def getFilter(frameWidht, frameHeight):
cvNamedWindow("Filtred")
cvCreateTrackbar("hmax", "Filtred", getHlsFilter('hmax'), 180, trackBarChangeHmax)
cvCreateTrackbar("hmin", "Filtred", getHlsFilter('hmin'), 180, trackBarChangeHmin)
#cvCreateTrackbar("lmax", "Filtred", hlsFilter['lmax'], 255, trackBarChangeLmax)
#cvCreateTrackbar("lmin", "Filtred", hlsFilter['lmin'], 255, trackBarChangeLmin)
cvCreateTrackbar("smax", "Filtred", getHlsFilter('smax'), 255, trackBarChangeSmax)
cvCreateTrackbar("smin", "Filtred", getHlsFilter('smin'), 255, trackBarChangeSmin)
cvSetMouseCallback("Filtred", mouseClick, None)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
filtredFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
key = -1
while key == -1:
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
frame = cvQueryFrame(CAM)
cvCvtColor(frame, hlsFrame, CV_BGR2HLS)
cvSplit(hlsFrame, hFrame, lFrame, sFrame, None)
pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame)
#pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame)
pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame)
cvSetZero(mask)
cvAnd(ThHFrame, ThSFrame, mask)
cvSetZero(filtredFrame)
cvCopy(frame, filtredFrame, mask)
cvShowImage("Filtred", filtredFrame)
key = cvWaitKey(10)
if key == 'r':
key = -1
resetHlsFilter()
cvDestroyWindow("Filtred")
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
highgui.cvNamedWindow ("image", 1)
highgui.cvShowImage ("image", image)
# create the storage area
storage = cv.cvCreateMemStorage (0)
# find the contours
nb_contours, contours = cv.cvFindContours (image,
storage,
cv.sizeof_CvContour,
cv.CV_RETR_TREE,
cv.CV_CHAIN_APPROX_SIMPLE,
cv.cvPoint (0,0))
# comment this out if you do not want approximation
contours = cv.cvApproxPoly (contours, cv.sizeof_CvContour,
storage,
cv.CV_POLY_APPROX_DP, 3, 1)
# create the window for the contours
highgui.cvNamedWindow ("contours", 1)
# create the trackbar, to enable the change of the displayed level
highgui.cvCreateTrackbar ("levels+3", "contours", 3, 7, on_trackbar)
# call one time the callback, so we will have the 1st display done
on_trackbar (_DEFAULT_LEVEL)
# wait a key pressed to end
highgui.cvWaitKey (0)
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()
# create window and display the original picture in it
highgui.cvNamedWindow("image", 1)
highgui.cvShowImage("image", image)
# create the storage area
storage = cv.cvCreateMemStorage(0)
# find the contours
nb_contours, contours = cv.cvFindContours(image, storage,
cv.sizeof_CvContour,
cv.CV_RETR_TREE,
cv.CV_CHAIN_APPROX_SIMPLE,
cv.cvPoint(0, 0))
# comment this out if you do not want approximation
contours = cv.cvApproxPoly(contours, cv.sizeof_CvContour, storage,
cv.CV_POLY_APPROX_DP, 3, 1)
# create the window for the contours
highgui.cvNamedWindow("contours", 1)
# create the trackbar, to enable the change of the displayed level
highgui.cvCreateTrackbar("levels+3", "contours", 3, 7, on_trackbar)
# call one time the callback, so we will have the 1st display done
on_trackbar(_DEFAULT_LEVEL)
# wait a key pressed to end
highgui.cvWaitKey(0)
# load image and force it to be grayscale
image03 = highgui.cvLoadImage(filename, 0)
if not image03:
print "Could not load image " + filename
sys.exit(-1)
# Create the destination images
image02 = cv.cvCloneImage(image03)
image04 = cv.cvCloneImage(image03)
# Create windows.
highgui.cvNamedWindow("Source", 1)
highgui.cvNamedWindow("Result", 1)
# Show the image.
highgui.cvShowImage("Source", image03)
# Create toolbars. HighGUI use.
highgui.cvCreateTrackbar("Threshold", "Result", slider_pos, 255,
process_image)
process_image(1)
#Wait for a key stroke; the same function arranges events processing
print "Press any key to exit"
highgui.cvWaitKey(0)
highgui.cvDestroyWindow("Source")
highgui.cvDestroyWindow("Result")
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()
tmp_img = cv.cvCreateImage(cv.cvGetSize(bw_im1),cv.IPL_DEPTH_32F, 1)
cv.cvResize(realInput,tmp_img)
cv.cvScale(tmp_img, bw_im1, 255,0)
return bw_im1
## return outp_image
if __name__ == '__main__':
print "OpenCV python"
highgui.cvNamedWindow ('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow ('Result', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow ('TEST', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvCreateTrackbar('Threshold', 'Result', thresh, 1000, on_trackbar)
highgui.cvCreateTrackbar('Scale', 'Result', thresh, 10, on_scalebar)
highgui.cvNamedWindow ('BW', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow ('Camera', 10, 10)
try:
# try to get the device number from the command line
device = int (sys.argv [1])
# got it ! so remove it from the arguments
del sys.argv [1]
except (IndexError, ValueError):
# no device number on the command line, assume we want the 1st device
device = 0
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()
sys.exit(1)
# display a small howto use it
print "Hot keys: \n"
print "\tESC - quit the program\n"
print "\tc - stop the tracking\n"
print "\tb - switch to/from backprojection view\n"
print "To initialize tracking, select the object with mouse\n"
# first, create the necessary windows
highgui.cvNamedWindow('VisualJoystick', highgui.CV_WINDOW_AUTOSIZE)
# register the mouse callback
highgui.cvSetMouseCallback('VisualJoystick', on_mouse, None)
highgui.cvCreateTrackbar("Vmin", "VisualJoystick", vmin, 256, set_vmin)
highgui.cvCreateTrackbar("Vmax", "VisualJoystick", vmax, 256, set_vmax)
highgui.cvCreateTrackbar("Smin", "VisualJoystick", smin, 256, set_smin)
if go:
init()
print getBattery()
while True:
frame = highgui.cvQueryFrame(capture)
if frame is None:
# no image captured... end the processing
break
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)
highgui.cvNamedWindow('1-without background',
highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('2-amplifie', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('3-lisser-Smooth', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('4-lisser-And', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow('Camera', 0, 0)
highgui.cvMoveWindow('Binarisation', 0, 280)
highgui.cvMoveWindow('1-without background', 320, 0)
highgui.cvMoveWindow('2-amplifie', 320, 280)
highgui.cvMoveWindow('3-lisser-Smooth', 640, 0)
highgui.cvMoveWindow('4-lisser-And', 640, 280)
#trackbar pour la modification des variables de reglages
highgui.cvCreateTrackbar("nombre division", "Camera", get_nb_div(), 6,
set_nb_div)
highgui.cvCreateTrackbar("seuil binarisation", "Binarisation",
get_seuil(), 255, set_seuil)
highgui.cvCreateTrackbar("gain", "2-amplifie", get_gain(), 100,
set_gain)
#highgui.cvCreateTrackbar ("param lissage", "3-lisser", 3, 3, set_param_liss)
#highgui.cvCreateTrackbar ("param 2 lissage", "3-lisser", 1, 10, set_param2_liss)
############################# GO WORK ######################################
frame = highgui.cvQueryFrame(capture)
frame_size = cv.cvGetSize(frame)
hauteur_image = cv.cvGetSize(frame).height
largeur_image = cv.cvGetSize(frame).width
print "hauteur_image:" + str(hauteur_image) + " largeur_image:" + str(
largeur_image) + " depth:" + str(frame.depth)
return;
if event==CV_EVENT_LBUTTONDOWN:
cvLogPolar( src, dst, cvPoint2D32f(x,y), 40, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS );
cvLogPolar( dst, src2, cvPoint2D32f(x,y), 40, CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS+CV_WARP_INVERSE_MAP );
#cvShowImage( "log-polar", dst );
#cvShowImage( "inverse log-polar", src2 );
if __name__ == "__main__":
highgui.cvNamedWindow(wname, 1)
img = highgui.cvLoadImage(sys.argv[1])
#highgui.cvShowImage("Image", img)
highgui.cvCreateTrackbar("Canny1", wname, 87, 250, on_trackbar1)
highgui.cvCreateTrackbar("Canny2", wname, 175, 250, on_trackbar2)
highgui.cvCreateTrackbar("minDistance", wname, 40, 150, on_trackbar3)
highgui.cvCreateTrackbar("accumThresh", wname, 55, 100, on_trackbar4)
highgui.cvCreateTrackbar("minRadius", wname, 190, 500, on_trackbar5)
highgui.cvCreateTrackbar("maxRadius", wname, 210, 1200, on_trackbar6)
highgui.cvCreateTrackbar("SearchRadius", wname, 50, 100, on_trackbar7)
pos1 = highgui.cvGetTrackbarPos("Canny1", wname)
pos2 = highgui.cvGetTrackbarPos("Canny2", wname)
pos3 = highgui.cvGetTrackbarPos("minDistance", wname)
pos4 = highgui.cvGetTrackbarPos("accumThresh", wname)
pos5 = highgui.cvGetTrackbarPos("minRadius", wname)
pos6 = highgui.cvGetTrackbarPos("maxRadius", wname)
pos7 = highgui.cvGetTrackbarPos("SearchRadius", wname)
pos1 = int(pos2/2)
def cb_hue(v):
global hue_cutoff
hue_cutoff = v
def cb_val(v):
global val_cutoff
val_cutoff = v
# windows
highgui.cvNamedWindow("Input")
highgui.cvNamedWindow("Histogram - Hue")
highgui.cvCreateTrackbar("Threshold", "Histogram - Hue", hue_cutoff, int(sample_pixels), cb_hue)
highgui.cvNamedWindow("Histogram - Value")
highgui.cvCreateTrackbar("Threshold", "Histogram - Value", val_cutoff, int(sample_pixels), cb_val)
highgui.cvNamedWindow("Obstacles")
highgui.cvMoveWindow("Input", 0, 0)
highgui.cvMoveWindow("Histogram - Hue", 0, size.height + 75)
highgui.cvMoveWindow("Histogram - Value", int(h_bins * scalewidth) + 25, size.height + 75)
highgui.cvMoveWindow("Obstacles", size.width + 25, 0)
def hsv2rgb(hue):
# convert the hue value to the corresponding rgb value
sector_data = [[0, 2, 1], [1, 2, 0], [1, 0, 2], [2, 0, 1], [2, 1, 0], [0, 1, 2]]
hue *= 0.1 / 3
# capture the 1st frame to get some propertie on it
frame = highgui.cvQueryFrame(capture)
# get size of the frame
frame_size = cv.cvGetSize(frame)
# get the frame rate of the capture device
fps = highgui.cvGetCaptureProperty(capture, highgui.CV_CAP_PROP_FPS)
if fps == 0:
# no fps getted, so set it to 30 by default
fps = 25
frame_count = highgui.cvGetCaptureProperty(capture,
highgui.CV_CAP_PROP_FRAME_COUNT)
frame_count = int(frame_count / 3600)
highgui.cvCreateTrackbar('Seek', 'Camera', 0, int(frame_count),
lambda pos: seek_onChange(pos, capture, 'Camera'))
# display the frames to have a visual output
highgui.cvShowImage('Camera', frame)
i = 0
start = 0
play = False
writer = None
while 1:
if play:
frame = highgui.cvQueryFrame(capture)
if frame is None:
# no image captured... end the processing
break
# display the frames to have a visual output
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)
if len(sys.argv) > 1:
filename = sys.argv[1]
# load the image gived on the command line
image = highgui.cvLoadImage(filename)
if not image:
print "Error loading image '%s'" % filename
sys.exit(-1)
# create the output image
col_edge = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 3)
# convert to grayscale
gray = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
edge = cv.cvCreateImage(cv.cvSize(image.width, image.height), 8, 1)
cv.cvCvtColor(image, gray, cv.CV_BGR2GRAY)
# create the window
highgui.cvNamedWindow(win_name, highgui.CV_WINDOW_AUTOSIZE)
# create the trackbar
highgui.cvCreateTrackbar(trackbar_name, win_name, 1, 100, on_trackbar)
# show the image
on_trackbar(0)
# wait a key pressed to end
highgui.cvWaitKey(0)
sys.exit (1)
# display a small howto use it
print "Hot keys: \n"
print "\tESC - quit the program\n"
print "\tc - stop the tracking\n"
print "\tb - switch to/from backprojection view\n"
print "To initialize tracking, select the object with mouse\n"
# first, create the necessary windows
highgui.cvNamedWindow ('VisualJoystick', highgui.CV_WINDOW_AUTOSIZE)
# register the mouse callback
highgui.cvSetMouseCallback ('VisualJoystick', on_mouse, None)
highgui.cvCreateTrackbar( "Vmin", "VisualJoystick", vmin, 256, set_vmin)
highgui.cvCreateTrackbar( "Vmax", "VisualJoystick", vmax, 256, set_vmax)
highgui.cvCreateTrackbar( "Smin", "VisualJoystick", smin, 256, set_smin)
if go:
init()
print getBattery()
while True:
frame = highgui.cvQueryFrame (capture)
if frame is None:
# no image captured... end the processing
break
def cb_roi(v):
global variable_roi
variable_roi = v
def cb_buf(v):
global variable_buf
variable_buf = v
def cb_focal(v):
global variable_focal
variable_focal=v
def cb_base(v):
global variable_base
variable_base = v/10.0
xmatch = size.width / 2 + 1
ymatch = size.height / 2 + 1
highgui.cvSetMouseCallback("depthmatch - left", mousecb)
highgui.cvCreateTrackbar("ROI", "depthmatch - left", variable_roi, size.width, cb_roi)
highgui.cvCreateTrackbar("Buffer", "depthmatch - left", variable_buf, size.width, cb_buf)
highgui.cvCreateTrackbar("Focal Length", "depthmatch - left", variable_focal, 1000, cb_focal)
highgui.cvCreateTrackbar("Baseline/10", "depthmatch - left", variable_base, 1000, cb_base)
leftdraw = cv.cvCreateImage(size, 8, 3)
rightdraw = cv.cvCreateImage(size, 8, 3)
while 1:
depth = depthmatch(xmatch, ymatch, left, right, roi=variable_roi, buf=variable_buf,baseline=variable_base, focal_length=variable_focal)
cv.cvCopy(left, leftdraw)
cv.cvCopy(right, rightdraw)
cv.cvLine(leftdraw, depth[1], depth[2], (0,255,0), 2)
cv.cvPutText(leftdraw, "%2f(m) at (%2f,%2f)" % (depth[0][2],depth[0][0],depth[0][1]), (xmatch,ymatch), font, (0,0,255))
cv.cvLine(rightdraw, depth[2], depth[2], (0,0,255), 5)
highgui.cvShowImage("depthmatch - left", leftdraw)
highgui.cvShowImage("depthmatch - right", rightdraw)
print depth
# load image and force it to be grayscale
image03 = highgui.cvLoadImage(filename, 0)
if not image03:
print "Could not load image " + filename
sys.exit(-1)
# Create the destination images
image02 = cv.cvCloneImage( image03 );
image04 = cv.cvCloneImage( image03 );
# Create windows.
highgui.cvNamedWindow("Source", 1);
highgui.cvNamedWindow("Result", 1);
# Show the image.
highgui.cvShowImage("Source", image03);
# Create toolbars. HighGUI use.
highgui.cvCreateTrackbar( "Threshold", "Result", slider_pos, 255, process_image );
process_image( 1 );
#Wait for a key stroke; the same function arranges events processing
print "Press any key to exit"
highgui.cvWaitKey(0);
highgui.cvDestroyWindow("Source");
highgui.cvDestroyWindow("Result");
if len(sys.argv)>1:
filename = sys.argv[1]
# load the image gived on the command line
image = highgui.cvLoadImage (filename)
if not image:
print "Error loading image '%s'" % filename
sys.exit(-1)
# create the output image
col_edge = cv.cvCreateImage (cv.cvSize (image.width, image.height), 8, 3)
# convert to grayscale
gray = cv.cvCreateImage (cv.cvSize (image.width, image.height), 8, 1)
edge = cv.cvCreateImage (cv.cvSize (image.width, image.height), 8, 1)
cv.cvCvtColor (image, gray, cv.CV_BGR2GRAY)
# create the window
highgui.cvNamedWindow (win_name, highgui.CV_WINDOW_AUTOSIZE)
# create the trackbar
highgui.cvCreateTrackbar (trackbar_name, win_name, 1, 100, on_trackbar)
# show the image
on_trackbar (0)
# wait a key pressed to end
highgui.cvWaitKey (0)
# capture the 1st frame to get some propertie on it
frame = highgui.cvQueryFrame (capture)
# get size of the frame
frame_size = cv.cvGetSize (frame)
# get the frame rate of the capture device
fps = highgui.cvGetCaptureProperty (capture, highgui.CV_CAP_PROP_FPS)
if fps == 0:
# no fps getted, so set it to 30 by default
fps = 25
frame_count = highgui.cvGetCaptureProperty(capture,
highgui.CV_CAP_PROP_FRAME_COUNT)
frame_count = int(frame_count / 3600)
highgui.cvCreateTrackbar('Seek', 'Camera', 0, int(frame_count),
lambda pos: seek_onChange(pos, capture, 'Camera'))
# display the frames to have a visual output
highgui.cvShowImage ('Camera', frame)
i = 0
start = 0
play = False
writer = None
while 1:
if play:
frame = highgui.cvQueryFrame (capture)
if frame is None:
# no image captured... end the processing
break
# display the frames to have a visual output
