def handle_state(self, times, other):
common.add_to_array(self.cm_array, self.center_of_mass)
common.add_to_array(self.ap_array, self.action_point)
common.add_to_array(self.height_array, imcompare.find_contour_height(self.contour))
if len(times) == common.ARRAY_LEN:
xAP, yAP, vAP, vH, h = imcompare.get_motion_params(self.cm_array, self.ap_array, self.height_array, times)
state = imcompare.get_current_state(xAP, yAP, vAP, vH, h, self.move_state, self.crouch_height, self.hit_distance, self.hit_speed, self.high_hit_height)
if self.move_state != state:
self.previous_move_states += '-' + state
self.make_move(other)
self.move_state = state
def main():
g_slider_pos = 45
g_vertex_pos = 100
g_width_pos = 2
arr_len = 5
global CROUCH_RATIO, HIT_DISTANCE_RATIO, HIT_SPEED_RATIO, HIGH_HIT_RATIO
CROUCH_RATIO = 0.9
HIT_DISTANCE_RATIO = 0.25
HIT_SPEED_RATIO = 0.50
HIGH_HIT_RATIO = 1.1
cv.NamedWindow("win") # don't know if a '?' in the name is supported
cv.MoveWindow("win", -30, -20)
cap = cv.CaptureFromCAM(0)
calib_img = cv.LoadImage(r'images\Calibration_Grid3.png')
cv.ShowImage("win", calib_img)
# this is actually the dimensions of the "inner chessboard" (see FindChessboardCorners documentation)
chessboard_dim = ( 8, 5 )
# The camera's auto-focus needs time to adjust
cv.WaitKey(5000)
# For some reason the first capture doesn't get the chessboard (even though it's there 5 secs!) and the second one sometimes comes out blurry.
whole_view = cv.QueryFrame(cap)
whole_view = cv.QueryFrame(cap)
# converting our image to grayscale. Might be unnecessary.
whole_view_gs = cv.CreateImage(cv.GetSize(whole_view), whole_view.depth, 1)
cv.CvtColor(whole_view, whole_view_gs, cv.CV_BGR2GRAY)
found_all, corners = cv.FindChessboardCorners( whole_view_gs, chessboard_dim )
if found_all:
cv.DrawChessboardCorners( whole_view, chessboard_dim, corners, found_all )
cv.ShowImage("win", whole_view);
key = cv.WaitKey()
# these are the bounding 4 points of the inner chessboard.
bounding_rect = (corners[39], corners[32], corners[7], corners[0])
transform_mat = cv.CreateMat(3, 3, cv.CV_32F)
cv.GetPerspectiveTransform(bounding_rect, screen_rect, transform_mat)
cv.WarpPerspective(whole_view, calib_img, transform_mat)
cv.ShowImage("win", calib_img)
cv.CreateTrackbar("Crouch", "win", CROUCH_RATIO * 100, 100, standHeight_change)
cv.CreateTrackbar("HitDistance", "win", HIT_DISTANCE_RATIO * 100, 100, hitDis_change)
cv.CreateTrackbar("HitSpeed", "win", HIT_SPEED_RATIO * 100, 100, hitV_change)
cv.CreateTrackbar("HighHit", "win", HIGH_HIT_RATIO * 100, 200, highHitDis_change)
cv.WaitKey()
cv.Set(calib_img, cv.CV_RGB(255, 255, 255))
## cv.ShowImage("win", calib_img)
## cv.WaitKey()
reference_img = cv.QueryFrame(cap)
reference_img = cv.QueryFrame(cap)
reference_img_warped = cv.CreateImage(cv.GetSize(calib_img), 8, 3)
cv.WarpPerspective(reference_img, reference_img_warped, transform_mat, 0)
cv.SaveImage('RefImg/RefImage2.jpg',reference_img_warped)
reference_img_warped = cv.LoadImage('RefImg/RefImage2.jpg')
cv.ShowImage("win", reference_img_warped)
cv.WaitKey()
feed = MyFeed(cap)
feed.start()
prev_state = state = 'Idle'
cms = []
aps = []
hs = []
times = []
base_height = 0
while True :
frame = None
global pixBuf,newPix,waitPix,lock
if newPix:
lock.acquire()
frame = pixBuf
# Tell next frameStarted that this image was already taken into account
newPix = False
# Tell thread to acquire a new image
waitPix = True
lock.release()
#frame = cv.QueryFrame(cap)
#cv.ShowImage("win2", im)
# warp the image to include only the synced part
if frame:
warped_frame = cv.CreateImage(cv.GetSize(calib_img), 8, 3)
cv.WarpPerspective(frame, warped_frame, transform_mat, 0)
(c1, cm1, c2, cm2) = imcompare.findDifference(reference_img_warped, warped_frame, g_slider_pos, g_width_pos, g_vertex_pos)
if c1 and c2:
(ap1,ap2) = imcompare.get_action_points(c1, c2)
cms = add_to_array(cms, cm1, arr_len)
aps = add_to_array(aps, ap1, arr_len)
hs = add_to_array(hs, imcompare.find_contour_height(c1), arr_len)
times = add_to_array(times, time.time(), arr_len)
warped_frame = imcompare.drawDifference(cv.GetSize(warped_frame),c1, cm1, ap1, c2, cm2, ap2)
if len(cms) == arr_len:
xAP, yAP, vAP, vH, h = imcompare.get_motion_params(cms, aps, hs, times)
standHeight = base_height * CROUCH_RATIO
hitDis = base_height * HIT_DISTANCE_RATIO
hitV = base_height * HIT_SPEED_RATIO
highHitDis = base_height * HIGH_HIT_RATIO
state = imcompare.get_current_state(xAP, yAP, vAP, vH, h, prev_state, standHeight, hitDis, hitV, highHitDis)
if prev_state != state:
print state
prev_state = state
cv.ShowImage('win', warped_frame)
key = cv.WaitKey(10)
if key == 27:
break
if key == 32:
if c1:
base_height = imcompare.find_contour_height(c1)
print base_height
feed.stop()