def run_original(self):
while True:
playing = not self.paused and not self.rect_sel.dragging
# flag used to quit imaging, when the size detected.
flag = 0
# if playing or self.frame is None:
# # ret, frame = self.cap.read()
# if not ret:
# break
# self.frame = frame.copy()
# size of the frame (image) - used to draw rectangle
w, h = getsize(self.frame)
vis = np.zeros((h, w*2, 3), np.uint8)
# copy to the image (original)
vis[:h,:w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:,w:] = target.image
draw_keypoints(vis[:,w:], target.keypoints)
x0, y0, x1, y1 = target.rect # rectangle coordinates
cv.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2) # green line drawn
# finding the width of the region
width_region = distance(x0, x1, y0, y1)
flag = 1 # set flag = 1, quit the program!
self.rect_sel.draw(vis)
cv.imshow('Selected Region', vis) # show the image
ch = cv.waitKey(1)
if ch == 27 or flag == 1:
print("Quitting")
return width_region
def run(self):
while True:
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
w, h = getsize(self.frame)
vis = np.zeros((h, w*2, 3), np.uint8)
vis[:h,:w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:,w:] = target.image
draw_keypoints(vis[:,w:], target.keypoints)
x0, y0, x1, y1 = target.rect
cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
cv2.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv2.imshow('plane', vis)
ch = cv2.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
if ch == 27:
break
def run(self):
while True:
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
w, h = getsize(self.frame)
vis = np.zeros((h, w*2, 3), np.uint8)
vis[:h,:w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:,w:] = target.image
draw_keypoints(vis[:,w:], target.keypoints)
x0, y0, x1, y1 = target.rect
cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
cv2.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv2.imshow('plane', vis)
ch = cv2.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
if ch == 27:
break
def run(self):
def find_line(p0, p1):
x0, y0 = p0
x1, y1 = p1
k = (x1 - x0) / (y1 - y0)
b = y1 - k * x0
return k, b
def cross(l0, l1):
k0, b0 = l0
k1, b1 = l1
x = (b1 - b0) / (k0 - k1)
y = k0 * x + b0
return x, y
while True:
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
w, h = getsize(self.frame)
vis = np.zeros((h, w * 2, 3), np.uint8)
vis[:h, :w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:, w:] = target.image
draw_keypoints(vis[:, w:], target.keypoints)
x0, y0, x1, y1 = target.rect
cv2.rectangle(vis, (x0 + w, y0), (x1 + w, y1), (0, 255, 0), 2)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
cv2.polylines(vis, [np.int32(tracked.quad)], True,
(255, 255, 255), 2)
# print([np.int32(tracked.quad)])
p0, p1, p2, p3 = np.int32(tracked.quad)
l0 = find_line(p0, p2)
l1 = find_line(p1, p3)
x, y = cross(l0, l1)
z = 3 * 180 / (p3[1] - p0[1]) * 1
print(x, y, z)
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv2.imshow('plane', vis)
ch = cv2.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
if ch == 27:
break
def run(self, Cover_Dimensions, Actual_Dimensions):
'''
Runs the program, of selection of the image's region. Approximates the
dimensions of the cover based on given dimensions.
'''
while True:
# flag used to quit imaging, when the size detected.
flag = 0
playing = not self.rect_sel.dragging
# get size of the book cover
w, h = getsize(self.frame)
vis = np.zeros((h, w*2, 3), np.uint8)
vis[:h,:w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:,w:] = target.image
draw_keypoints(vis[:,w:], target.keypoints)
x0, y0, x1, y1 = target.rect # get the selected region coordinates
cv.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
Region_Dimensions = [x1 - x0, y1 - y0]
print("Region_Dimensions:", Region_Dimensions)
# Ratio of the cover dimensions (width) to region dimensions (width)
# similarly for height
ratio_width = float(Cover_Dimensions)/(Region_Dimensions[0])
# Hard coded the actual width and height of the region.
# Actual width (in cm) = 14
# Actual height (in cm) = 1.1
width_of_book = ratio_width * Actual_Dimensions[0]
# height_of_book = ratio_height * Actual_Dimensions[1]
# Optional (useful in case of video source)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
cv.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
cv.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
print("Detected")
# break when the region is detected.
flag = 1
break
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv.imshow('Selected Region', vis)
cv.waitKey(1)
if flag == 1:
print("Dimensions of the book : ", width_of_book)
return
def run(self):
while True:
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
blue = cv.cvtColor(frame, cv.COLOR_BGR2Luv)
# Display the resulting frame
cv.imshow('self.frame', blue)
w, h = getsize(self.frame)
vis = np.zeros((h, w * 2, 3), np.uint8)
vis[:h, :w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:, w:] = target.image
draw_keypoints(vis[:, w:], target.keypoints)
x0, y0, x1, y1 = target.rect
#cv.rectangle(vis, (x0+w, y0), (x1+w, y1), (255, 0, 0), 2)
center_x = int((x0 + x1 + 2 * w) / 2)
center_y = int((y0 + y1) / 2)
r_x = int(abs((x0 - x1) / 2))
r_y = int(abs((x0 - x1) / 2))
radius = int(math.sqrt((r_x * r_x) + (r_y * r_y)))
cv.circle(vis, (center_x, center_y), radius, (0, 0, 255), 2)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
cv.polylines(vis, [np.int32(tracked.quad)], True,
(255, 0, 255), 2)
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0),
np.int32(tracked.p1)):
cv.line(vis, (x0 + w, y0), (x1, y1), (255, 0, 0))
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv.imshow('plane', vis)
ch = cv.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
if ch == 27:
break
def run(self):
img = cv2.imread('image.jpg')
while True:
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
w, h = getsize(self.frame)
vis = np.zeros((h, w * 2, 3), np.uint8)
vis[:h, :w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:, w:] = target.image
draw_keypoints(vis[:, w:], target.keypoints)
x0, y0, x1, y1 = target.rect
cv2.rectangle(vis, (x0 + w, y0), (x1 + w, y1), (0, 255, 0), 2)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
#cv2.fillPoly(vis, [np.int32(tracked.quad)], 255)
cv2.polylines(vis, [np.int32(tracked.quad)], True,
(255, 0, 0), 2)
xt, yt = tracked.quad[3]
font = cv2.FONT_HERSHEY_SIMPLEX
cv2.putText(vis, 'Planar track', (xt, yt), font, 1,
(0, 0, 255), 2)
cv2.circle(vis, (xt, yt), 30, (0, 255, 0), 2)
#for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
# cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv2.imshow('plane', vis)
ch = cv2.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
if ch == 27:
break
def run(self):
num = 0
while True:
if not self.paused:
state, frame = self.cap.read()
if not state:
print 'video end'
continue
self.frame = frame.copy()
show_img = self.frame.copy()
if not self.paused and not self.rect_selector.dragging:
tracked = self.track(self.frame)
if len(tracked) > 0:
for tr in tracked:
if tr > 0:
cv2.polylines(show_img, [np.int32(tr.quad)], True,
(255, 255, 255), 2)
if not self.paused:
keypoints, _ = self.detect_features(show_img)
common.draw_keypoints(show_img, keypoints)
'''
if len(tracked)>0:
tracked = tracked[0]
cv2.polylines(show_img, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
'''
self.rect_selector.draw(show_img)
cv2.imshow('src', show_img)
#videowriter.write(show_img)
key = cv2.waitKey(10)
if key == -1:
continue
elif key == 27:
break
elif key == ord(' '):
self.paused = not self.paused
print self.paused
elif key == ord('c'):
self.targets = []
self.matcher.clear()
def run(self):
num = 0
while True:
if not self.paused:
state,frame = self.cap.read()
if not state:
print 'video end'
continue
self.frame = frame.copy()
show_img = self.frame.copy()
if not self.paused and not self.rect_selector.dragging:
tracked = self.track(self.frame)
if len(tracked)>0:
for tr in tracked:
if tr >0:
cv2.polylines(show_img, [np.int32(tr.quad)], True, (255, 255, 255), 2)
if not self.paused:
keypoints,_ = self.detect_features(show_img)
common.draw_keypoints(show_img, keypoints)
'''
if len(tracked)>0:
tracked = tracked[0]
cv2.polylines(show_img, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
'''
self.rect_selector.draw(show_img)
cv2.imshow('src',show_img)
#videowriter.write(show_img)
key = cv2.waitKey(10)
if key == -1:
continue
elif key == 27:
break
elif key == ord(' '):
self.paused = not self.paused
print self.paused
elif key == ord('c'):
self.targets = []
self.matcher.clear()
from common import draw_keypoints file1 = '/home/diego/Videos-REID/descriptores/personaAzulWalk2/descriptor8.png' file2 = '/home/diego/Videos-REID/descriptores/personaAzulWalk2/descriptor12.png' detector = cv2.xfeatures2d.SIFT_create() norm = cv2.NORM_L2 matcher = cv2.BFMatcher(norm) img1 = cv2.imread(file1,0) img2 = cv2.imread(file2,0) kp1, desc1 = detector.detectAndCompute(img1, None) kp2, desc2 = detector.detectAndCompute(img2, None) draw_keypoints(img1,kp1) draw_keypoints(img2,kp2) print 'matching...' raw_matches = matcher.knnMatch(desc1, trainDescriptors = desc2, k = 2) #2 p1, p2, kp_pairs = filter_matches(kp1, kp2, raw_matches) if len(p1) >= 4: H, status = cv2.findHomography(p1, p2, cv2.RANSAC, 5.0) print '%d / %d inliers/matched' % (np.sum(status), len(status)) else: H, status = None, None print '%d matches found, not enough for homography estimation' % len(p1) print len(p1), len(p2)
def run(self):
direccion = None
while not rospy.is_shutdown():
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
#print(self.cv_image)
ret = True
frame = self.cv_image
#print(self.cv_image)
#print("**************************** frame")
#print(frame)
#ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
w, h = getsize(self.frame)
vis = np.zeros((h, w*2, 3), np.uint8)
vis[:h,:w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:,w:] = target.image
draw_keypoints(vis[:,w:], target.keypoints)
x0, y0, x1, y1 = target.rect
#print(x0,y0,x1,y1)
cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
if not self.reiniciar_exploracion_timer:
self.pubNavegacion.publish('STOP')
self.reiniciar_exploracion_timer = True
rospy.Timer(rospy.Duration(15), self.reiniciar_exploracion)
#Aca se imprimen los 4 puntos que genera
#print(str(np.int32(tracked.quad[0])))
#print(str(np.int32(tracked.quad[1])))
#print(str(np.int32(tracked.quad[2])))
#print(str(np.int32(tracked.quad[3])))
#Este es el punto medio del poligono que genera.
ptoMedio = (np.int32(tracked.quad[0]) + np.int32(tracked.quad[1]) + np.int32(tracked.quad[2]) + np.int32(tracked.quad[3]))/4
direccion = (ptoMedio[0]-320)/-320.0
twist = Twist(Vector3(15,0,0),Vector3(0,0,direccion))
self.pubVel.publish(twist)
cv2.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
else:
if self.reiniciar_exploracion_timer:
direccion = direccion or 0.5
twist = Twist(Vector3(0 if direccion > 0.2 else 10,0,0),Vector3(0,0, direccion if direccion > 0.2 else 0))
self.pubVel.publish(twist)
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv2.imshow('plane', vis)
ch = cv2.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
if ch == 27:
break
def run(self):
setting_fn = 'setting.json'
if myutil.isfile(setting_fn):
print('setting exists')
self.load_setting(setting_fn)
# load preset frame and rect
if True and myutil.isfile('h**o.json'):
print('preset exists')
tmp_frame = self.load_config('h**o.json')
#self.frame = tmp_frame
print('test: {}'.format(
self.distance_to_camera(self.KNOWN_WIDTH, self.focal_length, 135)))
while True:
playing = not self.paused and not self.rect_sel.dragging
if playing or self.frame is None:
ret, frame = self.cap.read()
if not ret:
break
self.frame = frame.copy()
self.auto_output_frame = frame.copy()
w, h = getsize(self.frame)
vis = np.zeros((h, w * 2, 3), np.uint8)
# if tmp_frame:
# vis[:,w:] = tmp_frame
vis[:h, :w] = self.frame
if len(self.tracker.targets) > 0:
target = self.tracker.targets[0]
vis[:, w:] = target.image
draw_keypoints(vis[:, w:], target.keypoints)
x0, y0, x1, y1 = target.rect
cv.rectangle(vis, (x0 + w, y0), (x1 + w, y1), (0, 255, 0), 2)
is_ok_to_export = False
if playing:
tracked = self.tracker.track(self.frame)
if len(tracked) > 0:
tracked = tracked[0]
wtf = np.int32(tracked.quad)
if self.check_wtf(wtf):
self.draw_result(vis, wtf)
cv.fillPoly(vis, [wtf], (255, 0, 0))
for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0),
np.int32(tracked.p1)):
cv.line(vis, (x0 + w, y0), (x1, y1), (0, 255, 0))
is_ok_to_export = True
if self.auto_save:
self.draw_result(self.auto_output_frame, wtf)
fn = 'autosave_{:04d}.png'.format(self.auto_serial)
self.save_image(fn, self.auto_output_frame)
self.auto_serial += 1
draw_keypoints(vis, self.tracker.frame_points)
self.rect_sel.draw(vis)
cv.imshow(WIN_NAME, vis)
ch = cv.waitKey(1)
if ch == ord(' '):
self.paused = not self.paused
elif ch == 27:
break
elif ch == ord('s'):
fn = 'saved_{:04d}.png'.format(self.serial)
self.serial += 1
self.save_image(fn, vis)
