def calc_background_similarity(self):
return min(sum_squared(self.background_gray, frame) for frame in self.recent_frames_gray)
def calc_biggest_diff(self):
return min(sum_squared(self.last_frame_gray, frame) for frame in self.recent_frames_gray)
def watch_for_card(camera):
has_moved = False
been_to_base = False
global captures
global font
captures = []
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0)
img = cv.QueryFrame(camera)
size = cv.GetSize(img)
n_pixels = size[0] * size[1]
grey = cv.CreateImage(size, 8, 1)
recent_frames = [cv.CloneImage(grey)]
base = cv.CloneImage(grey)
cv.CvtColor(img, base, cv.CV_RGB2GRAY)
#cv.ShowImage('card', base)
tmp = cv.CloneImage(grey)
while True:
img = cv.QueryFrame(camera)
cv.CvtColor(img, grey, cv.CV_RGB2GRAY)
biggest_diff = max(
sum_squared(grey, frame) / n_pixels for frame in recent_frames)
#display the cam view
cv.PutText(img, "%s" % biggest_diff, (1, 24), font, (255, 255, 255))
cv.ShowImage('win', img)
recent_frames.append(cv.CloneImage(grey))
if len(recent_frames) > 3:
del recent_frames[0]
#check for keystroke
c = cv.WaitKey(10)
#if there was a keystroke, reset the last capture
if c == 27:
return captures
elif c == 32:
has_moved = True
been_to_base = True
elif c == 114:
base = cv.CloneImage(grey)
#if we're stable-ish
if biggest_diff < 10:
#if we're similar to base, update base
#else, check for card
#base_diff = max(sum_squared(base, frame) / n_pixels for frame in recent_frames)
base_corr = min(
ccoeff_normed(base, frame) for frame in recent_frames)
#cv.ShowImage('debug', base)
"""for i, frame in enumerate(recent_frames):
tmp = cv.CloneImage(base)
cv.Sub(base, frame, tmp)
cv.Pow(tmp, tmp, 2.0)
cv.PutText(tmp, "%s" % (i+1), (1,24), font, (255, 255, 255))
#my_diff = sum_squared(base, frame) / n_pixels
my_diff = ccoeff_normed(base, frame) #score(base, frame, cv.CV_TM_CCOEFF_NORMED)
cv.PutText(tmp, "%s" % my_diff, (40, 24), font, (255, 255, 255))
cv.ShowImage('dbg%s' % (i+1), tmp)"""
#print "stable. corr = %s. moved = %s. been_to_base = %s" % (base_corr, has_moved, been_to_base)
if base_corr > 0.75 and not been_to_base:
base = cv.CloneImage(grey)
# cv.ShowImage('debug', base)
has_moved = False
been_to_base = True
print "STATE: been to base. waiting for move"
elif has_moved and been_to_base:
corners = detect_card(grey, base)
if corners is not None:
card = get_card(grey, corners)
cv.Flip(card, card, -1)
captures.append(card)
update_windows()
#cv.ShowImage('card', card)
has_moved = False
been_to_base = False
print "STATE: detected. waiting for go to base"
else:
if not has_moved:
print "STATE: has moved. waiting for stable"
has_moved = True
def watch_for_card(camera):
has_moved = False
been_to_base = False
global captures
global font
captures = []
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 1.0, 1.0)
img = cv.QueryFrame(camera)
size = cv.GetSize(img)
n_pixels = size[0] * size[1]
grey = cv.CreateImage(size, 8, 1)
recent_frames = [cv.CloneImage(grey)]
base = cv.CloneImage(grey)
cv.CvtColor(img, base, cv.CV_RGB2GRAY)
# cv.ShowImage('card', base)
tmp = cv.CloneImage(grey)
while True:
img = cv.QueryFrame(camera)
cv.CvtColor(img, grey, cv.CV_RGB2GRAY)
biggest_diff = max(sum_squared(grey, frame) / n_pixels for frame in recent_frames)
# display the cam view
cv.PutText(img, "%s" % biggest_diff, (1, 24), font, (255, 255, 255))
cv.ShowImage('win', img)
recent_frames.append(cv.CloneImage(grey))
if len(recent_frames) > 3:
del recent_frames[0]
# check for keystroke
c = cv.WaitKey(10)
# if there was a keystroke, reset the last capture
if c == 27:
return captures
elif c == 32:
has_moved = True
been_to_base = True
elif c == 114:
base = cv.CloneImage(grey)
# if we're stable-ish
if biggest_diff < 10:
# if we're similar to base, update base
# else, check for card
# base_diff = max(sum_squared(base, frame) / n_pixels for frame in recent_frames)
base_corr = 0
try:
base_corr = min(ccoeff_normed(base, frame) for frame in recent_frames)
except:
print ("Unable to calculate the base_corr")
pass
# cv.ShowImage('debug', base)
"""for i, frame in enumerate(recent_frames):
tmp = cv.CloneImage(base)
cv.Sub(base, frame, tmp)
cv.Pow(tmp, tmp, 2.0)
cv.PutText(tmp, "%s" % (i+1), (1,24), font, (255, 255, 255))
#my_diff = sum_squared(base, frame) / n_pixels
my_diff = ccoeff_normed(base, frame) #score(base, frame, cv.CV_TM_CCOEFF_NORMED)
cv.PutText(tmp, "%s" % my_diff, (40, 24), font, (255, 255, 255))
cv.ShowImage('dbg%s' % (i+1), tmp)"""
# print "stable. corr = %s. moved = %s. been_to_base = %s" % (base_corr, has_moved, been_to_base)
if base_corr > 0.75 and not been_to_base:
base = cv.CloneImage(grey)
# cv.ShowImage('debug', base)
has_moved = False
been_to_base = True
print "STATE: been to base. waiting for move"
elif has_moved and been_to_base:
corners = detect_card(grey, base)
if corners is not None:
card = get_card(grey, corners)
cv.Flip(card, card, -1)
captures.append(card)
update_windows()
# cv.ShowImage('card', card)
has_moved = False
been_to_base = False
print "STATE: detected. waiting for go to base"
else:
if not has_moved:
print "STATE: has moved. waiting for stable"
has_moved = True
def calc_biggest_diff(self): return max(sum_squared(self.last_frame_gray, frame) / self.num_pixels for frame in self.recent_frames_gray)