def main_engine():
while True:
contour_list = []
(depth, _) = get_depth()
(rgb, _) = get_video()
orig = np.array(rgb[::1, ::1, ::-1])
fgmask = fgbg.apply(orig)
ret, thresh = cv2.threshold(fgmask, 127, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(thresh, kernel, iterations=1)
im2, contours, hierarchy = cv2.findContours(erosion, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
for node in cnt:
for elem in node:
y = elem[0].astype(int)
x = elem[1].astype(int)
if (y > min(xlist)) and (y < max(xlist)) and (
x > min(ylist)) and (x < max(ylist)):
if (depth[x][y] + 8 < min_mat[x][y] - noise[x][y]
) and (depth[x][y] < 2047) and (
depth[x][y] != 0) and (depth[x][y] != 255 and
(min_mat[x][y] < 2047)):
contour_list.append([x, y])
index += 1
if (len(contour_list)):
print(str(contour_list))
def screen_calibration():
for i in range(0, 5):
(dst, _) = get_video()
frame = np.array(dst[::1, ::1, ::-1])
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_red = np.array([0, 0, 180])
upper_red = np.array([255, 255, 255])
mask = cv2.inRange(hsv, lower_red, upper_red)
dst = cv2.bitwise_and(frame, frame, mask=mask)
kernel = np.ones((5, 5), np.float32) / 25
rgb = cv2.filter2D(dst, -1, kernel)
gray_image = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(gray_image, 127, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
im2, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
epsilon = 0.15 * cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, epsilon, True)
if cv2.arcLength(approx, True) < 15:
contours.pop(index)
else:
if len(approx) == 4:
x, y, w, h = cv2.boundingRect(approx)
xlist.append(x)
xlist.append(x + w)
ylist.append(y)
ylist.append(y + h)
index += 1
result = [[min(xlist), min(ylist)], [max(xlist), max(ylist)]]
return result
def doloop():
global depth, rgb
face_cascade = cv2.CascadeClassifier(
'haarcascade/haarcascade_frontalface_default.xml')
midx, midy = 0, 0
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
mn = np.min(depth)
mx = np.max(depth)
output = np.uint8((depth - mn) * 255 / (mx - mn))
gray = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
gray = cv2.equalizeHist(gray)
face = face_cascade.detectMultiScale(gray, 1.3, 5)
for (x, y, w, h) in face:
midx, midy = x + w / 2, y + h / 2
ret2, th2 = cv2.threshold(output, 0, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
# d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
# da = np.hstack((d3,rgb))
# Simple Downsample
# cv2.imshow('both',np.array(da[::2,::2,::-1]))
cv2.imshow('frame', th2)
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
def center_detect():
result = []
(rgb, _) = get_video()
(depth, _) = get_depth()
orig = np.array(rgb[::1, ::1, ::-1])
fgmask = fgbg.apply(orig)
ret, thresh = cv2.threshold(fgmask, 127, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(thresh, kernel, iterations=1)
im2, contours, hierarchy = cv2.findContours(erosion, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
if cv2.arcLength(cnt, True) < 250:
contours.pop(index)
else:
index += 1
M = cv2.moments(cnt)
if (M['m00'] != 0):
y = int(M['m10'] / M['m00'])
x = int(M['m01'] / M['m00'])
if (y > min(xlist)) and (y < max(xlist)) and (
x > min(ylist)) and (x < max(ylist)):
if (depth[x][y] + 8 < min_mat[x][y] - noise[x][y]) and (
depth[x][y] < 2047) and (depth[x][y] != 0) and (
depth[x][y] != 255 and (min_mat[x][y] < 2047)):
result.append([x, y])
return result
def doloop():
global depth, rgb
path = "./kpictures/"
num = glob.glob(str(path) + "*.avi")
i = len(num)
video = cv2.VideoWriter(path+'video'+str(i)+'.avi',cv2.cv.CV_FOURCC('D','I','V','X'),20,(1280,480))
if not video.isOpened():
print 'error with video opening'
sys.exit(1)
print 'press "q" to exit'
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8, copy=False)
bgr = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
da = np.hstack((d3, bgr)).astype(np.uint8, copy=False)
# src = cv2.cv.fromarray(da)
cv2.imshow('both', da)
video.write(da)
k = cv2.waitKey(5)
if (k > -1) and (k < 256):
if chr(k)=='q':
# video.release()
cv2.destroyAllWindows()
sys.exit(0)
def check_who_it_is(self):
(video, _) = get_video()
res = apiFaceDetectAndClassifier.getPerson(self, video, self.personsDB)
for name in res:
print(name, "is here")
del video
return res
def doloop():
global depth, rgb
path = "./kpictures/"
num = glob.glob(str(path) + "*.jpg")
i = len(num)
count = 0
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8, copy=False)
bgr = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
da = np.hstack((d3, bgr)).astype(np.uint8, copy=False)
# src = cv2.cv.fromarray(da)
cv2.imshow('both', da)
k = cv2.waitKey(5)
if (k > -1) and (k < 256):
if chr(k) == 'q':
cv2.destroyAllWindows()
sys.exit(0)
if (count % total) == 0:
cv2.imwrite(path + "both" + str(i) + ".jpg", da)
i += 1
count += 1
def update(self):
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
# Get a fresh frame
depth,_ = get_depth()
frame,_ = get_video()
self.BD.detect(frame)
self.DA.analyse(depth)
self.I2M.find(self.BD.get_xpos())
centroid = self.DA.get_centroid()
obstacle = self.DA.get_obstacle()
object_located = self.BD.get_objectLocated()
mea = self.I2M.get_pos()
rospy.loginfo("centroid: %d, obstacle: %d", centroid, obstacle)
rospy.loginfo("object_located: %d", object_located)
rospy.loginfo("im2mea: \n %s", mea)
self.pub_depth.publish(centroid, obstacle)
self.pub_blob.publish(object_located)
self.pub_mea.publish(mea)
rate.sleep()
def timed_snapshot(sec=10,name="tmp_",timestamp=True,save=True, \
interval=0,ret=False,stack=1):
start_time = time.time()
# update depth and rgb each time through loop
depth = None
(rgb, _) = get_video()
# Get a fresh frame
depth = stack_depth(stack=stack)
c = 1
while (time.time() - start_time) < sec:
# Get a fresh frame
depth = stack_depth(stack=stack)
view_frame(normalize_depth(depth), rgb)
#depth[depth>=INVALID_DEPTH]=0
print "%d - %d (avg: %s)" % (depth.min(), depth.max(), depth.mean())
#print depth[235+30:245+30,315:325]
# saves frame per specified interval
if save and interval > 0 and (time.time() - start_time) > c * interval:
c += 1
fname = "%s%s%s.pkl" % (DATA_DIR, name, int(time.time())) \
if timestamp else "%s%s.pkl" % (DATA_DIR, name)
save_frame((depth, rgb), fname)
# saves frame at the very end
if save and interval == 0:
fname = "%s%s%s.pkl" % (DATA_DIR, name, int(time.time())) \
if timestamp else "%s%s.pkl" % (DATA_DIR, name)
save_frame((depth, rgb), fname)
# optionally returns frame
if ret: return (depth, rgb)
def doloop():
global depth, rgb
path = "./kpictures/"
num = glob.glob(str(path) + "*.jpg")
i = len(num)
count = 0
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8, copy=False)
bgr = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
da = np.hstack((d3, bgr)).astype(np.uint8, copy=False)
# src = cv2.cv.fromarray(da)
cv2.imshow('both', da)
k = cv2.waitKey(5)
if (k > -1) and (k < 256):
if chr(k) == 'q':
cv2.destroyAllWindows()
sys.exit(0)
if (count % total) == 0:
cv2.imwrite(path + "both" + str(i) + ".jpg", da)
i += 1
count += 1
def doloop():
global depth, rgb
path = "./kpictures/"
num = glob.glob(str(path) + "*.avi")
i = len(num)
video = cv2.VideoWriter(path + 'video' + str(i) + '.avi',
cv2.cv.CV_FOURCC('D', 'I', 'V', 'X'), 20,
(1280, 480))
if not video.isOpened():
print 'error with video opening'
sys.exit(1)
print 'press "q" to exit'
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8, copy=False)
bgr = cv2.cvtColor(rgb, cv2.COLOR_RGB2BGR)
da = np.hstack((d3, bgr)).astype(np.uint8, copy=False)
# src = cv2.cv.fromarray(da)
cv2.imshow('both', da)
video.write(da)
k = cv2.waitKey(5)
if (k > -1) and (k < 256):
if chr(k) == 'q':
# video.release()
cv2.destroyAllWindows()
sys.exit(0)
def timed_snapshot(sec=10,name="tmp_",timestamp=True,save=True, \
interval=0,ret=False,stack=1):
start_time = time.time()
# update depth and rgb each time through loop
depth=None
(rgb,_) = get_video()
# Get a fresh frame
depth = stack_depth(stack=stack)
c = 1
while (time.time()-start_time) < sec:
# Get a fresh frame
depth = stack_depth(stack=stack)
view_frame(normalize_depth(depth),rgb)
#depth[depth>=INVALID_DEPTH]=0
print "%d - %d (avg: %s)" % (depth.min(), depth.max(), depth.mean())
#print depth[235+30:245+30,315:325]
# saves frame per specified interval
if save and interval > 0 and (time.time()-start_time) > c*interval:
c+=1
fname = "%s%s%s.pkl" % (DATA_DIR, name, int(time.time())) \
if timestamp else "%s%s.pkl" % (DATA_DIR, name)
save_frame((depth, rgb), fname)
# saves frame at the very end
if save and interval == 0:
fname = "%s%s%s.pkl" % (DATA_DIR, name, int(time.time())) \
if timestamp else "%s%s.pkl" % (DATA_DIR, name)
save_frame((depth, rgb), fname)
# optionally returns frame
if ret: return (depth,rgb)
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth,_), (rgb,_) = get_depth(), get_video(0, freenect.VIDEO_IR_8BIT)
#(depth,_), (rgb,_) = get_depth(), get_video()
# Build a two panel color image
#d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
#da = np.hstack((d3,rgb))
# Simple Downsample
#cv.ShowImage('both', cv.fromarray(np.array(da[::2,::2,::-1])))
#rgbarray = cv.fromarray(np.array(rgb))
rgbarray = np.array(rgb)
#gray = cv2.cvtColor(rgbarray, cv2.COLOR_BGR2GRAY)
#blurred = cv.CloneMat(rgbarray)
#sobeled = cv.CreateMat(rgbarray.rows, rgbarray.cols, cv.CV_32F)
#cv.Sobel(rgbarray, sobeled, 1, 1)
#sobeled = cv2.Sobel(blurred, cv.CV_32F, 1, 1)
_, threshed = cv2.threshold(rgbarray, 250, 255, cv2.THRESH_BINARY)
blurred = cv2.GaussianBlur(threshed, (255, 255), 0)
#cv.Sobel(rgbarray2, sobeled, 0, 0, 1)
cv.ShowImage('both', cv.fromarray(threshed))
cv.WaitKey(5)
def main():
# Get a fresh frame
(depth,_), (rgb,_) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
da = np.hstack((d3,rgb))
# Simple Downsample
cv2.imshow('both',np.array(da[::2,::2,::-1]))
def do_loop():
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Show it
#show_and_move(rgb, depth)
show_and_move(rgb, depth)
show_depth(depth)
cv.WaitKey(5)
def GetDepth(self):
# get data from the sensor
(depth, _), (rgb, _) = get_depth(), get_video()
# convert data
depth = depth.astype(np.uint8)
rgb = cv.cvtColor(rgb, cv.COLOR_RGB2BGR)
return depth, rgb
def display():
global arr, depth, send_lock
while (True):
if send_lock.acquire():
(depth,_),(arr,_)=get_depth(),get_video()
d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
da = np.hstack((d3,arr))
cv.ShowImage('both',cv.fromarray(np.array(da[::2,::2,::-1])))
send_lock.release()
cv.WaitKey(5)
def do_loop():
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Show it
#show_and_move(rgb, depth)
show_and_move(rgb, depth)
show_depth(depth)
cv.WaitKey(5)
def doloop():
capture=cv.CaptureFromCAM(0)
fourcc = cv.CV_FOURCC('X','V','I','D')
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FPS, 30)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH, 640)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT, 480)
global depth,ir, rgb
count = 0
while True:
rgb_frame=cv.QueryFrame(capture)
rgb = iplimage_to_numpy_color(rgb_frame)
(depth,_), (ir,_) = get_depth(), get_video(format=2)
np.resize(depth, (300,400))
np.resize(ir, (300,400))
np.resize(rgb, (300,400,3))
# Build a two panel color image
d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
ir3 = np.dstack((ir, ir, ir)).astype(np.uint8)
depth_ir = np.hstack((d3,ir3))
# Form Frame/Image
image = cv.fromarray(np.array(depth_ir[:,:,::-1]))
rgb_image = numpy_to_iplimage_color(rgb)
d_cvMat = cv.fromarray(np.array(d3[:,:,::-1]))
depth_image = cvMat_to_iplimage_color(d_cvMat)
opacity = 0.4
cv.AddWeighted(depth_image, opacity, rgb_image, 1 - opacity, 0, rgb_image)
# Playback Frame
cv.ShowImage('Trio',image)
cv.ShowImage('RGB',rgb_image)
cv.WaitKey(5)
# Keyboard interrupt for Exit
c=cv.WaitKey(2)
if c==27: #Break if user enters 'Esc'.
break
# How does Downsample Works
# ::2, means you skip by 2 -> [1,2,3,4] -> [2,4]
# Downsample col -> cv.fromarray(np.array(rgb[:, ::2, ::-1]))
# Downsample row -> cv.fromarray(np.array(rgb[::2, :, ::-1]))
# Color Chanel: All Color -> cv.fromarray(np.array(rgb[::2, ::2, ::-1]))
# Color Chanel: Blue -> cv.fromarray(np.array(rgb[::2, ::2]))
# Color Chanel: Gray -> cv.fromarray(np.array(rgb[::2, ::2, 0]))
"""
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth,_), (rgb,_) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
da = np.hstack((d3,rgb))
# Simple Downsample
cv.ShowImage('both',cv.fromarray(np.array(da[::2,::2,::-1])))
cv.WaitKey(5)
def doloop():
global depth, rgb
for i in range(1,10):
(depth,_), (rgb,_) = get_depth(), get_video()
bg=cv.CloneMat(cv.fromarray(depth.astype(numpy.uint8)))
scratch = cv.CreateImage((640,480),8,1)
scratch2 = cv.CreateImage((640,480),8,1)
cv.SaveImage('bg.png',bg)xz
while True:
# Get a fresh frame
(depth,_), (rgb,_) = get_depth(), get_video()
depth=cv.fromarray(depth.astype(numpy.uint8))
cv.AbsDiff(bg,depth,scratch)
cv.Sub(scratch,2,10,scratch2)
# cv.ConvertScale(scratch,scratch2,50)
cv.Add(depth,scratch2,scratch2)
# Simple Downsample
cv.ShowImage('both',scratch2)
cv.WaitKey(10)
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# Simple Downsample
cv.ShowImage('both', np.array(da[::2, ::2, ::-1]))
cv.WaitKey(5)
def doloop():
while True:
# Get a fresh frame
(depth,_), (rgb,_) = get_depth(), get_video()
depth = depth[::2, ::2]
r,g,b = process(depth)
# Build a two panel color image
d3 = np.dstack((r,g,depth/20)).astype(np.uint8)
da = np.hstack((d3,rgb[::2, ::2]))
# Simple Downsample
cv.ShowImage('both',np.array(da[:,:,::-1]))
cv.WaitKey(5)
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth,_), (rgb,_) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
da = np.hstack((d3,rgb))
# Simple Downsample
cv2.imshow('both',np.array(da[::2,::2,::-1]))
print len(rgb), len(rgb[0]), len(rgb[0][0])
raw_input(':')
def readkinect():
(depth,_), (rgb,_) = get_depth(), get_video()
if dodepth:
da=np.dstack((depth,depth,depth)).astype(np.uint8) # this is correct depth
frame=np.array(da[::1,::1,::-1]);
else:
frame=rgb[::1,::1,::-1]
# frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
#frame=np.array() ### !!!! or rgb
#fgmask = fgbg.apply(frame)
#gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
cv2.imshow('frame',frame)
k = cv2.waitKey(3) & 0xff
return frame
def doloop():
global depth, rgb, initdepth
min = 0
(initdepth, _) = get_depth()
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
#cv2.rectangle(rgb, (230, 100), (440, 300), (255, 0, 0), 2)
test = np.array(rgb[::2, ::2, ::-1])
cv2.imshow('FIRST', test)
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# Simple Downsample
cv2.imshow('both', np.array(da[::2, ::2, ::-1]))
cv2.waitKey(5)
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(rgb, _) = get_video()
# Get average coloring of a center square across for each of RGB
_r, g, b = np.mean(np.mean(rgb[220:260, 300:340], axis=0), axis=0)
print _r, g, b
data_tuple = {}
data_tuple['sensor_id'] = str(macaddr)
data_tuple['ts'] = str(calendar.timegm(time.gmtime()))
data_tuple['r'] = str(_r)
data_tuple['g'] = str(g)
data_tuple['b'] = str(b)
r.publish('proximity', json.dumps(data_tuple))
time.sleep(0.1)
def find_position(self):
print "Kinect is trying to find the image"
(kinect_depth,_), (rgb,_) = get_depth(), get_video()
self.img = video_cv(rgb)
depth_img = pretty_depth_cv(kinect_depth)
position = self._get_pos(self.img)
depth = self._get_depth(depth_img, debug=False)
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1, 1, 0, 1, 1)
fps = 1/(time.time() - self.lasttime)
s1 = "FPS:%.2f" % fps
self.lasttime = time.time()
cv.PutText(self.img,s1, (0,30),font, cv.CV_RGB(255, 0, 0))
dt = "Depth: %d" % depth
if position:
pt = "Pos: X=%d Y=%d" % (position[0], position[1])
else:
pt = "Pos: N/A"
cv.PutText(self.img, dt, (0,60),font, cv.CV_RGB(255, 0, 0))
cv.PutText(self.img, pt, (0,90),font, cv.CV_RGB(255, 0, 0))
offset = 120
for t in self.text:
cv.PutText(self.img, t, (0,offset),font, cv.CV_RGB(255, 0, 0))
offset += 30
cv.Circle(self.img, (self.sp[0], self.sp[1]) , 10, cv.CV_RGB(0, 255, 0), 1)
cv.ShowImage('RGB', self.img)
#cv.SaveImage('RGB-%d.png' % (time.time()*100), self.img)
#cv.ShowImage('DEPTH', depth_img)
cv.WriteFrame(self.writer, self.img)
cv.WaitKey(5)
#cv.ShowImage('depth_mask', depth_mask)
try:
return (position[0], position[1], depth)
except:
return (None, None, None)
def doloop():
global depth,ir, rgb
while True:
"""
ctypedef enum freenect_video_format:
FREENECT_VIDEO_RGB
FREENECT_VIDEO_BAYER
FREENECT_VIDEO_IR_8BIT
FREENECT_VIDEO_IR_10BIT
FREENECT_VIDEO_IR_10BIT_PACKED
FREENECT_VIDEO_YUV_RGB
FREENECT_VIDEO_YUV_RAW
"""
(depth,_), (ir,_) = get_depth(), get_video(format=2)
# How does Downsample Works
# ::2, means you skip by 2 -> [1,2,3,4] -> [2,4]
# Downsample col -> cv.fromarray(np.array(rgb[:, ::2, ::-1]))
# Downsample row -> cv.fromarray(np.array(rgb[::2, :, ::-1]))
# Color Chanel: All Color -> cv.fromarray(np.array(rgb[::2, ::2, ::-1]))
# Color Chanel: Blue -> cv.fromarray(np.array(rgb[::2, ::2]))
# Color Chanel: Gray -> cv.fromarray(np.array(rgb[::2, ::2, 0]))
# Build a two panel color image
d3 = np.dstack((depth,depth,depth)).astype(np.uint8)
i3 = np.dstack((ir, ir, ir)).astype(np.uint8)
da = np.hstack((d3,i3))
# Form Frame/Image
image = cv.fromarray(np.array(da[:,:,::-1]))
# Playback Frame
cv.ShowImage('Dual',image)
cv.WaitKey(5)
# Keyboard interrupt for Exit
c=cv.WaitKey(2)
if c==27: #Break if user enters 'Esc'.
break
def getData():
global depth, rgb
i = 0
# for the first ten frames
while i < 10:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
data.append([depth, rgb])
# data = data + str(depth) + " \n $$$ \n" + str(rgb) + "\n !!! \n"
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# Simple Downsample
cv.ShowImage("Depth and RGB", cv.fromarray(np.array(da[::2, ::2, ::-1])))
cv.WaitKey(5)
i = i + 1
def getData():
global depth, rgb
i = 0
#for the first ten frames
while i < 10:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
data.append([depth, rgb])
#data = data + str(depth) + " \n $$$ \n" + str(rgb) + "\n !!! \n"
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# Simple Downsample
cv.ShowImage('Depth and RGB',
cv.fromarray(np.array(da[::2, ::2, ::-1])))
cv.WaitKey(5)
i = i + 1
def doloop():
global depth, rgb
while True:
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
# Build a two panel color image
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
da = np.hstack((d3, rgb))
# detect apriltag
data = da[::2, ::2, ::-1]
#image = cv2.imread(data)
gray = cv2.cvtColor(data, cv2.COLOR_RGB2GRAY)
detect_apriltag(gray, data)
# Simple Downsample
cv2.imshow('both', np.array(data))
if cv2.waitKey(1000) == 27:
break
def main():
print ('[*] Start')
start = datetime.now()
folder_name=get_args()
os.mkdir(folder_name)
os.chdir(folder_name)
i=1
buff=[]
try:
while True:
print '[*] Recording Index %s'%(str(i))
(depth,_), (rgb,_) = get_depth(), get_video()
buff.append([depth.copy(),rgb.copy()])
i+=1
time.sleep(0.0001)
if i>=1000000:
break
except KeyboardInterrupt:
sync_stop() # stop the sync_get_video...etc
print '\n[*] End Buff with following information :'
duration = str((datetime.now()-start).total_seconds() ).split('.')[0]
fps = i/((datetime.now()-start).total_seconds())
print '[*] Duration is { %s }'%(duration)
print '[*] FPS is { %s }'%(str(fps).split('.')[0])
print '\n[*] Start Saving IMG from Buff'
try:
for j in range(i):
#list.pop(index)
depth,rgb = buff.pop(0)
a=""
if len(str(j))<frame_length_limit_order:
a='0'*(frame_length_limit_order-len(str(j)))
depth=depth_to_gray(depth)
# io.imsave to a series of .png
io.imsave('depth'+a+str(j)+'.png',depth)
io.imsave('rgb'+a+str(j)+'.png',rgb)
print '[*] Saving Index %s'%(str(j))
except:
print '\n[*] End Saving IMG '
def main():
print ('[*] Start')
start = datetime.now()
folder_name=get_args()
os.mkdir(folder_name)
os.chdir(folder_name)
i=1
try:
while True:
(depth,_), (rgb,_) = get_depth(), get_video()
a=""
if len(str(i))<frame_length_limit_order:
a='0'*(frame_length_limit_order-len(str(i)))
elif len(str(i))>frame_length_limit_order:
break
depth=depth_to_gray(depth)
io.imsave('depth'+a+str(i)+'.png',depth)
io.imsave('rgb'+a+str(i)+'.png',rgb)
i+=1
except KeyboardInterrupt:
duration=str((datetime.now()-start).total_seconds() ).split('.')[0]
print '\n[*] Recoding Duration is { %s }'%(duration)
def doloop(self):
global depth, rgb
while True:
(depth, _), (rgb, _) = get_depth(), get_video()
d3 = np.dstack((depth, depth, depth)).astype(np.uint8)
redAvg = 0
greenAvg = 0
blueAvg = 0
distanceAvg = 0
for i in range(len(d3)):
redAvg += d3[0][i][0]
greenAvg += d3[0][i][1]
blueAvg += d3[0][i][2]
redAvg = redAvg / len(d3)
greenAvg = greenAvg / len(d3)
blueAvg = blueAvg / len(d3)
distanceAvg = (redAvg + blueAvg + greenAvg) / 3
cv.ShowImage("both", cv.fromarray(np.array(d3[::2, ::2, ::-1])))
self.sendCommandASCII("128") # sets mode to passive
self.sendCommandASCII("131") # sets mode to safe
if distanceAvg >= 255 or distanceAvg <= 10:
self.sendCommandASCII("140 3 1 64 16 141 3") # beep
self.callMovementCommand(0, -100)
elif distanceAvg > distanceThreshold:
self.sendCommandASCII("140 3 1 64 16 141 3") # beep
self.callMovementCommand(100, 100)
else:
self.callMovementCommand(0, 0) # stop
self.callMovementCommand(0, 100) # Right turn
cv.WaitKey(10)
def update(self):
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
# Get a fresh frame
depth,_ = get_depth()
frame,_ = get_video()
self.BD.detect(frame)
self.DA.analyse(depth)
centroid = self.DA.get_centroid()
obstacle = self.DA.get_obstacle()
x_pos = self.BD.get_xpos()
object_located = self.BD.get_objectLocated()
rospy.loginfo("centroid: %d obstacle: %s", centroid, obstacle)
rospy.loginfo("x_pos: %d object_located: %s", x_pos, object_located)
self.pub_depth.publish(centroid, obstacle)
self.pub_blob.publish(x_pos, object_located)
rate.sleep()
def center_detect():
result = []
(rgb, _) = get_video()
orig = np.array(rgb[::1, ::1, ::-1])
fgmask = fgbg.apply(orig)
cv2.imshow('backgrondeliminated', fgmask)
ret, thresh = cv2.threshold(fgmask, 127, 255, cv2.THRESH_BINARY+cv2.THRESH_OTSU)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(thresh, kernel, iterations=1)
im2, contours, hierarchy = cv2.findContours(erosion, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
if(cv2.arcLength(cnt, True)<250):
contours.pop(index)
else:
index += 1
hull = cv2.convexHull(cnt)
M = cv2.moments(cnt)
if(M['m00']!=0):
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
result.append([cx,cy])
return(result)
def on_message(self, message):
print("STATE : MESSAGE RECIEVED")
if (message == "edges"):
self.write_message(str(get_screen_params()))
print("***Edges Sent ***")
elif (message == "go"):
print(status.get_closed())
while True:
print("*** sending Contour ***")
(depth, _) = get_depth()
(rgb, _) = get_video()
orig = np.array(rgb[::1, ::1, ::-1])
fgmask = fgbg.apply(orig)
ret, thresh = cv2.threshold(
fgmask, 127, 255, cv2.THRESH_BINARY + cv2.THRESH_OTSU)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(thresh, kernel, iterations=1)
im2, contours, hierarchy = cv2.findContours(
erosion, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
for node in cnt:
for elem in node:
y = elem[0].astype(int)
x = elem[1].astype(int)
if (y > min(xlist)) and (y < max(xlist)) and (
x > min(ylist)) and (x < max(ylist)):
if (depth[x][y] + 8 <
min_mat[x][y] - noise[x][y]) and (
depth[x][y] <
2047) and (depth[x][y] != 0) and (
depth[x][y] != 255 and
(min_mat[x][y] < 2047)):
contour_list.append([x, y])
index += 1
if (len(contour_list) != 0):
self.write_message(str(contour_list))
if depthc[hd][wd] < min_mat[hd][wd]:
min_mat[hd][wd] = depthc[hd][wd]
if depthc[hd][wd] > max_mat[hd][wd]:
max_mat[hd][wd] = depthc[hd][wd]
#Noise Calculation
for hd in range(0, 480):
for wd in range(0, 640):
if (abs(max_mat[hd][wd] - min_mat[hd][wd]) < 200):
noise[hd][wd] = max_mat[hd][wd] - min_mat[hd][wd]
else:
noise[hd][wd] = 0
timer = time.time() - timer
print('Calibration Time :', timer)
#Screen Region Calibration
for i in range(0, 5):
(dst, _) = get_video()
# -----------
orig = np.array(dst[::1, ::1, ::-1])
frame = np.array(dst[::1, ::1, ::-1])
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_red = np.array([0, 0, 183])
upper_red = np.array([255, 255, 255])
mask = cv2.inRange(hsv, lower_red, upper_red)
dst = cv2.bitwise_and(frame, frame, mask=mask)
# -----------
kernel = np.ones((5, 5), np.float32) / 25
rgb = cv2.filter2D(dst, -1, kernel)
gray_image = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(gray_image, 127, 255,
import numpy as np
import cv, sys
import cv2
fps = 25.0 # so we need to hardcode the FPS
print "Recording at: ", fps, " fps"
frame_size = (640,480)
print "Video size: ", frame_size
writer = cv.CreateVideoWriter("original.avi", cv.CV_FOURCC('X','V','I','D'), fps, frame_size, True)
global depth, ir
while True :
(depth,_), (ir,_) = get_depth(), get_video(format=2)
# Process Depth Matrix to Binary Matrix
binary = (ir>200).astype(float)
binary = binary*255
im = imresize(binary, (480,640))
binary_img = cv.fromarray(im)
cv.ShowImage("original",binary_img)
cvMat = cvMat_to_iplimage_grayscale(binary_img)
image = cv.CreateImage (frame_size, 8, 3)
bitmap = cv.CreateImageHeader(frame_size, cv.IPL_DEPTH_8U, 3)
cv.SetData(bitmap, cvMat.tostring())
cv.WriteFrame(writer, image)
# Noise Calculation : Max - Min matrix
for hd in range(0, 480):
for wd in range(0, 640):
if (abs(max_mat[hd][wd] - min_mat[hd][wd]) < 200):
noise[hd][wd] = max_mat[hd][wd] - min_mat[hd][wd]
else:
noise[hd][wd] = 0
timer = time.time() - timer
print('Calibration Time :', timer)
return (1)
screen_calibration()
depth_calibration()
while True:
(rgb, _) = get_video()
(depth, _) = get_depth()
orig = np.array(rgb[::1, ::1, ::-1])
fgmask = fgbg.apply(orig)
cv2.imshow('backgrondeliminated', fgmask)
ret, thresh = cv2.threshold(fgmask, 127, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(thresh, kernel, iterations=1)
im2, contours, hierarchy = cv2.findContours(erosion, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
index = 0
result = []
curr = time.time()
for cnt in contours:
for node in cnt:
def get_kinect():
image, _ = get_video()
depth, _ = get_depth()
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
return image, depth
def mainfunc():
lower_red = np.array([0, 0, 69])
upper_red = np.array([255, 255, 255])
global rgb, initdepth
global BM, GM, RM, BMM, GMM, RMM
BM = 0
GM = 0
RM = 180
BMM = 255
GMM = 255
RMM = 255
(dst, _) = get_video()
#-----------
orig = np.array(dst[::1, ::1, ::-1])
frame = np.array(dst[::1, ::1, ::-1])
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_red = np.array([BM, GM, RM])
upper_red = np.array([BMM, GMM, RMM])
mask = cv2.inRange(hsv, lower_red, upper_red)
dst = cv2.bitwise_and(frame, frame, mask=mask)
#-----------
kernel = np.ones((5, 5), np.float32) / 25
rgb = cv2.filter2D(dst, -1, kernel)
gray_image = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(gray_image, 150, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
im2, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
font = cv2.FONT_HERSHEY_SIMPLEX
index = 0
for cnt in contours:
epsilon = 0.15 * cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, epsilon, True)
if cv2.arcLength(approx, True) < 20:
contours.pop(index)
else:
if len(approx) == 4:
x, y, w, h = cv2.boundingRect(approx)
cv2.rectangle(rgb, (x, y), (x + w, y + h), (0, 255, 0), 2)
index = index + 1
#cv2.drawContours(rgb, approx, -1, (0, 255, 0), 3)
cv2.namedWindow('rgb')
cv2.startWindowThread()
cv2.createTrackbar('BMin', 'rgb', BM, 255, change_BM)
cv2.createTrackbar('GMin', 'rgb', GM, 255, change_GM)
cv2.createTrackbar('RMin', 'rgb', RM, 255, change_RM)
cv2.createTrackbar('BMax', 'rgb', BMM, 255, change_BMM)
cv2.createTrackbar('GMax', 'rgb', GMM, 255, change_GMM)
cv2.createTrackbar('RMax', 'rgb', RMM, 255, change_RMM)
cv2.createTrackbar('0 : OFF \n1 : ON', 'rgb', 0, 1, nothing)
while (1):
(dst, _) = get_video()
# -----------
frame = np.array(dst[::1, ::1, ::-1])
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_red = np.array([BM, GM, RM])
upper_red = np.array([BMM, GMM, RMM])
mask = cv2.inRange(hsv, lower_red, upper_red)
dst = cv2.bitwise_and(frame, frame, mask=mask)
# -----------
kernel = np.ones((5, 5), np.float32) / 25
rgb = cv2.filter2D(dst, -1, kernel)
gray_image = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
ret, thresh = cv2.threshold(gray_image, 150, 255,
cv2.THRESH_BINARY + cv2.THRESH_OTSU)
im2, contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
epsilon = 0.15 * cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, epsilon, True)
if cv2.arcLength(approx, True) < 20:
contours.pop(index)
else:
if len(approx) == 4:
x, y, w, h = cv2.boundingRect(approx)
cv2.rectangle(rgb, (x, y), (x + w, y + h), (0, 255, 0), 2)
index = index + 1
cv2.imshow('rgb', rgb)
k = cv2.waitKey(1) & 0xFF
if k == 27:
break
contour_array_depth = []
contour_center = []
mouse_clicked = []
def add_item(self, x, y, z):
self.contour_array_xy.append([x, y])
self.contour_array_depth.append(z)
def add_center(self, cent):
self.contour_center = cent
def print_contour(self):
print(self.contour_array_xy,self.contour_array_depth,self.contour_center)
fgbg = cv2.bgsegm.createBackgroundSubtractorMOG()
cont = ObjectContour
while True:
(depth, _), (rgb, _) = get_depth(), get_video()
orig = np.array(rgb[::1, ::1, ::-1])
fgmask = fgbg.apply(orig)
cv2.imshow('No Background', fgmask)
ret, thresh = cv2.threshold(fgmask, 127, 255, cv2.THRESH_BINARY+cv2.THRESH_OTSU)
kernel = np.ones((5, 5), np.uint8)
erosion = cv2.erode(thresh, kernel, iterations=1)
im2, contours, hierarchy = cv2.findContours(erosion, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
index = 0
for cnt in contours:
if cv2.arcLength( cnt, True) < 250:
contours.pop(index)
else:
print("----------------------")
print(str(index)+":")
index += 1
import gui
import cv2
from freenect import sync_get_video as get_video
while True:
image, _ = get_video()
image = cv2.cvtColor(image, cv2.COLOR_RGB2BGR)
gui.display(image)
try:
gui.refresh()
except KeyboardInterrupt:
break
gui.close()
'float32': cv.IPL_DEPTH_32F,
'float64': cv.IPL_DEPTH_64F,
}
try:
nChannels = a.shape[2]
except:
nChannels = 1
cv_im = cv.CreateImageHeader((a.shape[1], a.shape[0]), dtype2depth[str(a.dtype)], nChannels)
cv.SetData(cv_im, a.tostring(), a.dtype.itemsize * nChannels * a.shape[1])
return cv_im
while True:
(raw_depth, _) = get_depth()
(raw_video, _) = get_video()
np.clip(raw_depth, 0, (2**10)-1, raw_depth)
raw_depth = raw_depth >> 2
raw_depth = raw_depth.astype(np.uint8)#np.dstack((raw_depth, raw_depth, raw_depth))
video = cv.GetImage(cv.fromarray(raw_video))
cv.CvtColor(video, video, cv.CV_RGB2BGR)
cv.Flip(video, video, 1)
depth = cv.GetImage(cv.fromarray(raw_depth))
cv.Flip(depth, depth, 1)
cv.Threshold(depth, depth, 125, 255, cv.CV_THRESH_BINARY)
temp = cv.CloneImage(depth)
def doloop():
#Series of commands to do pointer operations on the kinect (motor, led, accelerometer)
ctx = init() #Initiates device
mdev = open_device(ctx, 0) #Opens the device for commands
set_led(mdev, 1) #Sets LED to green
close_device(
mdev) #Closes device. Device must be closed immediately after usage
#Mean filter caches
yList = [0, 0, 0, 0, 0, 0]
xList = [0, 0, 0, 0, 0, 0]
#Sets color tuples
RED = (255, 0, 0)
BLUE = (0, 0, 255)
TEAL = (0, 200, 100)
BLACK = (0, 0, 0)
#Sets the size of the screen
xSize = 640
ySize = 480
done = False #Main while loop bool counter
pygame.init() #Initiates pygame
screen = pygame.display.set_mode(
(xSize, ySize), pygame.RESIZABLE) #Creates the pygame window
screen.fill(BLACK) #Fills the window black
#Initiates the xTempPos and yTempPos values so that the point will remain stationary
#if the minimum value is larger than 600
xTempPos = xSize / 2
yTempPos = ySize / 2
global depth, rgb #Makes the depth and rgb variables global
while not done:
screen.fill(BLACK) #Makes the pygame window black after each iteration
# Get a fresh frame
(depth, _) = get_depth()
(rgb, _) = get_video()
minVal = np.min(depth) #This is the minimum value from the depth image
minPos = np.argmin(
depth) #This is the raw index of the minimum value above
xPos = np.mod(minPos, xSize) #This is the x component of the raw index
yPos = minPos // xSize #This is the y component of the raw index
#This is the mean filter process
"""
A mean filter works by collecting values in a cache list and taking the mean of them
to determine the final value. It works in this case to decrease the amount of
volatility the minimum position experiences to get a smoother display with a more
consistent value. My computer works smoothly with a 5 bit cache where as a faster
computer may need a larger cache and a slower computer may need a smaller cache
"""
xList.append(xPos)
del xList[0]
xPos = int(mean(xList))
yList.append(yPos)
del yList[0]
yPos = int(mean(yList))
"""
This if statement says that if the minimum value is below 600 to store the minimum
positions in xTempPos and yTempPos and to make the dot color red. Also if the minimum
value is larger than 600, xPos and yPos become the last stored minimum and maximum
positions. It also changes the color to purple
"""
if minVal < 600:
xTempPos = xPos
yTempPos = yPos
COLOR = cv.RGB(255, 0, 0)
else:
xPos = xTempPos
yPos = yTempPos
COLOR = cv.RGB(100, 0, 100)
#cv.Circle(rgb, (xPos, yPos), 2, COLOR, 40) #draws a circle of a certain color at minimum position
#cv.ShowImage('Image',rgb) #Shows the image
cv.WaitKey(5) #Keyboard interupt
"""
The if statement below sets up the virtual joystick by basically breaking the pygame
window into four parts. A dot representing the minimum position is drawn on the window
and the corresponding button based on the position is "pressed". The quarter of the
window in which the button "pressed" corresponds to turns teal after being "pressed"
Top Right : A
Bottom Right: B
Bottom Left : Y
Top Right : X
"""
if xPos <= xSize / 2 and yPos <= ySize / 2:
command = 'A'
rect1 = pygame.Rect((xSize / 2, 0), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
elif xPos <= xSize / 2 and yPos > ySize / 2:
command = 'B'
rect1 = pygame.Rect((xSize / 2, ySize / 2), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
elif xPos > xSize / 2 and yPos <= ySize / 2:
command = 'X'
rect1 = pygame.Rect((0, 0), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
else:
command = 'Y'
rect1 = pygame.Rect((0, ySize / 2), (xSize / 2, ySize / 2))
pygame.draw.rect(screen, TEAL, rect1)
pygame.draw.line(
screen, BLUE, (xSize / 2, ySize / 2),
(xSize - xPos,
yPos)) #Draws a line from the middle to the minimum position
pygame.draw.circle(screen, RED, (xSize - xPos, yPos),
10) #Draws the circle on pygame window
pygame.display.flip() #Displays the processed pygame window
print command, minVal #Prints the "pressed" button and the minimum value
for e in pygame.event.get(): #Itertates through current events
if e.type is pygame.QUIT: #If the close button is pressed, the while loop ends
done = True
from opencv.cv import * from opencv import adaptors from opencv.highgui import * from time import time from freenect import sync_get_depth as get_depth, sync_get_video as get_video, init import numpy as np from rx_config import * from timing_stats import * #initialize the camera ctx = init() # Grab an initial frame to get the video size global depth, rgb (depth,_), (rgb,_) = get_depth(), get_video() rgbFrameSize = cvGetSize(rgb) depthSize = cvGetSize(depth) dwnFrameSize = cvSize(rgbFrameSize.width / 2, rgbFrameSize.height / 2) dwnDepthSize = cvSize(depthSize.width / 2, depthSize.height / 2) print 'rgbSize = %d %d' % (rgbFrameSize.width, rgbFrameSize.height) print 'depthSize = %d %d' % (depthSize.width, depthSize.height) # Allocate processing chain image buffers the same size as # the video frame rgbFrame = cvCreateImage( rgbFrameSize, cv.IPL_DEPTH_8U, 3 ) depthFrame = cvCreateImage( depthSize, cv.IPL_DEPTH_16U, 3 ) dwnDepthFrame = cvCreateImage( dwnDepthSize, cv.IPL_DEPTH_16U, 1 )#tbd 3 or 1?
#ctx = fn.init()
#if fn.num_devices(ctx) > 0:
# dev = fn.open_device(ctx, 0)
#
#curr_tilt_state = fn.get_tilt_state(dev)
#curr_tilt_degs = fn.get_tilt_degs(curr_tilt_state)
#print "Current Angle:", curr_tilt_degs
#fn.set_tilt_degs(dev, 15)
#fn.shutdown(ctx)
raw_sample = None
while raw_sample == None:
(raw_sample, _) = get_video()
sample_screen = cv.GetImage(cv.fromarray(raw_sample))
cv.Flip(sample_screen, sample_screen, 1)
cv.CvtColor(sample_screen, sample_screen, cv.CV_RGB2BGR)
screen_size = cv.GetSize(sample_screen)
colour_image = cv.CreateImage(screen_size, 8, 3)
grey_image = cv.CreateImage(screen_size, cv.IPL_DEPTH_8U, 1)
moving_average = cv.CreateImage(screen_size, cv.IPL_DEPTH_32F, 3)
cv.Smooth(sample_screen, sample_screen, cv.CV_GAUSSIAN, 3, 0)
difference = cv.CloneImage(sample_screen)
temp = cv.CloneImage(sample_screen)
cv.ConvertScale(sample_screen, moving_average, 1.0, 0.0)
def run(self):
heat=0
storage = cv.CreateMemStorage()
if not self.solo:
haar=cv.Load('haarcascades/haarcascade_profileface.xml')
else:
haar=cv.Load('haarcascades/haarcascade_frontalface_default.xml')
threshold=10
while not self._stop:
# Get a fresh framepython
(depth,_), (rgb,_) = get_depth(), get_video()
#image=array2PIL(rgb, (640, 480))
#o=rgb.astype(numpy.uint8)
w=depth.astype(numpy.uint8)
o=cv.fromarray(rgb)
if self.online:
grayscale = cv.CreateImage((640, 480), 8, 1)
cv.CvtColor(o, grayscale, cv.CV_BGR2GRAY)
storage = cv.CreateMemStorage(0)
# equalize histogram
cv.EqualizeHist(grayscale, grayscale)
faces = cv.HaarDetectObjects(grayscale, haar, storage, 1.1, 2, cv.CV_HAAR_DO_CANNY_PRUNING, (30, 30))
left=None
right=None
if self.solo:
threshold=20
if faces:
for face in faces:
#print "FORCE "+str(face[1])
if face[1] > threshold:
#face=faces[0]
r=face[0]
#i=face[0]
#draw.rectangle((r[0], r[1], r[0]+r[2], r[1]+r[3]), outline="green")
#cv.Rectangle(o, ( int(r[0]), int(r[1])),
# (int(r[0]+r[2]), int(r[1]+r[3])),
# cv.RGB(0, 255, 0), 3, 8, 0)
cv.Circle(o, (int(r[0]+r[3]/2), int(r[1]+r[3]/2)),r[3]/2,cv.RGB(255, 255, 255), 3, 8, 0)
#cv.EllipseBox(o, r, cv.RGB(0, 255, 0))
#draw.ellipse((r[0], r[1], r[0]+r[2], r[1]+r[3]), fill="green")
#draw.ellipse((r[0]+3, r[1]+3, r[0]+r[2]-3, r[1]+r[3]-3), fill=None)
left=(r[0]+r[2]/2, r[1]+r[3]/2)
if not self.solo:
cv.Flip(grayscale, grayscale, 1)
faces = cv.HaarDetectObjects(grayscale, haar, storage, 1.1, 2, cv.CV_HAAR_DO_CANNY_PRUNING, (30, 30))
if faces:
for face in faces:
if face[1] > threshold:
r=face[0]
cv.Circle(o, (int(640-r[0]-r[3]/2), int(r[1]+r[3]/2)),r[3]/2,cv.RGB(255, 255, 255), 3, 8, 0)
right=(640-r[0]-r[2]/2, r[1]+r[3]/2)
else:
right=left
if left and right and self.paranoic:
#print "distancia esquerda:"
#print w[left[1]][left[0]]
#print "distancia direita:"
#print w[right[1]][right[0]]
#print heat
print str(w[left[1]][left[0]]) + "_"+ str(w[right[1]][right[0]])
if w[left[1]][left[0]] - w[right[1]][right[0]] < 50:
heat+=1
if not self.solo:
heat+=10
if heat>10:
self.emit(QtCore.SIGNAL('save()'))
self.disconnect()
else:
heat-=1
if heat<0:
heat=0
cv.Flip(o,o,1)
qi=toQImage(numpy.asarray(o),True) #array2PIL(rgb, (640, 480))
#qi=ImageQt(image.transpose(Image.FLIP_LEFT_RIGHT)) #PILimageToQImage(image)
self.emit(QtCore.SIGNAL('update(QImage)'), qi)
return
from freenect import sync_get_depth as get_depth, sync_get_video as get_video
import cv2
import numpy as np
from matplotlib import pyplot as plt
#camera = cv2.VideoCapture(0)
(img,_) = get_video()
#_,im = camera.read()
#cv2.imwrite('thing.png',camera)
#img = cv2.imread(camera,0)
# thresholding
ret,thresh1 = cv2.threshold(img,127,255,cv2.THRESH_BINARY)
ret,thresh2 = cv2.threshold(img,127,255,cv2.THRESH_BINARY_INV)
ret,thresh3 = cv2.threshold(img,127,255,cv2.THRESH_TRUNC)
ret,thresh4 = cv2.threshold(img,127,255,cv2.THRESH_TOZERO)
ret,thresh5 = cv2.threshold(img,127,255,cv2.THRESH_TOZERO_INV)
thresh6 = cv2.adaptiveThreshold(img, 255, cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY,11,2)
titles = ['Original Image','BINARY','BINARY_INV','TRUNC','TOZERO','ADAPTIVE_THRESH_GAUSSIAN_C']
images = [img, thresh1, thresh2, thresh3, thresh4, thresh6]
for i in xrange(6):
plt.subplot(2,3,i+1),plt.imshow(images[i],'gray')
plt.title(titles[i])
plt.xticks([]),plt.yticks([])
plt.show()
# 2d convolution
kernel = np.ones((5,5),np.float32)/25
dst = cv2.filter2D(img,-1,kernel)
def doloop():
"""
Primary process loop.
"""
global depth, rgb, current_target
current_target = None
positions = []
create_windows()
nothing = lambda x: None
# cv2.createTrackbar('distance min', 'color', 0, 255, nothing)
# cv2.createTrackbar('distance max', 'color', 0, 255, nothing)
cv2.createTrackbar('min', 'color', MIN_A, 500, nothing)
cv2.createTrackbar('max', 'color', MAX_A, 1000, nothing)
cv2.createTrackbar('trim', 'color', 0, 200, nothing)
cv2.createTrackbar('user', 'grid', 0, 640, nothing)
cv2.createTrackbar('difficulty', 'grid', 0, 4, nothing)
#cv2.createTrackbar('Top Motor', 'grid', MOTOR1, 1023, nothing)
#cv2.createTrackbar('Bottom Motor', 'grid', MOTOR2, 1023, nothing)
cv2.createTrackbar('rotation', 'grid', 90, 180, nothing)
times = []
while True:
#time.sleep(1)
start = time.time()
# Trackbar updates
distance_min = cv2.getTrackbarPos('distance min', 'color')
distance_max = cv2.getTrackbarPos('distance max', 'color')
min_a = cv2.getTrackbarPos('min', 'color')
max_a = cv2.getTrackbarPos('max', 'color')
trim = cv2.getTrackbarPos('trim', 'color')
difficulty = cv2.getTrackbarPos('difficulty', 'grid')
userpos = cv2.getTrackbarPos('user', 'grid')
if distance_min == -1: distance_min = DISTANCE_MIN
if distance_max == -1: distance_max = DISTANCE_MAX
if min_a == -1: min_a = MIN_A
if max_a == -1: max_a = MAX_A
if trim == -1: trim = EDGE
# Get a fresh frame
(depth, _), (rgb, _) = get_depth(), get_video()
depth = prepare_depth(depth)
# Trim frame
if trim:
depth = depth[:, trim:depth.shape[1] - trim]
rgb = rgb[:, trim:rgb.shape[1] - trim]
# Threshold
ret, thresh1 = cv2.threshold(depth, distance_min, 255,
cv2.THRESH_TOZERO)
ret, thresh = cv2.threshold(thresh1, distance_max, 255,
cv2.THRESH_TOZERO_INV)
if 'd' in windows: cv2.imshow('depth', depth)
if 't' in windows: cv2.imshow('threshold', thresh)
# Get target point
contours, hierarchy = cv2.findContours(thresh, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
target = get_contour2(contours, min_a, max_a)
if not target is None:
M = cv2.moments(target)
if M['m00'] == 0: print "0"
else:
target_point = (int(M['m10'] / M['m00']),
int(M['m01'] / M['m00']))
x_val = (640.0 / float(target_point[0]) * 255)
_, radius = cv2.minEnclosingCircle(target)
#cv2.putText(rgb, str(radius), target_point, cv2.FONT_HERSHEY_SIMPLEX, \
#1, (0,255,0), 2, cv2.CV_AA)
cv2.circle(rgb, target_point, 4, (255, 0, 0), -1)
cv2.drawContours(rgb, [target], -1, (0, 255, 0), 3)
if userpos == -1: userpos = target_point[0]
#Clip userpos
userpos = max(min(2 * userpos - WIDTH / 2, WIDTH), 0)
if difficulty:
current_target = pick_target(userpos, difficulty)
current_speed = pick_speed(userpos, difficulty)
# Keep a list of the detected positions
positions.append(current_target)
if len(positions) == 6:
# select and send target
send_target(select_target(positions, difficulty))
positions = []
if 'g' in windows:
cv2.imshow('grid', drawTable(userpos, current_target))
if 'c' in windows: cv2.imshow('color', video_cv(rgb))
char = cv2.waitKey(10)
if char == 27:
cv2.destroyAllWindows()
break
elif char == 115:
cv2.imwrite('capture.png', video_cv(rgb))
cv2.namedWindow('saved')
cv2.imshow('saved', video_cv(rgb))
elif char == ord('r'):
if serial_out:
serial_out.close()
serial_out.open()
end = time.time()
times.append(end - start)
cv_video, cv_depth = (cv.CreateImageHeader(size, cv.IPL_DEPTH_8U, cv.CV_16S),
cv.CreateImageHeader(size, cv.IPL_DEPTH_8U, cv.CV_16S))
cv_hist = cv.CreateHist([180], cv.CV_HIST_ARRAY, [(0,180)], 1 )
track_window = None
depth, near, far=(600, 600, 0)
while True:
for e in pygame.event.get():
if e.type == QUIT or (e.type == KEYDOWN and e.key == K_ESCAPE):
exit(0)
if e.type == KEYDOWN and e.key == K_r:
track_window = None
(np_video, _), (np_depth, _) = get_video(), get_depth()
np_depth = 255 * numpy.logical_and(np_depth >= depth - near,
np_depth <= depth + far)
np_depth = numpy.dstack((np_depth, np_depth, np_depth)).astype(numpy.uint8).reshape(size[1], size[0], 3)
cv.SetData(cv_depth, np_depth.tostring())
cv.SetData(cv_video, np_video.tostring())
#
cv_hsv = cv.CreateImage(cv.GetSize(cv_video), 8, 3)
cv.CvtColor(cv_video, cv_hsv, cv.CV_RGB2HSV)
cv_hue = cv.CreateImage(cv.GetSize(cv_video), 8, 1)
cv.Split(cv_hsv, cv_hue, None, None, None)
cv_backproject = cv.CreateImage(cv.GetSize(cv_video), 8, 1)
cv.CalcArrBackProject([cv_hue], cv_backproject, cv_hist )
#
def save_img():
global rgb
(rgb,_) = get_video()
cv.SaveImage('/tmp/anglerfish-img.jpg', cv.fromarray(np.array(rgb)))
warm_up, _ = get_depth()
time.sleep(5)
cf0, _ = get_depth()
all_data = cf0[np.newaxis, ...]
ts0 = time.time()
ts = ts0
count = 0
while ts - ts0 < 60:
cf, _ = get_depth()
ts = time.time()
if ts > count * 0.4 + ts0:
all_data = np.vstack([all_data, cf[np.newaxis, ...]])
count += 1
#all_data[all_data == 0] = np.nan
np.save('bower_test_tank42_depth' + str(integer), all_data)
integer = 1
warm_up, _ = get_depth()
warm_up, _ = get_video()
time.sleep(5)
Color = get_video()
time.sleep(2)
np.save('bower_test_tank42_color', Color)
while integer <= 20:
ts = time.time()
qualtest(integer)
integer += 1
to = time.time()
time.sleep(300 - (to - ts))
