def main(): # ctrl+c to end
global h,s,v,h2,v2,s2,d,e
highgui.cvNamedWindow("Camera 1", 1)
highgui.cvNamedWindow("Orig", 1)
highgui.cvCreateTrackbar("H", "Camera 1", h, 256, tb_h)
highgui.cvCreateTrackbar("S", "Camera 1", s, 256, tb_s)
highgui.cvCreateTrackbar("V", "Camera 1", v, 256, tb_v)
highgui.cvCreateTrackbar("H2", "Camera 1", h2, 256, tb_h2)
highgui.cvCreateTrackbar("S2", "Camera 1", s2, 256, tb_s2)
highgui.cvCreateTrackbar("V2", "Camera 1", v2, 256, tb_v2)
highgui.cvCreateTrackbar("Dilate", "Camera 1", d, 30, tb_d)
highgui.cvCreateTrackbar("Erode", "Camera 1", e, 30, tb_e)
cap = highgui.cvCreateCameraCapture(1)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_WIDTH, IMGW)
highgui.cvSetCaptureProperty(cap, highgui.CV_CAP_PROP_FRAME_HEIGHT, IMGH)
c = 0
t1 = tdraw = time.clock()
t = 1
font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, 1, 1)
while c != 0x27:
image = highgui.cvQueryFrame(cap)
if not image:
print "capture failed"
break
thresh = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,1)
cv.cvSetZero(thresh)
cv.cvCvtColor(image,image,cv.CV_RGB2HSV)
cv.cvInRangeS(image, (h,s,v,0), (h2,s2,v2,0), thresh)
result = cv.cvCreateImage(cv.cvSize(IMGW,IMGH),8,3)
cv.cvSetZero(result)
cv.cvOr(image,image,result,thresh)
for i in range(1,e):
cv.cvErode(result,result)
for i in range(1,d):
cv.cvDilate(result,result)
# floodfill objects back in, allowing threshold differences outwards
t2 = time.clock()
if t2 > tdraw+0.3:
t = t2-t1
tdraw=t2
cv.cvPutText(result, "FPS: " + str(1 / (t)), (0,25), font, (255,255,255))
t1 = t2
highgui.cvShowImage("Orig", image)
highgui.cvShowImage("Camera 1", result)
c = highgui.cvWaitKey(10)
def getData(): frame = highgui.cvQueryFrame(capture) if frame is None: return None cv.cvSplit(frame, b_img, g_img, r_img, None) cv.cvInRangeS(r_img, 150, 255, r_img) cv.cvInRangeS(g_img, 0, 100, g_img) cv.cvInRangeS(b_img, 0, 100, b_img) cv.cvAnd(r_img, g_img, laser_img) cv.cvAnd(laser_img, b_img, laser_img) cv.cvErode(laser_img,laser_img) #,0,2) cv.cvDilate(laser_img,laser_img) c_count, contours = cv.cvFindContours (laser_img, storage, cv.sizeof_CvContour, cv.CV_RETR_LIST, cv.CV_CHAIN_APPROX_NONE, cv.cvPoint (0,0)) if c_count: return returnEllipses(contours) else: return None
def pixelInRange(src, rmin, rmax, floor, roof, dst):
if rmax > rmin: # normal case
cvInRangeS(src, rmin, rmax, dst)
else: # considering range as a cycle
dst0 = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
dst1 = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
cvInRangeS(src, floor, rmax, dst0)
cvInRangeS(src, rmin, roof, dst1)
cvOr(dst0, dst1, dst)
def _get_frame_in_range(self,color,tol=5,frame=None) :
if frame is None :
frame = self._get_cv_frame()
cv_thresh = cv.cvCreateImage(cv.cvSize(frame.width,frame.height),frame.depth,1)
cv.cvInRangeS(self._get_color_frame('r'),color[0]-tol,color[0]+tol,cv_thresh)
cv.cvInRangeS(self._get_color_frame('g'),color[1]-tol,color[1]+tol,cv_thresh)
cv.cvInRangeS(self._get_color_frame('b'),color[2]-tol,color[2]+tol,cv_thresh)
return cv_thresh
# do forever
# 1. capture the current image
frame = highgui.cvQueryFrame(capture)
if frame is None:
# no image captured... end the processing
break
# mirror the captured image
#cv.cvFlip (frame, None, 1)
# compute the hsv version of the image
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
# compute which pixels are in the wanted range
cv.cvInRangeS(hsv, hsv_min, hsv_max, mask)
# extract the hue from the hsv array
cv.cvSplit(hsv, hue, None, None, None)
# select the rectangle of interest in the hue/mask arrays
hue_roi = cv.cvGetSubRect(hue, selection)
mask_roi = cv.cvGetSubRect(mask, selection)
# it's time to compute the histogram
cv.cvCalcHist(hue_roi, hist, 0, mask_roi)
# extract the min and max value of the histogram
min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue(hist)
# compute the scale factor
def main():
print "OpenCV version: %s (%d, %d, %d)" % (cv.CV_VERSION,
cv.CV_MAJOR_VERSION,
cv.CV_MINOR_VERSION,
cv.CV_SUBMINOR_VERSION)
# create windows
create_and_position_window('Thresholded_HSV_Image', 10, 10)
create_and_position_window('RGB_VideoFrame', 10+cam_width, 10)
create_and_position_window('Hue', 10, 10+cam_height)
create_and_position_window('Saturation', 210, 10+cam_height)
create_and_position_window('Value', 410, 10+cam_height)
create_and_position_window('LaserPointer', 0,0)
capture = setup_camera_capture()
# create images for the different channels
h_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1)
s_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1)
v_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1)
laser_img = cv.cvCreateImage (cv.cvSize (cam_width,cam_height), 8, 1)
cv.cvSetZero(h_img)
cv.cvSetZero(s_img)
cv.cvSetZero(v_img)
cv.cvSetZero(laser_img)
while True:
# 1. capture the current image
frame = highgui.cvQueryFrame (capture)
if frame is None:
# no image captured... end the processing
break
hsv_image = cv.cvCloneImage(frame) # temporary copy of the frame
cv.cvCvtColor(frame, hsv_image, cv.CV_BGR2HSV) # convert to HSV
# split the video frame into color channels
cv.cvSplit(hsv_image, h_img, s_img, v_img, None)
# Threshold ranges of HSV components.
cv.cvInRangeS(h_img, hmin, hmax, h_img)
cv.cvInRangeS(s_img, smin, smax, s_img)
cv.cvInRangeS(v_img, vmin, vmax, v_img)
# Perform an AND on HSV components to identify the laser!
cv.cvAnd(h_img, v_img, laser_img)
# This actually Worked OK for me without using Saturation.
#cv.cvAnd(laser_img, s_img,laser_img)
# Merge the HSV components back together.
cv.cvMerge(h_img, s_img, v_img, None, hsv_image)
#-----------------------------------------------------
# NOTE: default color space in OpenCV is BGR!!
# we can now display the images
highgui.cvShowImage ('Thresholded_HSV_Image', hsv_image)
highgui.cvShowImage ('RGB_VideoFrame', frame)
highgui.cvShowImage ('Hue', h_img)
highgui.cvShowImage ('Saturation', s_img)
highgui.cvShowImage ('Value', v_img)
highgui.cvShowImage('LaserPointer', laser_img)
# handle events
k = highgui.cvWaitKey (10)
if k == '\x1b' or k == 'q':
# user has press the ESC key, so exit
break
def main(args):
global capture
global hmax, hmin
global stats, startTime
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Red Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Green Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Red Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Green Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Value', 10, 420)
highgui.cvMoveWindow('Red Laser', 360, 10)
highgui.cvMoveWindow('Green Laser', 360, 360)
highgui.cvMoveWindow('Red Hue',700, 10 )
highgui.cvMoveWindow('Green Hue',700, 420)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
highgui.cvCreateTrackbar("red hmin Trackbar","Red Hue",red_hmin,180, change_red_hmin);
highgui.cvCreateTrackbar("red hmax Trackbar","Red Hue",red_hmax,180, change_red_hmax);
highgui.cvCreateTrackbar("green hmin Trackbar","Green Hue",green_hmin,180, change_green_hmin);
highgui.cvCreateTrackbar("green hmax Trackbar","Green Hue",green_hmax,180, change_green_hmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
red_hue = cv.cvCreateImage(frameSize,8,1)
green_hue = cv.cvCreateImage(frameSize,8,1)
saturation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
red_laser = cv.cvCreateImage(frameSize,8,1)
green_laser = cv.cvCreateImage(frameSize,8,1)
turret = FuzzyController(frameSize.width,frameSize.height,True)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
cv.cvSplit(hsv,red_hue,saturation,value,None)
cv.cvSplit(hsv,green_hue,saturation,value,None)
cv.cvInRangeS(red_hue, cv.cvScalar(red_hmin), cv.cvScalar(red_hmax), red_hue)
cv.cvInRangeS(green_hue, cv.cvScalar(green_hmin), cv.cvScalar(green_hmax), green_hue)
cv.cvInRangeS(value, cv.cvScalar(vmin), cv.cvScalar(vmax), value)
cv.cvAnd(red_hue, value, red_laser)
cv.cvAnd(green_hue, value, green_laser)
green_cenX,green_cenY = averageWhitePoints(green_laser)
draw_target(frame, green_cenX, green_cenY, "GREEN")
red_cenX, red_cenY = averageWhitePoints(red_laser)
draw_target(frame, red_cenX, red_cenY, "RED")
if(green_cenX >= 0 and green_cenY >= 0):# and move_count <= 0):
turret.update(green_cenX,green_cenY)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Red Hue', red_hue)
highgui.cvShowImage('Green Hue', green_hue)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Red Laser',red_laser)
highgui.cvShowImage('Green Laser',green_laser)
if stats:
printRunningStats((green_cenX, green_cenY), (red_cenX, red_cenY))
k = highgui.cvWaitKey(10)
if k == '\x1b' or k == 'q':
sys.exit()
if k == 'p':
if stats:
printTotalStats()
stats = False
else:
startTime = time()
stats = True
# do forever
# 1. capture the current image
frame = highgui.cvQueryFrame (capture)
if frame is None:
# no image captured... end the processing
break
# mirror the captured image
cv.cvFlip (frame, None, 1)
# compute the hsv version of the image
cv.cvCvtColor (frame, hsv, cv.CV_BGR2HSV)
# compute which pixels are in the wanted range
cv.cvInRangeS (hsv, hsv_min, hsv_max, mask)
# extract the hue from the hsv array
cv.cvSplit (hsv, hue, None, None, None)
# select the rectangle of interest in the hue/mask arrays
hue_roi = cv.cvGetSubRect (hue, selection)
mask_roi = cv.cvGetSubRect (mask, selection)
# it's time to compute the histogram
cv.cvCalcHist (hue_roi, hist, 0, mask_roi)
# extract the min and max value of the histogram
#min_val, max_val = cv.cvGetMinMaxHistValue (hist, None, None)
min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue (hist)
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Satuation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);
highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);
highgui.cvCreateTrackbar("smin Trackbar","Satuation",smin,255, change_smin);
highgui.cvCreateTrackbar("smax Trackbar","Satuation",smax,255, change_smax);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, 240)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
hue = cv.cvCreateImage(frameSize,8,1)
satuation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
laser = cv.cvCreateImage(frameSize,8,1)
turret = FuzzyController(frameSize.width,frameSize.height,True)
move_count = 0
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv,hue,satuation,value,None)
cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue)
cv.cvInRangeS(satuation,cv.cvScalar(smin),cv.cvScalar(smax),satuation)
cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value)
#cv.cvInRangeS(hue,0,180,hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
cenX,cenY = averageWhitePoints(laser)
#print cenX,cenY
draw_target(frame,cenX,cenY)
if(cenX != 0 and cenY != 0):# and move_count <= 0):
turret.update(cenX,cenY,False)
"""
turret.reset()
move_count = 3
if(cenX < 100):
turret.left(20)
elif(cenX > 200):
turret.right(20)
if(cenY < 80):
turret.up(40)
elif(cenY > 170):
print "DOWN please.."
turret.down(40)
print cenY
"""
#move_count -= 1
#draw_target(frame,200,1)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Hue',hue)
highgui.cvShowImage('Satuation',satuation)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Laser',laser)
k = highgui.cvWaitKey(10)
if k == 'q':
sys.exit()
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Saturation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Saturation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);
highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);
highgui.cvCreateTrackbar("smin Trackbar","Saturation",smin,255, change_smin);
highgui.cvCreateTrackbar("smax Trackbar","Saturation",smax,255, change_smax);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, iwidth)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, iheight)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
hue = cv.cvCreateImage(frameSize,8,1)
saturation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
laser = cv.cvCreateImage(frameSize,8,1)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv,hue,saturation,value,None)
#print hmin, hmax
cv.cvInRangeS(hue,cv.cvScalar(hmin),cv.cvScalar(hmax),hue)
cv.cvInRangeS(saturation,cv.cvScalar(smin),cv.cvScalar(smax),saturation)
cv.cvInRangeS(value,cv.cvScalar(vmin),cv.cvScalar(vmax),value)
#cv.cvInRangeS(hue,cv.cvScalar(0),cv.cvScalar(180),hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
# stupid filter
#removeErrantPoints(laser)
cenX,cenY = averageWhitePoints(laser)
px = iwidth/2 - cenX
dis = 57.18832855 / ( px - 5.702350176) + .05753797721
print cenX,px,dis
draw_target(frame,cenX,cenY)
#draw_target(frame,200,1)
highgui.cvShowImage('Hue',hue)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Saturation',saturation)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Laser',laser)
highgui.cvWaitKey(10)
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Satuation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar","Camera",0,255, change_brightness);
highgui.cvCreateTrackbar("hmin Trackbar","Hue",hmin,180, change_hmin);
highgui.cvCreateTrackbar("hmax Trackbar","Hue",hmax,180, change_hmax);
highgui.cvCreateTrackbar("smin Trackbar","Satuation",smin,255, change_smin);
highgui.cvCreateTrackbar("smax Trackbar","Satuation",smax,255, change_smax);
highgui.cvCreateTrackbar("vmin Trackbar","Value",vmin,255, change_vmin);
highgui.cvCreateTrackbar("vmax Trackbar","Value",vmax,255, change_vmax);
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture,highgui.CV_CAP_PROP_FRAME_HEIGHT, 240)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize,8,3)
mask = cv.cvCreateImage(frameSize,8,1)
hue = cv.cvCreateImage(frameSize,8,1)
satuation = cv.cvCreateImage(frameSize,8,1)
value = cv.cvCreateImage(frameSize,8,1)
laser = cv.cvCreateImage(frameSize,8,1)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv,hue,satuation,value,None)
cv.cvInRangeS(hue,hmin,hmax,hue)
cv.cvInRangeS(satuation,smin,smax,satuation)
cv.cvInRangeS(value,vmin,vmax,value)
#cv.cvInRangeS(hue,0,180,hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
cenX,cenY = averageWhitePoints(laser)
#print cenX,cenY
draw_target(frame,cenX,cenY)
#draw_target(frame,200,1)
highgui.cvShowImage('Camera',frame)
highgui.cvShowImage('Hue',hue)
highgui.cvShowImage('Satuation',satuation)
highgui.cvShowImage('Value',value)
highgui.cvShowImage('Laser',laser)
k = highgui.cvWaitKey(10)
if k == " ":
highgui.cvDestroyAllWindows()
highgui.cvReleaseCapture (capture)
sys.exit()
# do forever
# 1. capture the current image
frame = highgui.cvQueryFrame (capture)
if frame is None:
# no image captured... end the processing
break
# mirror the captured image
#cv.cvFlip (frame, None, 1)
# compute the hsv version of the image
cv.cvCvtColor (frame, hsv, cv.CV_BGR2HSV)
# compute which pixels are in the wanted range
cv.cvInRangeS (hsv, hsv_min, hsv_max, mask)
# extract the hue from the hsv array
cv.cvSplit (hsv, hue, None, None, None)
# select the rectangle of interest in the hue/mask arrays
hue_roi = cv.cvGetSubRect (hue, selection)
mask_roi = cv.cvGetSubRect (mask, selection)
# it's time to compute the histogram
cv.cvCalcHist (hue_roi, hist, 0, mask_roi)
# extract the min and max value of the histogram
min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue (hist)
# compute the scale factor
cv.cvCvtColor(image, hsv, cv.CV_BGR2HSV)
cv.cvLine(image, cv.cvPoint(0, image.height / 2),
cv.cvPoint(image.width, image.height / 2),
cv.CV_RGB(0, 255, 0), 2, 8, 0)
cv.cvLine(image, cv.cvPoint(image.width / 2, 0),
cv.cvPoint(image.width / 2, image.height),
cv.CV_RGB(0, 255, 0), 2, 8, 0)
if track_object:
_vmin = vmin
_vmax = vmax
cv.cvInRangeS(hsv, cv.cvScalar(0, smin, min(_vmin, _vmax), 0),
cv.cvScalar(180, 256, max(_vmin, _vmax), 0), mask)
cv.cvSplit(hsv, hue, None, None, None)
if track_object < 0:
max_val = 0.0
subhue = cv.cvGetSubRect(hue, selection)
submask = cv.cvGetSubRect(mask, selection)
cv.cvCalcHist(subhue, hist, 0, submask)
# extract the min and max value of the histogram
min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue(
hist)
if (max_val):
cv.cvConvertScale(hist.bins, hist.bins, 255.0 / max_val, 0)
output_mask = cv.cvCreateImage(size, 8, 1)
while True:
img = highgui.cvQueryFrame(cap)
cv.cvZero(img_h)
cv.cvZero(img_s)
cv.cvZero(img_v)
cv.cvZero(thresh_mask)
highgui.cvShowImage("Input", img)
# 5x5 Gaussian Blur
cv.cvSmooth(img, img, cv.CV_GAUSSIAN, 5, 5)
# convert to HSV
cv.cvCvtColor(img, img, cv.CV_BGR2HSV)
# threshold bad values
cv.cvInRangeS(img, hsv_min, hsv_max, thresh_mask)
cv.cvAnd(thresh_mask, mask_bw, thresh_mask)
# Hue(0,180), Saturation(0,255), Value(0,255)
cv.cvSplit(img, img_h, img_s, img_v, 0)
# calculate histogram
cv.cvCalcHist(img_h, h_hue, 0, thresh_mask)
cv.cvCalcHist(img_s, h_sat, 0, thresh_mask)
cv.cvCalcHist(img_v, h_val, 0, thresh_mask)
# Don't normalize, use total mask pixels to calculate relative importance
# cv.cvNormalizeHist(h_hue, 180)
# cv.cvNormalizeHist(h_sat, 255)
# cv.cvNormalizeHist(h_val, 255)
# minv,maxv,minp,maxp = cv.cvMinMaxLoc(img_h)
def main(args):
global capture
global hmax, hmin
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Hue', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Satuation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Value', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Laser', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 0, 10)
highgui.cvMoveWindow('Hue', 0, 350)
highgui.cvMoveWindow('Satuation', 360, 10)
highgui.cvMoveWindow('Value', 360, 350)
highgui.cvMoveWindow('Laser', 700, 40)
highgui.cvCreateTrackbar("Brightness Trackbar", "Camera", 0, 255,
change_brightness)
highgui.cvCreateTrackbar("hmin Trackbar", "Hue", hmin, 180, change_hmin)
highgui.cvCreateTrackbar("hmax Trackbar", "Hue", hmax, 180, change_hmax)
highgui.cvCreateTrackbar("smin Trackbar", "Satuation", smin, 255,
change_smin)
highgui.cvCreateTrackbar("smax Trackbar", "Satuation", smax, 255,
change_smax)
highgui.cvCreateTrackbar("vmin Trackbar", "Value", vmin, 255, change_vmin)
highgui.cvCreateTrackbar("vmax Trackbar", "Value", vmax, 255, change_vmax)
print "grabbing camera"
capture = highgui.cvCreateCameraCapture(0)
print "found camera"
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT,
240)
frame = highgui.cvQueryFrame(capture)
frameSize = cv.cvGetSize(frame)
hsv = cv.cvCreateImage(frameSize, 8, 3)
mask = cv.cvCreateImage(frameSize, 8, 1)
hue = cv.cvCreateImage(frameSize, 8, 1)
satuation = cv.cvCreateImage(frameSize, 8, 1)
value = cv.cvCreateImage(frameSize, 8, 1)
laser = cv.cvCreateImage(frameSize, 8, 1)
while 1:
frame = highgui.cvQueryFrame(capture)
cv.cvCvtColor(frame, hsv, cv.CV_BGR2HSV)
#cv.cvInRangeS(hsv,hsv_min,hsv_max,mask)
cv.cvSplit(hsv, hue, satuation, value, None)
cv.cvInRangeS(hue, hmin, hmax, hue)
cv.cvInRangeS(satuation, smin, smax, satuation)
cv.cvInRangeS(value, vmin, vmax, value)
#cv.cvInRangeS(hue,0,180,hue)
cv.cvAnd(hue, value, laser)
#cv.cvAnd(laser, value, laser)
cenX, cenY = averageWhitePoints(laser)
#print cenX,cenY
draw_target(frame, cenX, cenY)
#draw_target(frame,200,1)
highgui.cvShowImage('Camera', frame)
highgui.cvShowImage('Hue', hue)
highgui.cvShowImage('Satuation', satuation)
highgui.cvShowImage('Value', value)
highgui.cvShowImage('Laser', laser)
k = highgui.cvWaitKey(10)
if k == " ":
highgui.cvDestroyAllWindows()
highgui.cvReleaseCapture(capture)
sys.exit()
# do forever
# 1. capture the current image
frame = highgui.cvQueryFrame (capture)
if frame is None:
# no image captured... end the processing
break
# mirror the captured image
cv.cvFlip (frame, None, 1)
# compute the hsv version of the image
cv.cvCvtColor (frame, hsv, cv.CV_BGR2HSV)
# compute which pixels are in the wanted range
cv.cvInRangeS (hsv, hsv_min, hsv_max, mask)
# extract the hue from the hsv array
cv.cvSplit (hsv, hue, None, None, None)
# select the rectangle of interest in the hue/mask arrays
hue_roi = cv.cvGetSubRect (hue, selection)
mask_roi = cv.cvGetSubRect (mask, selection)
# it's time to compute the histogram
cv.cvCalcHist (hue_roi, hist, 0, mask_roi)
# extract the min and max value of the histogram
min_val, max_val = cv.cvGetMinMaxHistValue (hist, None, None)
# compute the scale factor
cv.cvFlip (frame, image, 1)
cv.cvCvtColor( image, hsv, cv.CV_BGR2HSV)
cv.cvLine(image, cv.cvPoint(0, image.height/2), cv.cvPoint(image.width, image.height/2),
cv.CV_RGB(0,255,0), 2, 8, 0 )
cv.cvLine(image, cv.cvPoint(image.width/2, 0), cv.cvPoint(image.width/2, image.height),
cv.CV_RGB(0,255,0), 2, 8, 0 )
if track_object:
_vmin = vmin
_vmax = vmax
cv.cvInRangeS( hsv,
cv.cvScalar( 0, smin,min(_vmin,_vmax),0),
cv.cvScalar(180, 256, max(_vmin,_vmax),0),
mask );
cv.cvSplit( hsv, hue, None, None, None)
if track_object < 0:
max_val = 0.0
subhue = cv.cvGetSubRect(hue, selection)
submask = cv.cvGetSubRect(mask, selection)
cv.cvCalcHist( subhue, hist, 0, submask )
# extract the min and max value of the histogram
min_val, max_val, min_idx, max_idx = cv.cvGetMinMaxHistValue (hist)
if (max_val):
cv.cvConvertScale( hist.bins, hist.bins, 255.0 / max_val, 0)
