def __init__(self,
plasm,
rows,
cols,
pattern_type,
square_size,
debug=True):
ecto.BlackBox.__init__(self, plasm)
self.video_cap = ecto.Passthrough('Image Input')
self.rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
self.circle_detector = calib.PatternDetector('Dot Detector',
rows=rows,
cols=cols,
pattern_type=pattern_type,
square_size=square_size)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.camera_info = calib.CameraIntrinsics('Camera Info',
camera_file="camera.yml")
self.debug = debug
if self.debug:
self.fps = highgui.FPSDrawer()
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=rows,
cols=cols)
self.circle_display = highgui.imshow('Pattern show',
name='Pattern',
waitKey=2,
autoSize=True)
self.pose_draw = calib.PoseDrawer('Pose Draw')
def declare_io(self, p, i, o):
self.gray_image = ecto.Passthrough('gray Input')
self.rgb_image = ecto.Passthrough('rgb Input')
self.camera_info = ecto.Passthrough('K')
self.gather = calib.GatherPoints("gather", N=2)
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
self.quantizer = imgproc.Quantize('Quantizer', alpha=1, beta=0)
self.invert = imgproc.BitwiseNot()
self.debug = p.debug
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
self.cd_bw = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
self.cd_wb = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
self.circle_drawer2 = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
self.pose_draw = calib.PoseDrawer('Pose Draw')
self.fps = highgui.FPSDrawer()
#inputs
i.declare('image', self.gray_image.inputs.at('in'))
i.declare('color_image', self.rgb_image.inputs.at('in'))
i.declare('K', self.camera_info.inputs.at('in'))
#outputs
o.declare('R', self.pose_calc.outputs.at('R'))
o.declare('T', self.pose_calc.outputs.at('T'))
o.declare('found', self.gather.outputs.at('found'))
o.declare('debug_image', self.fps.outputs.at('image'))
def __init__(self, plasm):
ecto.BlackBox.__init__(self, plasm)
self.video_cap = highgui.VideoCapture(video_device=0)
self.fps = highgui.FPSDrawer()
self.rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
self.circle_detector = calib.PatternDetector('Dot Detector',
rows=7, cols=3, pattern_type="acircles",
square_size=0.03)
self.circle_drawer = calib.PatternDrawer('Circle Draw',
rows=7, cols=3)
self.circle_display = highgui.imshow('Pattern show',
name='Pattern', waitKey=2, maximize=True)
self.pose_calc = calib.FiducialPoseFinder('Pose Calc')
self.pose_draw = calib.PoseDrawer('Pose Draw')
self.camera_info = calib.CameraIntrinsics('Camera Info', camera_file="camera.yml")
def make_graph(k, sigma, debug):
video = highgui.VideoCapture(video_device=0)
g = imgproc.GaussianBlur(sigma=sigma)
graph = []
graph += [video['image'] >> g['input']]
for x in range(k):
nextg = imgproc.GaussianBlur(sigma=sigma)
graph += [g['out'] >> nextg['input']]
g = nextg
fps = highgui.FPSDrawer()
graph += [
g['out'] >> fps[:],
fps[:] >> highgui.imshow("megagauss", name="megagauss", waitKey=10)[:]
]
return graph
def declare_cells(p):
#TODO parameterize the quantizer
#abuse saturated Arithmetics http://opencv.itseez.com/modules/core/doc/intro.html?highlight=saturated.
cells = {
'gray_image': ecto.Passthrough('gray Input'),
'rgb_image': ecto.Passthrough('rgb Input'),
'camera_info': ecto.Passthrough('K_image'),
'gather': calib.GatherPoints("gather", N=2),
'quantizer': imgproc.Quantize('Quantizer', alpha=1, beta=0),
'invert': imgproc.BitwiseNot()
}
offset_x = -.3095 #TODO: FIXME hard coded
offset_y = -.1005
cells['cd_bw'] = calib.PatternDetector(
'Dot Detector, B/W',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
offset_x = .1505 #TODO: FIXME hard coded
cells['cd_wb'] = calib.PatternDetector(
'Dot Detector, W/B',
rows=p.rows,
cols=p.cols,
pattern_type=p.pattern_type,
square_size=p.square_size,
offset_x=offset_x,
offset_y=offset_y,
)
cells['pose_calc'] = calib.FiducialPoseFinder('Pose Calc')
cells['circle_drawer'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['circle_drawer2'] = calib.PatternDrawer('Circle Draw',
rows=p.rows,
cols=p.cols)
cells['fps'] = highgui.FPSDrawer()
return cells
#!/usr/bin/env python
# add pose estimation
import ecto
from ecto_opencv import highgui, calib, imgproc
plasm = ecto.Plasm()
sched = ecto.schedulers.Singlethreaded(plasm)
video_cap = highgui.VideoCapture(video_device=0)
fps = highgui.FPSDrawer()
rgb2gray = imgproc.cvtColor('rgb -> gray', flag=7)
circle_detector = calib.PatternDetector(rows=7,
cols=3,
pattern_type="acircles",
square_size=0.03)
circle_drawer = calib.PatternDrawer(rows=7, cols=3)
circle_display = highgui.imshow('Pattern show',
name='Pattern',
waitKey=2,
maximize=True)
pose_calc = calib.FiducialPoseFinder('Pose Calc')
pose_draw = calib.PoseDrawer('Pose Draw')
camera_info = calib.CameraIntrinsics('Camera Info', camera_file="camera.yml")
plasm.connect(
obs_ids += models.find_all_observations_for_session(
observations, session.id)
if len(obs_ids) == 0:
raise RuntimeError("There are no observations available.")
db_reader = capture.ObservationReader('db_reader',
db_params=ObjectDbParameters({
'type':
'CouchDB',
'root':
db_url,
'collection':
'observations'
}))
#observation dealer will deal out each observation id.
observation_dealer = ecto.Dealer(tendril=db_reader.inputs.at('observation'),
iterable=obs_ids)
fps = highgui.FPSDrawer('FPS drawer')
plasm = ecto.Plasm()
#View all of the observations.
plasm.connect(
observation_dealer[:] >> db_reader['observation'],
db_reader['image'] >> fps[:],
fps[:] >> highgui.imshow('image display', name='image')[:],
db_reader['depth'] >> highgui.imshow('depth display', name='depth')[:],
db_reader['mask'] >> highgui.imshow('mask display', name='mask')[:],
)
from ecto.opts import doit
doit(plasm, "View observations from the database.", locals=vars())
from ecto_openni import Capture, ResolutionMode, Device
return Capture('ni device', rgb_resolution=ResolutionMode.VGA_RES,
depth_resolution=ResolutionMode.VGA_RES,
rgb_fps=30, depth_fps=30,
device_number=device_n,
registration=True,
synchronize=True,
device=Device.ASUS_XTION_PRO_LIVE
)
device = 0
#capture = xtion_highres(device)
capture = xtion_vga(device)
#capture = kinect_vga(device)
#capture = kinect_highres(device)
verter = highgui.NiConverter('verter')
fps = highgui.FPSDrawer('fps')
plasm = ecto.Plasm()
plasm.connect(capture[:] >> verter[:],
verter['image'] >> fps[:],
fps[:] >> highgui.imshow('image display', name='image')[:],
verter['depth'] >> highgui.imshow('depth display', name='depth')[:],
)
if __name__ == '__main__':
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()
