jpg', Check=False):
Estimator = TfPoseEstimator
frame1 = np.zeros((768, 1024, 3), np.uint8)
WINDOW1_NAME = 'Dance Dance Pose'
cv2.namedWindow(WINDOW1_NAME)
cvui.init(WINDOW1_NAME)
inferred = infer(posed)
original = cv2.imread(posed)
#time.sleep(5)
if original.shape[0] != 480 or original.shape[1] != 640:
original = cv2.resize(original, (368, 368))
if Check:
cv2.imwrite('check.jpg', inferred)
inferred = inferred - original
#inferred=cv2.copyMakeBorder(inferred[:,int(np.nonzero(inferred)[1][0]/2):],0,0,0,int(np.nonzero(inferred)[1][0]/2),cv2.BORDER_REPLICATE)
timeout = time.time() + 10
capture = cv2.VideoCapture(0)
counter = [time.time()]
x = 1
while True:
cvui.context(WINDOW1_NAME)
ret, frame = capture.read()
gray = frame
if gray.shape[0] != 4810 or gray.shape[1] != 640:
gray = cv2.resize(gray, (368, 368))
dst = cv2.addWeighted(inferred, 0.5, gray, 0.5, 0)
frame1[:] = (49, 52, 49)
cvui.beginRow(frame1, 10, 20, -1, -1, 30)
cvui.image(dst)
cvui.image(original)
cvui.endRow()
cvui.beginRow(frame1, 10, 400, -1, -1, 30)
cvui.counter(frame1, 100, 410, counter, 0.1, '%.1f')
counter = [timeout - time.time() for x in counter]
cvui.text(frame1, 10, 410, "Tick tick")
cvui.endRow()
cvui.update(WINDOW1_NAME)
cv2.imshow(WINDOW1_NAME, frame1)
if cv2.waitKey(1) & 0xFF == ord('q') or time.time() > timeout:
filename = 'captures/capture' + \
str(int(x)) + ".png"
x = x + 1
cv2.imwrite(filename, frame)
break
inferred_capture = infer(filename)
original_inferred = cv2.imread(filename)
if original_inferred.shape[0] != 4380 or original_inferred.shape[1] != 640:
inferred_capture = cv2.resize(inferred_capture, (368, 368))
original_inferred = cv2.resize(original_inferred, (368, 368))
while True:
final = cv2.addWeighted(inferred, 0.5, inferred_capture, 0.5, 0)
cv2.imshow('final', final)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
diff_inferred = inferred_capture - original_inferred
bw_inferred = cv2.cvtColor(diff_inferred, cv2.COLOR_BGR2GRAY)
bw_inferred[bw_inferred >= 1] = 1
bw_inferred[bw_inferred < 1] = 0
bw_orig_inferred = cv2.cvtColor(inferred, cv2.COLOR_BGR2GRAY)
bw_orig_inferred[bw_orig_inferred >= 1] = 1
bw_orig_inferred[bw_orig_inferred < 1] = 0
total = bw_orig_inferred == bw_inferred
print('')
print('')
print('Overlap:' + str((1 - np.sum(total) / np.size(total)) * 10))
def main():
global keep_running
# This is for saving video *with* detection boxes on it
# To save raw video, use the CameraSaver.py script
save_video = True
if save_video:
sz = (p.IMG_WIDTH_SPOTTER, p.IMG_HEIGHT_SPOTTER)
fourcc = cv2.VideoWriter_fourcc(*'mp4v')
vout = cv2.VideoWriter()
vout.open('track_output.mp4', fourcc, p.FPS_SPOTTER, sz, False)
signal.signal(signal.SIGINT, sigint_handler)
control_panes = ControlPanes()
control_panes.stage_control_pane = EnhancedWindow(0, 0, 300, 500,
'Stage Control')
control_panes.focus_control_pane = EnhancedWindow(0, 20, 300, 500,
'Focus Control')
control_panes.tracker_select_pane = EnhancedWindow(0, 40, 300, 500,
'Tracker Select')
control_panes.canny_settings_pane = EnhancedWindow(0, 60, 300, 500,
'Canny Tuning')
control_panes.threshold_setting_pane = EnhancedWindow(
0, 80, 300, 500, 'Threshold Tuning')
cvui.init(p.CTRL_WINDOW_NAME)
cvui.init(p.VIDEO_WINDOW_NAME)
context = zmq.Context()
(video_socket, focus_sub, stage_sub, focus_state_sub, macro_sharpness_sub,
track_socket, roi_socket, af_pub) = setup_zmq(context)
stage_zero_offset = np.load('tank_corners_offset.npy')
world_points = np.load('tank_corners.npy')
intrinsic = np.load('intrinsic_calibration/ll_65/intrinsic.npy')
stage_x = None
stage_y = None
stage_z = None
z_moving = True
current_ll_focus = None
object_distance_ll = 0
target_pos_obs = None
target_pos = np.array([1, 1])
target_pos_slow = target_pos.copy()
feature_delta = np.array([0, 0])
target_track_init = False
STAGE_MODE = 'PAUSED'
FOCUS_MODE = 'MANUAL'
tracker_type = 'KCF' # options are KCF or CANNY
# These three structs store the state information necessary for the trackers
canny_tracker_state = CannyTracker()
canny_tracker_state.canny_low = [50]
canny_tracker_state.canny_high = [150]
kcf_tracker_state = KCFTracker()
kcf_tracker_state.kcf_box_anchor = cvui.Point()
kcf_tracker_state.kcf_roi = cvui.Rect(0, 0, 0, 0)
kcf_tracker_state.kcf_tracker_init = False
threshold_tracker_state = ThresholdTracker()
threshold_tracker_state.threshold = [30]
threshold_tracker_state.roi = cvui.Rect(0, 0, 0, 0)
threshold_tracker_state.box_anchor = cvui.Point
threshold_tracker_state.show_binary = [False]
sharpness_focus_state = SharpnessFocusState()
sharpness_focus_state.mode = 'COARSE'
macro_sharpness = 0
while keep_running:
ctrl_frame = np.zeros((700, 300, 3), np.uint8)
# Receive stage position updates
try:
stage_pos = stage_sub.recv_string()
(stage_x, stage_y,
stage_z_new) = [float(x) for x in stage_pos.split(' ')]
if stage_z_new == stage_z:
z_moving = False
else:
z_moving = True
stage_z = stage_z_new
except zmq.Again:
# the stage publisher only publishes at ~10hz, so not having an update is common
pass
# Receive macro sharpness
try:
macro_sharpness_last = macro_sharpness
macro_sharpness = float(macro_sharpness_sub.recv_string())
except zmq.Again:
# no sharpness value, which is unexpected
print('No Macro Image Sharpness!')
# receive next frame
try:
frame = recv_img(video_socket)
except zmq.Again:
print('Timed Out!')
time.sleep(1)
continue
cvui.context(p.VIDEO_WINDOW_NAME)
if cvui.mouse(cvui.IS_DOWN):
(target_pos, feature_delta) = reset_target_selection()
target_pos_slow = target_pos.copy()
target_track_init = True
feature_delta += get_feature_2delta()
if stage_x is not None:
stage_pos = np.array([stage_x, stage_y, -stage_z], ndmin=2).T
frame = tank_corners_clip(frame, stage_pos, stage_zero_offset,
world_points, intrinsic)
# This is where the tracking happens. tracker_type is controlled by a button on the interface
# Adding a new tracker is as simple as adding another case to this if/else and adding a button in
# the UI to switch into the new tracking mode
if tracker_type == 'CANNY':
canny_tracker_state.target_pos = target_pos
(target_pos_obs, roi, canny_tracker_state) = update_canny_tracker(
frame, canny_tracker_state)
elif tracker_type == 'KCF':
cvui.context(p.VIDEO_WINDOW_NAME)
(target_pos_obs, roi,
kcf_tracker_state) = update_kcf_tracker(frame, kcf_tracker_state)
elif tracker_type == 'THRESHOLD':
cvui.context(p.VIDEO_WINDOW_NAME)
threshold_tracker_state.target_pos = target_pos
(target_pos_obs, roi,
threshold_tracker_state) = update_threshold_tracker(
frame, threshold_tracker_state)
else:
print('Invalid tracker mode: %s' % tracker_type)
roi = None
keep_running = False
# This roi_msg takes an roi that may have been identified around the animal and sends it over zmq
# This enables any cameras trying to autofocus to know which roi to keep in focus
# if no autofocusing is happening, then these messages don't do anything
if roi is not None:
roi_msg = m.SetFocusROI(roi[0], roi[1])
else:
roi_msg = m.SetFocusROI(None, None)
roi_socket.send_pyobj(
roi_msg
) # tell the LL camera (or anything else I guess) which ROI to focus
(target_track_ok, target_pos,
target_pos_slow) = filter_target_position(target_pos, target_pos_slow,
target_pos_obs)
# This is probably where we want to use the other camera to estimate depth
# Now we have a giant state machine. We need to structure the code this way, because we want 2D tracking and
# user interaction to update even when we are waiting on some slower action to occur related to object depth
# and focusing. The state machine provides a mechanism to handle these slower processes while not impeding the
# rest of the tracking process.
# STAGE_MODE = {MANUAL | AUTO | PAUSED}
# -- In MANUAL mode, dx,dy,dz all set by keyboard input.
# -- In AUTO mode, dx and dy are set by tracker. dz is set by autofocus if FOCUS_MODE is set to AUTO
# -- In PAUSED mode, dx = dy = dz = 0. The tracker will keep tracking, but the stage won't move
#
# FOCUS_MODE = {MANUAL | SHARPNESS | DEPTH}
# -- In MANUAL mode, dz is set by keyboard input
# -- In SHARPNESS mode, dz is set by trying to maximize sharpness, although the final position can be tweaked
# by user input. SHARPNESS mode does nothing if STAGE_MODE is MANUAL
# -- In DEPTH mode, dz is set by a target depth measurement that is estimated from a second camera
# (stereo or perpendicular)
# Determine dx and dy
if STAGE_MODE == 'PAUSED': # -> Stage Control
track_socket.send_string('0 0 0')
dx = 0
dy = 0
dz = 0
elif STAGE_MODE == 'MANUAL': # TODO: Probably tune this better
(dx, dy) = get_feature_2delta()
dx = 10 * dx
dy = 10 * dy
print('FULL_MANUAL %f, %f' % (dx, dy))
dz = manual_focus_update()
elif STAGE_MODE == 'AUTO':
# The tracker makes a determination in pixel space, then we may decide to filter it. We then determine the
# dx and dy based on the distance between the feature of interest and the macro lens center
# how much do we need to move in pixel-space?
# Note dx and dy are 0 if there are no target tracks
if stage_z is None:
print('Waiting on stage node')
dx = 0
dy = 0
dz = 0
else:
if target_pos_obs is not None:
if target_track_ok:
(dx, dy) = calculate_movement_offsets(
frame, target_pos, target_pos_slow, feature_delta)
else:
dx = 0
dy = 0
else:
dx = 0
dy = 0
target_track_ok = False
# When STAGE_MODE == 'AUTO', we need to determine how to handle the focusing
if FOCUS_MODE == 'MANUAL':
dz = manual_focus_update()
elif FOCUS_MODE == 'SHARPNESS':
sharpness_focus_state.stage_z = stage_z
sharpness_focus_state.macro_sharpness = macro_sharpness
sharpness_focus_state.z_moving = z_moving
dz, sharpness_focus_state = sharpness_focus(
sharpness_focus_state, af_pub, focus_state_sub,
video_socket, focus_sub)
elif FOCUS_MODE == 'DEPTH':
# this is the mode when we have a second camera to estimate depth
dz = 0
else:
# invalid focus mode
print('Invalid focus mode %s' % FOCUS_MODE)
sys.exit(1)
else:
print('Unknown stage mode: %s' % STAGE_MODE)
dx = 0
dy = 0
dz = 0
print(dx, dy, dz)
track_socket.send_string(
'%f %f %f' %
(dx, dy, dz)) # 'wasteful', but easier debugging for now
frame = cv2.resize(
frame, (p.IMG_DISP_WIDTH_SPOTTER, p.IMG_DISP_HEIGHT_SPOTTER))
# draw dots on frame centers
cv2.circle(frame, (int(
p.IMG_DISP_WIDTH_SPOTTER / 2), int(p.IMG_DISP_HEIGHT_SPOTTER / 2)),
5, (0, 0, 255), -1) # center of frame
cv2.circle(frame, (p.MACRO_LL_CENTER[0], p.MACRO_LL_CENTER[1]), 5,
(255, 0, 255), -1) # center of macro frame frame
cvui.update(p.VIDEO_WINDOW_NAME)
cv2.imshow(p.VIDEO_WINDOW_NAME, frame)
if save_video:
vout.write(frame)
cvui.context(p.CTRL_WINDOW_NAME)
STAGE_MODE, FOCUS_MODE, tracker_type, macro_resweep, ll_resweep = draw_settings(
ctrl_frame, control_panes, canny_tracker_state,
threshold_tracker_state, STAGE_MODE, FOCUS_MODE, tracker_type)
if macro_resweep:
p.BYPASS_LL_ESTIMATE = True
sharpness_focus_state.mode = 'FINE_UNINITIALIZED'
if ll_resweep:
if stage_z is not None:
print('Liquid Lens Refocus!')
dist_to_tank = (300 - stage_z) + p.STAGE_TANK_OFFSET
ll_max = 2953.5 * dist_to_tank**-0.729
ll_min = 2953.5 * (dist_to_tank + p.TANK_DEPTH_MM)**-0.729
print('llmin, llmax: (%f, %f)' % (ll_min, ll_max))
af_pub.send_pyobj(m.AutofocusMessage(ll_min, ll_max, 1))
else:
print('Cannot refocus liquid lens until stage node is running')
cvui.update(p.CTRL_WINDOW_NAME)
cv2.imshow(p.CTRL_WINDOW_NAME, ctrl_frame)
cv2.waitKey(1)
if save_video:
vout.release()
def main():
# We have one mat for each window.
frame1 = np.zeros((600, 800, 3), np.uint8)
frame2 = np.zeros((600, 800, 3), np.uint8)
# Create variables used by some components
window1_values = []
window2_values = []
window1_checked = [False]
window1_checked2 = [False]
window2_checked = [False]
window2_checked2 = [False]
window1_value = [1.0]
window1_value2 = [1.0]
window1_value3 = [1.0]
window2_value = [1.0]
window2_value2 = [1.0]
window2_value3 = [1.0]
img = cv2.imread('lena-face.jpg', cv2.IMREAD_COLOR)
imgRed = cv2.imread('lena-face-red.jpg', cv2.IMREAD_COLOR)
imgGray = cv2.imread('lena-face-gray.jpg', cv2.IMREAD_COLOR)
padding = 10
# Fill the vector with a few random values
for i in range(0, 20):
window1_values.append(random.uniform(0., 300.0))
window2_values.append(random.uniform(0., 300.0))
# Start two OpenCV windows
cv2.namedWindow(WINDOW1_NAME)
cv2.namedWindow(WINDOW2_NAME)
# Init cvui and inform it to use the first window as the default one.
# cvui.init() will automatically watch the informed window.
cvui.init(WINDOW1_NAME)
# Tell cvui to keep track of mouse events in window2 as well.
cvui.watch(WINDOW2_NAME)
while (True):
# Inform cvui that all subsequent component calls and events are related to window 1.
cvui.context(WINDOW1_NAME)
# Fill the frame with a nice color
frame1[:] = (49, 52, 49)
cvui.beginRow(frame1, 10, 20, 100, 50)
cvui.text('This is ')
cvui.printf('a row')
cvui.checkbox('checkbox', window1_checked)
cvui.window(80, 80, 'window')
cvui.rect(50, 50, 0x00ff00, 0xff0000)
cvui.sparkline(window1_values, 50, 50)
cvui.counter(window1_value)
cvui.button(100, 30, 'Fixed')
cvui.image(img)
cvui.button(img, imgGray, imgRed)
cvui.endRow()
padding = 50
cvui.beginRow(frame1, 10, 150, 100, 50, padding)
cvui.text('This is ')
cvui.printf('another row')
cvui.checkbox('checkbox', window1_checked2)
cvui.window(80, 80, 'window')
cvui.button(100, 30, 'Fixed')
cvui.printf('with 50px paddin7hg.')
cvui.endRow()
cvui.beginRow(frame1, 10, 250, 100, 50)
cvui.text('This is ')
cvui.printf('another row with a trackbar ')
cvui.trackbar(150, window1_value2, 0., 5.)
cvui.printf(' and a button ')
cvui.button(100, 30, 'button')
cvui.endRow()
cvui.beginColumn(frame1, 50, 330, 100, 200)
cvui.text('Column 1 (no padding)')
cvui.button('button1')
cvui.button('button2')
cvui.text('End of column 1')
cvui.endColumn()
padding = 10
cvui.beginColumn(frame1, 300, 330, 100, 200, padding)
cvui.text('Column 2 (padding = 10)')
cvui.button('button1')
cvui.button('button2')
cvui.trackbar(150, window1_value3, 0., 5., 1, '%3.2Lf',
cvui.TRACKBAR_DISCRETE, 0.25)
cvui.text('End of column 2')
cvui.endColumn()
cvui.beginColumn(frame1, 550, 330, 100, 200)
cvui.text('Column 3 (use space)')
cvui.space(5)
cvui.button('button1 5px below')
cvui.space(50)
cvui.text('Text 50px below')
cvui.space(20)
cvui.button('Button 20px below')
cvui.space(40)
cvui.text('End of column 2 (40px below)')
cvui.endColumn()
# Update all components of window1, e.g. mouse clicks, and show it.
cvui.update(WINDOW1_NAME)
cv2.imshow(WINDOW1_NAME, frame1)
# From this point on, we are going to render the second window. We need to inform cvui
# that all updates and components from now on are connected to window 2.
# We do that by calling cvui.context().
cvui.context(WINDOW2_NAME)
frame2[:] = (49, 52, 49)
cvui.beginRow(frame2, 10, 20, 100, 50)
cvui.text('This is ')
cvui.printf('a row')
cvui.checkbox('checkbox', window2_checked)
cvui.window(80, 80, 'window')
cvui.rect(50, 50, 0x00ff00, 0xff0000)
cvui.sparkline(window2_values, 50, 50)
cvui.counter(window2_value)
cvui.button(100, 30, 'Fixed')
cvui.image(img)
cvui.button(img, imgGray, imgRed)
cvui.endRow()
padding = 50
cvui.beginRow(frame2, 10, 150, 100, 50, padding)
cvui.text('This is ')
cvui.printf('another row')
cvui.checkbox('checkbox', window2_checked2)
cvui.window(80, 80, 'window')
cvui.button(100, 30, 'Fixed')
cvui.printf('with 50px paddin7hg.')
cvui.endRow()
# Another row mixing several components
cvui.beginRow(frame2, 10, 250, 100, 50)
cvui.text('This is ')
cvui.printf('another row with a trackbar ')
cvui.trackbar(150, window2_value2, 0., 5.)
cvui.printf(' and a button ')
cvui.button(100, 30, 'button')
cvui.endRow()
cvui.beginColumn(frame2, 50, 330, 100, 200)
cvui.text('Column 1 (no padding)')
cvui.button('button1')
cvui.button('button2')
cvui.text('End of column 1')
cvui.endColumn()
padding = 10
cvui.beginColumn(frame2, 300, 330, 100, 200, padding)
cvui.text('Column 2 (padding = 10)')
cvui.button('button1')
cvui.button('button2')
cvui.trackbar(150, window2_value3, 0., 5., 1, '%3.2Lf',
cvui.TRACKBAR_DISCRETE, 0.25)
cvui.text('End of column 2')
cvui.endColumn()
cvui.beginColumn(frame2, 550, 330, 100, 200)
cvui.text('Column 3 (use space)')
cvui.space(5)
cvui.button('button1 5px below')
cvui.space(50)
cvui.text('Text 50px below')
cvui.space(20)
cvui.button('Button 20px below')
cvui.space(40)
cvui.text('End of column 2 (40px below)')
cvui.endColumn()
# Update all components of window2, e.g. mouse clicks, and show it.
cvui.update(WINDOW2_NAME)
cv2.imshow(WINDOW2_NAME, frame2)
# Check if ESC key was pressed
if cv2.waitKey(20) == 27:
break
def main():
# We have one mat for each window.
frame1 = np.zeros((150, 600, 3), np.uint8)
frame2 = np.zeros((150, 600, 3), np.uint8)
error_frame = np.zeros((100, 300, 3), np.uint8)
# Flag to control if we should show an error window.
error = False
# Create two OpenCV windows
cv2.namedWindow(GUI_WINDOW1_NAME)
cv2.namedWindow(GUI_WINDOW2_NAME)
# Init cvui and inform it to use the first window as the default one.
# cvui.init() will automatically watch the informed window.
cvui.init(GUI_WINDOW1_NAME)
# Tell cvui to keep track of mouse events in window2 as well.
cvui.watch(GUI_WINDOW2_NAME)
while (True):
# Inform cvui that all subsequent component calls and events are related to window 1.
cvui.context(GUI_WINDOW1_NAME)
# Fill the frame with a nice color
frame1[:] = (49, 52, 49)
cvui.beginColumn(frame1, 50, 20, -1, -1, 10)
cvui.text('[Win1] Use the buttons below to control the error window')
if cvui.button('Close'):
closeWindow(ERROR_WINDOW_NAME)
# If the button is clicked, we open the error window.
# The content and rendering of such error window will be performed
# after we handled all other windows.
if cvui.button('Open'):
error = True
openWindow(ERROR_WINDOW_NAME)
cvui.endColumn()
# Update all components of window1, e.g. mouse clicks, and show it.
cvui.update(GUI_WINDOW1_NAME)
cv2.imshow(GUI_WINDOW1_NAME, frame1)
# From this point on, we are going to render the second window. We need to inform cvui
# that all updates and components from now on are connected to window 2.
# We do that by calling cvui.context().
cvui.context(GUI_WINDOW2_NAME)
frame2[:] = (49, 52, 49)
cvui.beginColumn(frame2, 50, 20, -1, -1, 10)
cvui.text('[Win2] Use the buttons below to control the error window')
if cvui.button('Close'):
closeWindow(ERROR_WINDOW_NAME)
# If the button is clicked, we open the error window.
# The content and rendering of such error window will be performed
# after we handled all other windows.
if cvui.button('Open'):
openWindow(ERROR_WINDOW_NAME)
error = True
cvui.endColumn()
# Update all components of window2, e.g. mouse clicks, and show it.
cvui.update(GUI_WINDOW2_NAME)
cv2.imshow(GUI_WINDOW2_NAME, frame2)
# Handle the content and rendering of the error window,
# if we have un active error and the window is actually open.
if error and isWindowOpen(ERROR_WINDOW_NAME):
# Inform cvui that all subsequent component calls and events are
# related to the error window from now on
cvui.context(ERROR_WINDOW_NAME)
# Fill the error window if a vibrant color
error_frame[:] = (10, 10, 49)
cvui.text(error_frame, 70, 20, 'This is an error message', 0.4,
0xff0000)
if cvui.button(error_frame, 110, 40, 'Close'):
error = False
if error:
# We still have an active error.
# Update all components of the error window, e.g. mouse clicks, and show it.
cvui.update(ERROR_WINDOW_NAME)
cv2.imshow(ERROR_WINDOW_NAME, error_frame)
else:
# No more active error. Let's close the error window.
closeWindow(ERROR_WINDOW_NAME)
# Check if ESC key was pressed
if cv2.waitKey(20) == 27:
break
def main():
# We have one mat for each window.
frame1 = np.zeros((150, 600, 3), np.uint8)
frame2 = np.zeros((150, 600, 3), np.uint8)
error_frame = np.zeros((100, 300, 3), np.uint8)
# Flag to control if we should show an error window.
error = False
# Create two OpenCV windows
cv2.namedWindow(GUI_WINDOW1_NAME)
cv2.namedWindow(GUI_WINDOW2_NAME)
# Init cvui and inform it to use the first window as the default one.
# cvui.init() will automatically watch the informed window.
cvui.init(GUI_WINDOW1_NAME)
# Tell cvui to keep track of mouse events in window2 as well.
cvui.watch(GUI_WINDOW2_NAME)
while (True):
# Inform cvui that all subsequent component calls and events are related to window 1.
cvui.context(GUI_WINDOW1_NAME)
# Fill the frame with a nice color
frame1[:] = (49, 52, 49)
cvui.beginColumn(frame1, 50, 20, -1, -1, 10)
cvui.text('[Win1] Use the buttons below to control the error window')
if cvui.button('Close'):
closeWindow(ERROR_WINDOW_NAME)
# If the button is clicked, we open the error window.
# The content and rendering of such error window will be performed
# after we handled all other windows.
if cvui.button('Open'):
error = True
openWindow(ERROR_WINDOW_NAME)
cvui.endColumn()
# Update all components of window1, e.g. mouse clicks, and show it.
cvui.update(GUI_WINDOW1_NAME)
cv2.imshow(GUI_WINDOW1_NAME, frame1)
# From this point on, we are going to render the second window. We need to inform cvui
# that all updates and components from now on are connected to window 2.
# We do that by calling cvui.context().
cvui.context(GUI_WINDOW2_NAME)
frame2[:] = (49, 52, 49)
cvui.beginColumn(frame2, 50, 20, -1, -1, 10)
cvui.text('[Win2] Use the buttons below to control the error window')
if cvui.button('Close'):
closeWindow(ERROR_WINDOW_NAME)
# If the button is clicked, we open the error window.
# The content and rendering of such error window will be performed
# after we handled all other windows.
if cvui.button('Open'):
openWindow(ERROR_WINDOW_NAME)
error = True
cvui.endColumn()
# Update all components of window2, e.g. mouse clicks, and show it.
cvui.update(GUI_WINDOW2_NAME)
cv2.imshow(GUI_WINDOW2_NAME, frame2)
# Handle the content and rendering of the error window,
# if we have un active error and the window is actually open.
if error and isWindowOpen(ERROR_WINDOW_NAME):
# Inform cvui that all subsequent component calls and events are
# related to the error window from now on
cvui.context(ERROR_WINDOW_NAME)
# Fill the error window if a vibrant color
error_frame[:] = (10, 10, 49)
cvui.text(error_frame, 70, 20, 'This is an error message', 0.4, 0xff0000)
if cvui.button(error_frame, 110, 40, 'Close'):
error = False
if error:
# We still have an active error.
# Update all components of the error window, e.g. mouse clicks, and show it.
cvui.update(ERROR_WINDOW_NAME)
cv2.imshow(ERROR_WINDOW_NAME, error_frame)
else:
# No more active error. Let's close the error window.
closeWindow(ERROR_WINDOW_NAME)
# Check if ESC key was pressed
if cv2.waitKey(20) == 27:
break
def main():
# We have one mat for each window.
frame1 = np.zeros((600, 800, 3), np.uint8)
frame2 = np.zeros((600, 800, 3), np.uint8)
# Create variables used by some components
window1_values = []
window2_values = []
window1_checked = [False]
window1_checked2 = [False]
window2_checked = [False]
window2_checked2 = [False]
window1_value = [1.0]
window1_value2 = [1.0]
window1_value3 = [1.0]
window2_value = [1.0]
window2_value2 = [1.0]
window2_value3 = [1.0]
img = cv2.imread('lena-face.jpg', cv2.IMREAD_COLOR)
imgRed = cv2.imread('lena-face-red.jpg', cv2.IMREAD_COLOR)
imgGray = cv2.imread('lena-face-gray.jpg', cv2.IMREAD_COLOR)
padding = 10
# Fill the vector with a few random values
for i in range(0, 20):
window1_values.append(random.uniform(0., 300.0))
window2_values.append(random.uniform(0., 300.0))
# Start two OpenCV windows
cv2.namedWindow(WINDOW1_NAME)
cv2.namedWindow(WINDOW2_NAME)
# Init cvui and inform it to use the first window as the default one.
# cvui.init() will automatically watch the informed window.
cvui.init(WINDOW1_NAME)
# Tell cvui to keep track of mouse events in window2 as well.
cvui.watch(WINDOW2_NAME)
while (True):
# Inform cvui that all subsequent component calls and events are related to window 1.
cvui.context(WINDOW1_NAME)
# Fill the frame with a nice color
frame1[:] = (49, 52, 49)
cvui.beginRow(frame1, 10, 20, 100, 50)
cvui.text('This is ')
cvui.printf('a row')
cvui.checkbox('checkbox', window1_checked)
cvui.window(80, 80, 'window')
cvui.rect(50, 50, 0x00ff00, 0xff0000)
cvui.sparkline(window1_values, 50, 50)
cvui.counter(window1_value)
cvui.button(100, 30, 'Fixed')
cvui.image(img)
cvui.button(img, imgGray, imgRed)
cvui.endRow()
padding = 50
cvui.beginRow(frame1, 10, 150, 100, 50, padding)
cvui.text('This is ')
cvui.printf('another row')
cvui.checkbox('checkbox', window1_checked2)
cvui.window(80, 80, 'window')
cvui.button(100, 30, 'Fixed')
cvui.printf('with 50px paddin7hg.')
cvui.endRow()
cvui.beginRow(frame1, 10, 250, 100, 50)
cvui.text('This is ')
cvui.printf('another row with a trackbar ')
cvui.trackbar(150, window1_value2, 0., 5.)
cvui.printf(' and a button ')
cvui.button(100, 30, 'button')
cvui.endRow()
cvui.beginColumn(frame1, 50, 330, 100, 200)
cvui.text('Column 1 (no padding)')
cvui.button('button1')
cvui.button('button2')
cvui.text('End of column 1')
cvui.endColumn()
padding = 10
cvui.beginColumn(frame1, 300, 330, 100, 200, padding)
cvui.text('Column 2 (padding = 10)')
cvui.button('button1')
cvui.button('button2')
cvui.trackbar(150, window1_value3, 0., 5., 1, '%3.2Lf', cvui.TRACKBAR_DISCRETE, 0.25)
cvui.text('End of column 2')
cvui.endColumn()
cvui.beginColumn(frame1, 550, 330, 100, 200)
cvui.text('Column 3 (use space)')
cvui.space(5)
cvui.button('button1 5px below')
cvui.space(50)
cvui.text('Text 50px below')
cvui.space(20)
cvui.button('Button 20px below')
cvui.space(40)
cvui.text('End of column 2 (40px below)')
cvui.endColumn()
# Update all components of window1, e.g. mouse clicks, and show it.
cvui.update(WINDOW1_NAME)
cv2.imshow(WINDOW1_NAME, frame1)
# From this point on, we are going to render the second window. We need to inform cvui
# that all updates and components from now on are connected to window 2.
# We do that by calling cvui.context().
cvui.context(WINDOW2_NAME)
frame2[:] = (49, 52, 49)
cvui.beginRow(frame2, 10, 20, 100, 50)
cvui.text('This is ')
cvui.printf('a row')
cvui.checkbox('checkbox', window2_checked)
cvui.window(80, 80, 'window')
cvui.rect(50, 50, 0x00ff00, 0xff0000)
cvui.sparkline(window2_values, 50, 50)
cvui.counter(window2_value)
cvui.button(100, 30, 'Fixed')
cvui.image(img)
cvui.button(img, imgGray, imgRed)
cvui.endRow()
padding = 50
cvui.beginRow(frame2, 10, 150, 100, 50, padding)
cvui.text('This is ')
cvui.printf('another row')
cvui.checkbox('checkbox', window2_checked2)
cvui.window(80, 80, 'window')
cvui.button(100, 30, 'Fixed')
cvui.printf('with 50px paddin7hg.')
cvui.endRow()
# Another row mixing several components
cvui.beginRow(frame2, 10, 250, 100, 50)
cvui.text('This is ')
cvui.printf('another row with a trackbar ')
cvui.trackbar(150, window2_value2, 0., 5.)
cvui.printf(' and a button ')
cvui.button(100, 30, 'button')
cvui.endRow()
cvui.beginColumn(frame2, 50, 330, 100, 200)
cvui.text('Column 1 (no padding)')
cvui.button('button1')
cvui.button('button2')
cvui.text('End of column 1')
cvui.endColumn()
padding = 10
cvui.beginColumn(frame2, 300, 330, 100, 200, padding)
cvui.text('Column 2 (padding = 10)')
cvui.button('button1')
cvui.button('button2')
cvui.trackbar(150, window2_value3, 0., 5., 1, '%3.2Lf', cvui.TRACKBAR_DISCRETE, 0.25)
cvui.text('End of column 2')
cvui.endColumn()
cvui.beginColumn(frame2, 550, 330, 100, 200)
cvui.text('Column 3 (use space)')
cvui.space(5)
cvui.button('button1 5px below')
cvui.space(50)
cvui.text('Text 50px below')
cvui.space(20)
cvui.button('Button 20px below')
cvui.space(40)
cvui.text('End of column 2 (40px below)')
cvui.endColumn()
# Update all components of window2, e.g. mouse clicks, and show it.
cvui.update(WINDOW2_NAME)
cv2.imshow(WINDOW2_NAME, frame2)
# Check if ESC key was pressed
if cv2.waitKey(20) == 27:
break
def main():
context = zmq.Context()
# Receive video frames from camera
video_socket = context.socket(zmq.SUB)
video_socket.setsockopt(zmq.CONFLATE, 1)
video_socket.setsockopt(zmq.RCVTIMEO, 1000)
video_socket.connect('tcp://%s:%d' %
(p.VIDEO_SPOTTER_IP, p.VIDEO_SPOTTER_PORT))
topicfilter = ''
video_socket.setsockopt_string(zmq.SUBSCRIBE, topicfilter)
# Receive updates from stage
stage_sub = context.socket(zmq.SUB)
stage_sub.setsockopt(zmq.CONFLATE, 1)
stage_sub.setsockopt(zmq.RCVTIMEO, 0)
stage_sub.connect('tcp://%s:%d' %
(p.STAGE_POSITION_IP, p.STAGE_POSITION_PORT))
topicfilter = ''
stage_sub.setsockopt_string(zmq.SUBSCRIBE, topicfilter)
# TODO: We need to connect here instead of binding if we want to use this at the same time as CameraDisplaySpotter
# Publish tracking deltas
track_socket = context.socket(zmq.PUB)
track_socket.bind('tcp://*:%s' % p.TRACK_PORT)
intrinsic = np.load('intrinsic_calibration/ll_65/intrinsic.npy')
cvui.init('MaskWindow1')
# Need to wait for stage to be up and running:
while 1:
try:
stage_msg = stage_sub.recv_string()
(stage_x, stage_y,
stage_z) = [float(x) for x in stage_msg.split(' ')]
break
except zmq.Again:
print('Waiting for stage controller node')
time.sleep(1)
stage_zero_offset = np.array([stage_x, stage_y, -stage_z], ndmin=2).T
np.save('tank_corners_offset.npy', stage_zero_offset)
while keep_running:
MODE = '1'
# phase 1: First position
corner_points = np.zeros(
(3, 8)) # first 4 for front, second 4 for back
corner_ix = 0
print('Click on corners at front of tank')
while MODE == '1':
try:
frame = recv_img(video_socket)
except zmq.Again:
print('No new frame!')
continue
for pt_ix in range(corner_ix):
center = (int(corner_points[0, pt_ix]),
int(corner_points[1, pt_ix]))
if pt_ix < 4:
color = (0, 0, 255)
else:
color = (255, 0, 0)
cv2.circle(frame, center, 5, color, -1)
cvui.update('MaskWindow1')
cv2.imshow('MaskWindow1', frame)
cv2.waitKey(1)
cvui.context('MaskWindow1')
if cvui.mouse(cvui.CLICK):
print('CLICK')
corner_points[0, corner_ix] = cvui.mouse().x
corner_points[1, corner_ix] = cvui.mouse().y
corner_points[2, corner_ix] = 1
corner_ix += 1
if corner_ix == 4:
print('Click on corners at back of tank')
if corner_ix == 8:
MODE = '2'
# Move stage
# TODO: Add a REP/REQ instead of PUB/SUB for one-off reliably stage movements
stage_delta = 15.0
track_socket.send_string('%f 0 0' % (stage_delta * p.X_MOVE_SCALE))
print('Waiting for stage motion')
time.sleep(2)
E = np.array([[0, 0, 0], [0, 0, -stage_delta],
[0, stage_delta, 0]]) # essential matrix - only X motion
F = np.linalg.inv(intrinsic).T @ E @ np.linalg.inv(
intrinsic) # Fundamental Matrix
# phase 2: Click corners in second position
corner_points2 = np.zeros((3, 8))
corner_ix2 = 0
print('Click on corners at front of tank')
while MODE == '2':
try:
frame = recv_img(video_socket)
except zmq.Again:
print('No new frame!')
# Plot the epipolar line for the current point
# i.e. p_r^T * F * p_l^T = 0 where F is fundamental matrix and p_r and p_l are points in (homogeneous) image space
# y0 and y1 are the y coordinates of this line for x=0 and x=img_width
im1_pt = corner_points[:, corner_ix2:corner_ix2 + 1]
d = im1_pt.T @ F
y0 = int(-d[0, 2] / d[0, 1])
y1 = int((-d[0, 0] * p.IMG_WIDTH_SPOTTER - d[0, 2]) / d[0, 1])
cv2.line(frame, (0, y0), (640, y1), (0, 255, 0))
for pt_ix in range(corner_ix2):
center = (int(corner_points2[0, pt_ix]),
int(corner_points2[1, pt_ix]))
if pt_ix < 4:
color = (0, 0, 255)
else:
color = (255, 0, 0)
cv2.circle(frame, center, 5, color, -1)
cvui.update('MaskWindow1')
cv2.imshow('MaskWindow1', frame)
cv2.waitKey(1)
cvui.context('MaskWindow1')
if cvui.mouse(cvui.CLICK):
corner_points2[0, corner_ix2] = cvui.mouse().x
corner_points2[1, corner_ix2] = cvui.mouse().y
corner_points2[2, corner_ix2] = 1
corner_ix2 += 1
if corner_ix2 == 4:
print('Click on corners at back of tank')
if corner_ix2 == 8:
MODE = '3'
# Intermezzo: Compute the 3d location of the tank corners
world_rays1 = np.linalg.inv(intrinsic) @ corner_points
world_rays2 = np.linalg.inv(intrinsic) @ corner_points2
world_points = np.zeros((3, 8))
A = np.zeros((2, 2))
B = np.zeros((2, 1))
for point_ix in range(8):
p1 = np.zeros((3, 1))
p2 = np.zeros((3, 1))
v1 = world_rays1[:, point_ix:point_ix + 1]
v2 = world_rays2[:, point_ix:point_ix + 1]
p2[0] = -stage_delta
A[0, 0] = -np.inner(v1.T, v1.T)
A[0, 1] = np.inner(v1.T, v2.T)
B[0, 0] = -(np.inner(p2.T, v1.T) - np.inner(p1.T, v1.T))
A[1, 0] = -np.inner(v1.T, v2.T)
A[1, 1] = np.inner(v2.T, v2.T)
B[1, 0] = -(np.inner(p2.T, v2.T) - np.inner(p1.T, v2.T))
sol = np.linalg.solve(A, B)
point1 = p1 + sol[0] * v1
point2 = p2 + sol[1] * v2
mp = (point2 - point1) / 2.0 + point1
world_points[:, point_ix] = mp.squeeze()
print(world_points)
np.save('tank_corners.npy', world_points)
# phase 3: Compute world-frame corners and update as stage moves
stage_pos_cur = np.zeros((3, 1))
while MODE == '3':
try:
frame = recv_img(video_socket)
except zmq.Again:
print('No new frame!')
try:
stage_msg = stage_sub.recv_string()
(stage_x, stage_y,
stage_z) = [float(x) for x in stage_msg.split(' ')]
stage_pos_cur[0] = stage_x
stage_pos_cur[1] = stage_y
stage_pos_cur[2] = -stage_z
except zmq.Again:
pass
stage_delta = stage_pos_cur - stage_zero_offset
corners_translated = world_points - stage_delta
full_corners_img = np.zeros((2, 8))
for pt_ix in range(8):
corner_img = intrinsic @ corners_translated[:, pt_ix]
corner_img = corner_img / corner_img[2]
full_corners_img[0, pt_ix] = corner_img[0]
full_corners_img[1, pt_ix] = corner_img[1]
center = (int(corner_img[0]), int(corner_img[1]))
if pt_ix < 4:
color = (0, 0, 255)
else:
color = (255, 0, 0)
cv2.circle(frame, center, 5, color, -1)
cv2.imshow('MaskWindow1', frame)
print([
np.array([
full_corners_img[:, 0], full_corners_img[:, 1],
full_corners_img[:, 2], full_corners_img[:, 3]
])
])
poly_frame_front = np.zeros(frame.shape, dtype=np.uint8)
poly_frame_back = np.zeros(frame.shape, dtype=np.uint8)
poly_frame_front = cv2.fillPoly(poly_frame_front, [
np.array([
full_corners_img[:, 0], full_corners_img[:, 1],
full_corners_img[:, 2], full_corners_img[:, 3]
],
dtype='int32')
], (255, 255, 255))
poly_frame_back = cv2.fillPoly(poly_frame_back, [
np.array([
full_corners_img[:, 4], full_corners_img[:, 5],
full_corners_img[:, 6], full_corners_img[:, 7]
],
dtype='int32')
], (255, 255, 255))
clipped_frame = cv2.bitwise_and(frame, poly_frame_front)
clipped_frame = cv2.bitwise_and(clipped_frame, poly_frame_back)
cv2.imshow('MaskWindow2', clipped_frame)
cv2.waitKey(1)