def main():
print "FaceIn! an OpenCV Python Face Recognition Program"
highgui.cvNamedWindow ('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow ('Camera', 10, 10)
device = 0 #use first device found
capture = highgui.cvCreateCameraCapture (device)
frame = highgui.cvQueryFrame (capture)
frame_size = cv.cvGetSize (frame)
fps = 30
while 1:
frame = highgui.cvQueryFrame (capture)
detectFace(frame)
# display the frames to have a visual output
highgui.cvShowImage ('Camera', frame)
# handle events
k = highgui.cvWaitKey (5)
if k % 0x100 == 27:
# user has press the ESC key, so exit
quit()
def main():
print "FaceIn! an OpenCV Python Face Recognition Program"
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow('Camera', 10, 10)
device = 0 #use first device found
capture = highgui.cvCreateCameraCapture(device)
frame = highgui.cvQueryFrame(capture)
frame_size = cv.cvGetSize(frame)
fps = 30
while 1:
frame = highgui.cvQueryFrame(capture)
detectFace(frame)
# display the frames to have a visual output
highgui.cvShowImage('Camera', frame)
# handle events
k = highgui.cvWaitKey(5)
if k % 0x100 == 27:
# user has press the ESC key, so exit
quit()
def __init__(self,
name,
size=2,
draw_center=True,
draw_grid=True,
meters_radius=4.0):
"""
name = name of window
meter_radus = 4.0
size = multiple of 400x200 to use for screen
meter_radius = how many per metrer
"""
self.draw_center = draw_center
self.draw_grid = draw_grid
self.w = (int)(round(size * 400.0))
self.h = (int)(round(size * 200.0))
self.meters_disp = 4.0 #Range in meters of area around robot to display
self.laser_win = name
self.buffer = cv.cvCreateImage(cv.cvSize(self.w, 2 * self.h),
cv.IPL_DEPTH_8U, 3)
#print "RobotDisp: window width", self.buffer.width
#print "RobotDisp: window height", self.buffer.height
self.pixels_per_meter = self.h / self.meters_disp
hg.cvNamedWindow(name, hg.CV_WINDOW_AUTOSIZE)
hg.cvMoveWindow(name, 0, 50)
self.font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, as_int(1),
as_int(1), 0, 1, cv.CV_AA)
def _make_windows(self):
windows = ['video', 'right', 'thresholded', 'motion', 'intensity', 'patch', 'big_patch']
for n in windows:
hg.cvNamedWindow(n, 1)
hg.cvMoveWindow("video", 0, 0)
hg.cvMoveWindow("right", 800, 0)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
def _make_windows(self):
windows = [
'video', 'right', 'thresholded', 'motion', 'intensity', 'patch',
'big_patch'
]
for n in windows:
hg.cvNamedWindow(n, 1)
hg.cvMoveWindow("video", 0, 0)
hg.cvMoveWindow("right", 800, 0)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
def display_images(image_list, max_x=1200, max_y=1000, save_images=False):
"""
Display a list of OpenCV images tiled across the screen
with maximum width of max_x and maximum height of max_y
save_images - will save the images(with timestamp)
"""
curtime = time.localtime()
date_name = time.strftime('%Y_%m_%d_%I%M%S', curtime)
loc_x, loc_y = 0, 0
wins = []
for i, im in enumerate(image_list):
if save_images:
if im.nChannels == 1 and im.depth == cv.IPL_DEPTH_32F:
clr = cv.cvCreateImage(cv.cvSize(im.width, im.height),
cv.IPL_DEPTH_8U, 1)
cv.cvConvertScale(im, clr, 255.0)
im = clr
highgui.cvSaveImage('image%d_' % i + date_name + '.png', im)
window_name = 'image %d' % i
wins.append((window_name, im))
highgui.cvNamedWindow(window_name, highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow(window_name, loc_x, loc_y)
loc_x = loc_x + im.width
if loc_x > max_x:
loc_x = 0
loc_y = loc_y + im.height
if loc_y > max_y:
loc_y = 0
while True:
for name, im in wins:
highgui.cvShowImage(name, im)
keypress = highgui.cvWaitKey(10)
if keypress == '\x1b':
break
def display_images(image_list, max_x = 1200, max_y = 1000, save_images=False):
"""
Display a list of OpenCV images tiled across the screen
with maximum width of max_x and maximum height of max_y
save_images - will save the images(with timestamp)
"""
curtime=time.localtime()
date_name = time.strftime('%Y_%m_%d_%I%M%S', curtime)
loc_x, loc_y = 0, 0
wins = []
for i, im in enumerate(image_list):
if save_images:
if im.nChannels == 1 and im.depth == cv.IPL_DEPTH_32F:
clr = cv.cvCreateImage(cv.cvSize(im.width, im.height), cv.IPL_DEPTH_8U, 1)
cv.cvConvertScale(im, clr, 255.0)
im = clr
highgui.cvSaveImage('image%d_'%i+date_name+'.png', im)
window_name = 'image %d' % i
wins.append((window_name, im))
highgui.cvNamedWindow(window_name, highgui.CV_WINDOW_AUTOSIZE)
highgui.cvMoveWindow(window_name, loc_x, loc_y)
loc_x = loc_x + im.width
if loc_x > max_x:
loc_x = 0
loc_y = loc_y + im.height
if loc_y > max_y:
loc_y = 0
while True:
for name, im in wins:
highgui.cvShowImage(name, im)
keypress = highgui.cvWaitKey(10)
if keypress == '\x1b':
break
def __init__(self, name, size=2, draw_center=True, draw_grid=True, meters_radius=4.0): """ name = name of window meter_radus = 4.0 size = multiple of 400x200 to use for screen meter_radius = how many per metrer """ self.draw_center = draw_center self.draw_grid = draw_grid self.w = (int) (round(size * 400.0)) self.h = (int) (round(size * 200.0)) self.meters_disp = 4.0 #Range in meters of area around robot to display self.laser_win = name self.buffer = cv.cvCreateImage(cv.cvSize(self.w, 2*self.h), cv.IPL_DEPTH_8U, 3) #print "RobotDisp: window width", self.buffer.width #print "RobotDisp: window height", self.buffer.height self.pixels_per_meter = self.h / self.meters_disp hg.cvNamedWindow(name, hg.CV_WINDOW_AUTOSIZE) hg.cvMoveWindow(name, 0, 50) self.font = cv.cvInitFont(cv.CV_FONT_HERSHEY_PLAIN, as_int(1), as_int(1), 0, 1, cv.CV_AA)
#! /usr/bin/env python
import opencv
from opencv import highgui
cap = highgui.cvCreateFileCapture("../c/tree.avi")
img = highgui.cvQueryFrame(cap)
print "Got frame of dimensions (", img.width, " x ", img.height, " )"
highgui.cvNamedWindow("win", highgui.CV_WINDOW_AUTOSIZE)
highgui.cvShowImage("win", img)
highgui.cvMoveWindow("win", 200, 200)
highgui.cvWaitKey(0)
if __name__ == '__main__':
# a small welcome
print "OpenCV Python capture video"
# first, create the necessary window
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Color Segmentation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Canny', 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
if len(sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture(device)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH,
#############################################################################
# so, here is the main part of the program
if __name__ == '__main__':
print "OpenCV Python wrapper test"
print "OpenCV version: %s (%d, %d, %d)" % (
cv.CV_VERSION, cv.CV_MAJOR_VERSION, cv.CV_MINOR_VERSION,
cv.CV_SUBMINOR_VERSION)
# first, create the necessary windows
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Histogram', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow('Camera', 10, 40)
highgui.cvMoveWindow('Histogram', 10, 270)
global mouse_origin
global mouse_selection
global mouse_select_object
mouse_select_object = False
global track_object
track_object = 0
global track_comp
global track_box
track_comp = cv.CvConnectedComp()
track_box = cv.CvBox2D()
def create_and_position_window(name, xpos, ypos):
"""Creates a named widow placing it on the screen at (xpos, ypos)."""
highgui.cvNamedWindow(name, highgui.CV_WINDOW_AUTOSIZE) # Create window
highgui.cvResizeWindow(name, cam_width, cam_height) # Resize it
highgui.cvMoveWindow(name, xpos, ypos) # move to (xpos,ypos) on the screen
import sys, os
from opencv import cv
from opencv import highgui
print "to use: python houghcircles.py imagefile.jpg minRadius maxRadius"
# first, create the necessary window
highgui.cvStartWindowThread()
highgui.cvNamedWindow('GrayScale', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Canny', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Image Display Window', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow ('GrayScale', 100, 10)
highgui.cvMoveWindow ('Canny', 200, 10)
highgui.cvMoveWindow ('Image Display Window', 10, 10)
#load image
image = highgui.cvLoadImage(sys.argv[1]);
#create image arrays
grayimage = cv.cvCreateImage(cv.cvGetSize(image), 8, 1)
cannyedges = cv.cvCreateImage(cv.cvGetSize(image), 8, 1)
#convert to grayscale
cv.cvCvtColor(image, grayimage, cv.CV_BGR2GRAY)
#Canny
#Canny(image, edges, threshold1, threshold2, aperture_size=3) = None
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)
def create_and_position_window(name, xpos, ypos):
''' a function to created a named widow (from name),
and place it on the screen at (xpos, ypos) '''
highgui.cvNamedWindow(name, highgui.CV_WINDOW_AUTOSIZE) # create the window
highgui.cvResizeWindow(name, cam_width, cam_height) # resize it
highgui.cvMoveWindow(name, xpos, ypos) # move it to (xpos,ypos) on the screen
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
import sys, os
from opencv import cv
from opencv import highgui
print "to use: python houghcircles.py imagefile.jpg minRadius maxRadius"
# first, create the necessary window
highgui.cvStartWindowThread()
highgui.cvNamedWindow("GrayScale", highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow("Canny", highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow("Image Display Window", highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow("GrayScale", 100, 10)
highgui.cvMoveWindow("Canny", 200, 10)
highgui.cvMoveWindow("Image Display Window", 10, 10)
# load image
image = highgui.cvLoadImage(sys.argv[1])
# create image arrays
grayimage = cv.cvCreateImage(cv.cvGetSize(image), 8, 1)
cannyedges = cv.cvCreateImage(cv.cvGetSize(image), 8, 1)
# convert to grayscale
cv.cvCvtColor(image, grayimage, cv.CV_BGR2GRAY)
# Canny
# Canny(image, edges, threshold1, threshold2, aperture_size=3) = None
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()
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()
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()
if __name__ == '__main__':
# a small welcome
print "OpenCV Python capture video"
# first, create the necessary window
highgui.cvStartWindowThread()
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvStartWindowThread()
highgui.cvNamedWindow ('Color Segmentation', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvStartWindowThread()
highgui.cvNamedWindow ('Canny', 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
if len (sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture (device)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
from opencv import highgui
if __name__ == '__main__':
print "HOWDY, welcome to the webcam proggy"
# first, create the necessary windows
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('HUE', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('SATURATION', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('VALUE', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('RED', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('GREEN', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('BLUE', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow('Camera', 0, 40)
highgui.cvMoveWindow('HUE', 0, 400)
highgui.cvMoveWindow('SATURATION', 330, 40)
highgui.cvMoveWindow('VALUE', 330, 400)
highgui.cvMoveWindow('RED', 660, 40)
highgui.cvMoveWindow('GREEN', 660, 400)
highgui.cvMoveWindow('BLUE', 990, 40)
capture = highgui.cvCreateCameraCapture(0)
# set the wanted image size from the camera
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_WIDTH, 320)
highgui.cvSetCaptureProperty(capture, highgui.CV_CAP_PROP_FRAME_HEIGHT, 240)
# check that capture device is OK
if not capture:
def run(exposure, video=None, display=False, debug=False):
if display:
hg.cvNamedWindow("video", 1)
hg.cvMoveWindow("video", 0, 0)
if debug:
hg.cvNamedWindow('right', 1)
hg.cvMoveWindow("right", 800, 0)
hg.cvNamedWindow("thresholded", 1)
hg.cvNamedWindow('motion', 1)
hg.cvNamedWindow('intensity', 1)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
if video is None:
#video = cam.VidereStereo(0, gain=96, exposure=exposure)
video = cam.StereoFile('measuring_tape_red_left.avi','measuring_tape_red_right.avi')
frames = video.next()
detector = LaserPointerDetector(frames[0], LaserPointerDetector.SUN_EXPOSURE,
use_color=False, use_learning=True)
detector_right = LaserPointerDetector(frames[1], LaserPointerDetector.SUN_EXPOSURE,
use_color=False, use_learning=True, classifier=detector.classifier)
stereo_cam = cam.KNOWN_CAMERAS['videre_stereo2']
for i in xrange(10):
frames = video.next()
detector.detect(frames[0])
detector_right.detect(frames[1])
lt = cv.cvCreateImage(cv.cvSize(640,480), 8, 3)
rt = cv.cvCreateImage(cv.cvSize(640,480), 8, 3)
for l, r in video:
start_time = time.time()
#l = stereo_cam.camera_left.undistort_img(l)
#r = stereo_cam.camera_right.undistort_img(r)
cv.cvCopy(l, lt)
cv.cvCopy(r, rt)
l = lt
r = rt
undistort_time = time.time()
_, _, right_cam_detection, stats = detector_right.detect(r)
if debug:
draw_blobs(r, stats)
draw_detection(r, right_cam_detection)
hg.cvShowImage('right', r)
image, combined, left_cam_detection, stats = detector.detect(l)
detect_time = time.time()
if debug:
motion, intensity = detector.get_motion_intensity_images()
show_processed(l, [combined, motion, intensity], left_cam_detection, stats, detector)
elif display:
#draw_blobs(l, stats)
draw_detection(l, left_cam_detection)
hg.cvShowImage('video', l)
hg.cvWaitKey(10)
if right_cam_detection != None and left_cam_detection != None:
x = np.matrix(left_cam_detection['centroid']).T
xp = np.matrix(right_cam_detection['centroid']).T
result = stereo_cam.triangulate_3d(x, xp)
print '3D point located at', result['point'].T,
print 'distance %.2f error %.3f' % (np.linalg.norm(result['point']), result['error'])
triangulation_time = time.time()
diff = time.time() - start_time
print 'Main: Running at %.2f fps, took %.4f s' % (1.0 / diff, diff)
############################ GUI Config #####################################
if GUI == 1:
# first, create the necessary windows
highgui.cvNamedWindow('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Originale', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow('Binarisation', highgui.CV_WINDOW_AUTOSIZE)
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)
def learn_run(exposure = LaserPointerDetector.SUN_EXPOSURE, num_examples_to_collect=200, display_during_run = True):
hg.cvNamedWindow("video", 1)
hg.cvNamedWindow("thresholded", 1)
hg.cvNamedWindow('motion', 1)
hg.cvNamedWindow('intensity', 1)
hg.cvMoveWindow("video", 0, 0)
hg.cvMoveWindow("thresholded", 800, 0)
hg.cvMoveWindow("intensity", 0, 600)
hg.cvMoveWindow("motion", 800, 600)
video = cam.VidereStereo(0, gain=96, exposure=exposure)
frames = video.next()
detector = LaserPointerDetector(frames[0], exposure=exposure,
dataset=PatchClassifier.DEFAULT_DATASET_FILE,
use_color=False, use_learning=False)
detector2 = LaserPointerDetector(frames[1], exposure=exposure,
dataset=PatchClassifier.DEFAULT_DATASET_FILE,
use_color=False, use_learning=False)
def append_examples_to_file(dataset, file = PatchClassifier.DEFAULT_DATASET_FILE):
try:
loaded_set = load_pickle(file)
dataset.append(loaded_set)
except IOError:
pass
dump_pickle(dataset, file)
print 'Saved examples!'
#Gather positive examples from laser detector
if confirmation_prompt('gather positive examples?'):
print 'Lets gather some positive examples... we need', num_examples_to_collect, 'examples'
positive_examples_for_classifier = []
count_down(0)
for i in xrange(10):
frames = video.next()
detector.detect(frames[0])
detector2.detect(frames[1])
for img in video:
image = None
combined = None
motion = None
intensity = None
laser_blob = None
intensity_motion_blob = None
for raw_image, detect in zip(img, [detector, detector2]):
before = time.time()
image, combined, laser_blob, intensity_motion_blob = detect.detect(raw_image)
diff = time.time() - before
#print 'took %.2f seconds to run or %.2f fps' % (diff, 1.0/diff)
if laser_blob != None:
instance = blob_to_input_instance(image, laser_blob)
if instance is not None:
positive_examples_for_classifier.append(instance)
print 'got', len(positive_examples_for_classifier), 'instances'
motion, intensity = detect.get_motion_intensity_images()
show_processed(image, [combined, motion, intensity], laser_blob, intensity_motion_blob, detector2)
if len(positive_examples_for_classifier) > num_examples_to_collect:
break
positive_instances_dataset = matrix_to_dataset(ut.list_mat_to_mat(positive_examples_for_classifier, axis=1))
append_examples_to_file(positive_instances_dataset)
if confirmation_prompt('gather negative examples?'):
#Gather negative examples from laser detector
print 'lets gather some negative examples... we need', num_examples_to_collect,' examples'
negative_examples_for_classifier = []
count_down(10)
for i in xrange(10):
frames = video.next()
detector.detect(frames[0])
detector2.detect(frames[1])
for img in video:
image = None
combined = None
motion = None
intensity = None
laser_blob = None
intensity_motion_blob = None
for raw_image, detect in zip(img, [detector, detector2]):
image, combined, laser_blob, intensity_motion_blob = detect.detect(raw_image)
if laser_blob != None:
instance = blob_to_input_instance(image, laser_blob)
if instance is not None:
negative_examples_for_classifier.append(instance)
print 'got', len(negative_examples_for_classifier), 'instances'
motion, intensity = detect.get_motion_intensity_images()
show_processed(image, [combined, motion, intensity], laser_blob, intensity_motion_blob, detector2)
if len(negative_examples_for_classifier) > (num_examples_to_collect*2):
break
negative_instances_dataset = matrix_to_dataset(ut.list_mat_to_mat(negative_examples_for_classifier, axis=1))
append_examples_to_file(negative_instances_dataset)
if confirmation_prompt('run classifier?'):
run(exposure, video = video, display=display_during_run)
# a small welcome
print "OpenCV Python wrapper test"
print "OpenCV version: %s (%d, %d, %d)" % (
cv.CV_VERSION,
cv.CV_MAJOR_VERSION,
cv.CV_MINOR_VERSION,
cv.CV_SUBMINOR_VERSION,
)
# first, create the necessary windows
highgui.cvNamedWindow("Camera", highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow("Histogram", highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow("Camera", 10, 40)
highgui.cvMoveWindow("Histogram", 10, 270)
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
if len(sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture(device)
if __name__ == '__main__':
# a small welcome
print "OpenCV Python wrapper test"
print "OpenCV version: %s (%d, %d, %d)" % (cv.CV_VERSION,
cv.CV_MAJOR_VERSION,
cv.CV_MINOR_VERSION,
cv.CV_SUBMINOR_VERSION)
# first, create the necessary windows
highgui.cvNamedWindow ('Camera', highgui.CV_WINDOW_AUTOSIZE)
highgui.cvNamedWindow ('Histogram', highgui.CV_WINDOW_AUTOSIZE)
# move the new window to a better place
highgui.cvMoveWindow ('Camera', 10, 40)
highgui.cvMoveWindow ('Histogram', 10, 270)
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
if len (sys.argv) == 1:
# no argument on the command line, try to use the camera
capture = highgui.cvCreateCameraCapture (device)
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
sector = cv.cvFloor(hue)
p = cv.cvRound(255 * (hue - sector))
if sector & 1:
p ^= 255
