"""
import cv2
#import autopilot_agent
import cv
import autopilot_agent as aa
cam = cv2.VideoCapture(0) # Get the stream of your webcam
running = True
while running: # get current frame of video
running, frame = cam.read()
if running:
# cv2.rectangle(frame, (x1, y1), (x2, y2), (255,0,0), 2)
# print frame.shape # == 480,640
size = frame.shape
act = aa.action(frame,size[1],size[0],0,0,0,0,0,0,0,0,0)
c = (int(act[1]*500),int(act[3]*500))
print size[1]/2,size[0]/2
cv2.line(frame,(size[1]/2,size[0]/2),((size[1]/2)+c[0],(size[0]/2)+c[1]),(255,0,0),2)
coord_hist = (act[1],act[3])
# print (zap, phi, theta, gaz, yaw)
cv2.imshow('frame', frame)
if cv2.waitKey(1) & 0xFF == 27: # escape key pressed
running = False
else: # error reading frame
print 'error reading video feed'
cam.release()
cv2.destroyAllWindows()
def run_old(self):
while self.running:
# This should be an numpy image array
pixelarray = self.drone.get_image() # get an frame form the Drone
if pixelarray is not None: # check whether the frame is not empty
self.frame = pixelarray[:, :, ::-1].copy() #convert to a frame
# ret, self.frame = self.cam.read()
size = self.frame.shape
act = aa.action(self.frame, size[1], size[0], 0, 0, 0, 0, 0, 0, 0,
0, 0)
c = (int(act[5]), int(-act[6]))
# print size[1]/2,size[0]/2
cv2.line(self.frame, (size[1] / 2, size[0] / 2),
((size[1] / 2) + c[0], (size[0] / 2) + c[1]), (255, 0, 0),
2)
# coord_hist = (act[1],act[3])
if act[7] is not None: # no face found
self.steer_to(act[5], act[6], act[7])
vis = self.frame.copy()
hsv = cv2.cvtColor(self.frame, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, np.array((0., 60., 32.)),
np.array((180., 255., 255.)))
if self.selection:
x0, y0, x1, y1 = self.selection
self.track_window = (x0, y0, x1 - x0, y1 - y0)
hsv_roi = hsv[y0:y1, x0:x1]
mask_roi = mask[y0:y1, x0:x1]
hist = cv2.calcHist([hsv_roi], [0], mask_roi, [16], [0, 180])
cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX)
self.hist = hist.reshape(-1)
self.show_hist()
vis_roi = vis[y0:y1, x0:x1]
cv2.bitwise_not(vis_roi, vis_roi)
vis[mask == 0] = 0
if self.tracking_state == 1:
self.selection = None
prob = cv2.calcBackProject([hsv], [0], self.hist, [0, 180], 1)
prob &= mask
term_crit = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT,
10, 1)
for i, value in enumerate(self.track_window):
if value <= 0:
#print i,value
self.track_window = (0, 0, 1000, 1000)
break
#print self.track_window
track_box, self.track_window = cv2.CamShift(
prob, self.track_window, term_crit)
if self.show_backproj:
vis[:] = prob[..., np.newaxis]
try:
cv2.ellipse(vis, track_box, (0, 0, 255), 2)
except:
pass
# print track_box
cv2.imshow(self.window_name, vis)
ch = 0xFF & cv2.waitKey(50)
if ch == 27:
break
if ch == ord('b'):
self.show_backproj = not self.show_backproj
cv2.destroyAllWindows()
print "video loop stopped."
def run_old(self):
while self.running:
# This should be an numpy image array
pixelarray = self.drone.get_image() # get an frame form the Drone
if pixelarray is not None: # check whether the frame is not empty
self.frame = pixelarray[:, :, ::-1].copy() #convert to a frame
# ret, self.frame = self.cam.read()
size = self.frame.shape
act = aa.action(self.frame,size[1],size[0],0,0,0,0,0,0,0,0,0)
c = (int(act[5]),int(-act[6]))
# print size[1]/2,size[0]/2
cv2.line(self.frame,(size[1]/2,size[0]/2),((size[1]/2)+c[0],(size[0]/2)+c[1]),(255,0,0),2)
# coord_hist = (act[1],act[3])
if act[7] is not None: # no face found
self.steer_to(act[5], act[6], act[7])
vis = self.frame.copy()
hsv = cv2.cvtColor(self.frame, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, np.array((0., 60., 32.)), np.array((180., 255., 255.)))
if self.selection:
x0, y0, x1, y1 = self.selection
self.track_window = (x0, y0, x1-x0, y1-y0)
hsv_roi = hsv[y0:y1, x0:x1]
mask_roi = mask[y0:y1, x0:x1]
hist = cv2.calcHist( [hsv_roi], [0], mask_roi, [16], [0, 180] )
cv2.normalize(hist, hist, 0, 255, cv2.NORM_MINMAX)
self.hist = hist.reshape(-1)
self.show_hist()
vis_roi = vis[y0:y1, x0:x1]
cv2.bitwise_not(vis_roi, vis_roi)
vis[mask == 0] = 0
if self.tracking_state == 1:
self.selection = None
prob = cv2.calcBackProject([hsv], [0], self.hist, [0, 180], 1)
prob &= mask
term_crit = ( cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 1 )
for i,value in enumerate(self.track_window):
if value<=0:
#print i,value
self.track_window = (0,0,1000,1000)
break
#print self.track_window
track_box, self.track_window = cv2.CamShift(prob, self.track_window, term_crit)
if self.show_backproj:
vis[:] = prob[...,np.newaxis]
try:
cv2.ellipse(vis, track_box, (0, 0, 255), 2)
except:
pass
# print track_box
cv2.imshow(self.window_name, vis)
ch = 0xFF & cv2.waitKey(50)
if ch == 27:
break
if ch == ord('b'):
self.show_backproj = not self.show_backproj
cv2.destroyAllWindows()
print "video loop stopped."
