def main(self):
"""
Run and time the main loop.
"""
logging.info("Starting main video capture loop now, press 'q' to quit")
key = hg.cvWaitKey(1)
num_frames = 0
start_time = time.time()
while(key is not "q" and key != '\x1b'):
num_frames +=1
self.process()
key = hg.cvWaitKey(5)
total_time = float(time.time()) - float(start_time)
hg.cvDestroyWindow(self.title)
cv.cvReleaseCapture(self.camera)
logging.debug("Main loop complete")
logging.debug("Total time took %e" % total_time)
logging.info("Average time per frame: %e" % (total_time/num_frames) )
logging.info("Average frames per second: %f" % (num_frames/total_time) )
def main():
# Initialization
highgui.cvNamedWindow("Guardian", 1)
signal.signal(signal.SIGINT, handler)
# Stage
#robot = playerc.playerc_client(None, "localhost", 6665)
# Corobot
robot = playerc.playerc_client(None, "corobot-w.wifi.wpi.edu", 6665)
robot.connect()
p2dproxy = playerc.playerc_position2d(robot, 0)
p2dproxy.subscribe(playerc.PLAYERC_OPEN_MODE)
p2dproxy.get_geom()
robot.read()
while True:
image = highgui.cvQueryFrame(camera)
detectObject(image)
p2dproxy.set_cmd_vel(speed[0], 0, speed[1], 0)
draw_gui(image)
highgui.cvShowImage("Guardian", image)
if highgui.cvWaitKey(20) != -1:
break
highgui.cvDestroyWindow("Guardian")
p2dproxy.set_cmd_vel(0, 0, 0, 0)
def main(self):
"""
Run and time the main loop.
"""
logging.info("Starting main video capture loop now, press 'q' to quit")
key = hg.cvWaitKey(1)
num_frames = 0
start_time = time.time()
while (key is not "q" and key != '\x1b'):
num_frames += 1
self.process()
key = hg.cvWaitKey(5)
total_time = float(time.time()) - float(start_time)
hg.cvDestroyWindow(self.title)
cv.cvReleaseCapture(self.camera)
logging.debug("Main loop complete")
logging.debug("Total time took %e" % total_time)
logging.info("Average time per frame: %e" % (total_time / num_frames))
logging.info("Average frames per second: %f" %
(num_frames / total_time))
def main():
# Initialization
highgui.cvNamedWindow("Guardian", 1)
signal.signal(signal.SIGINT, handler)
# Stage
#robot = playerc.playerc_client(None, "localhost", 6665)
# Corobot
robot = playerc.playerc_client(None, "corobot-w.wifi.wpi.edu", 6665)
robot.connect()
p2dproxy = playerc.playerc_position2d(robot, 0)
p2dproxy.subscribe(playerc.PLAYERC_OPEN_MODE)
p2dproxy.get_geom()
robot.read()
while True:
image = highgui.cvQueryFrame(camera)
detectObject(image)
p2dproxy.set_cmd_vel(speed[0], 0, speed[1], 0)
draw_gui(image)
highgui.cvShowImage("Guardian", image)
if highgui.cvWaitKey(20) != -1:
break
highgui.cvDestroyWindow("Guardian")
p2dproxy.set_cmd_vel(0, 0, 0, 0)
def __init__(self,
processFunction=None,
title="Video Capture Player",
show=True,
**argd):
self.__dict__.update(**argd)
super(VideoCapturePlayer, self).__init__(**argd)
t_begin = time.time()
self.processFunction = processFunction
self.title = title
self.show = show
if self.show is True:
self.display = hg.cvNamedWindow(self.title)
try:
self.camera = hg.cvCreateCameraCapture(0)
except:
print("Couldn't open camera device, is it connected?")
hg.cvDestroyWindow(title)
raise SystemExit
# Take a frame to get props and use in testing
self.snapshot = cv.cvCloneMat(hg.cvQueryFrame(self.camera))
# check that we got an image, otherwise try again.
for i in xrange(100):
if self.snapshot is not None: break
self.snapshot = hg.cvQueryFrame(self.camera)
def main(argv):
# Frames per second
fps = 20
tux_pos = 5
tux_pos_min = 0.0
tux_pos_max = 9.0
try:
opts, args = getopt.getopt(argv, "fps", ["framerate=",])
except getopt.GetoptError:
sys.exit(2)
for opt, arg in opts:
if opt in ("-fps", "--framerate"):
fps = arg
camera = highgui.cvCreateCameraCapture(0)
while True:
highgui.cvNamedWindow('Camera', 1)
im = highgui.cvQueryFrame(camera)
if im is None:
break
# mirror
opencv.cv.cvFlip(im, None, 1)
# positions = face.detect(im, 'haarcascade_data/haarcascade_profileface.xml')
positions = face.detect(im, 'haarcascade_data/haarcascade_frontalface_alt2.xml')
# if not positions:
# positions = face.detect(im, 'haarcascade_data/haarcascade_frontalface_alt2.xml')
# display webcam image
highgui.cvShowImage('Camera', im)
# Division of the screen to count as "walking" motion to trigger tux
image_size = opencv.cvGetSize(im)
motion_block = image_size.width / 9
if positions:
mp = None
for position in positions:
if not mp or mp['width'] > position['width']:
mp = position
pos = (mp['x'] + (mp['width'] / 2)) / motion_block
print "tux pos: %f" % tux_pos
print "pos: %f" % pos
if pos != tux_pos:
if tux_pos > pos:
move_tux_right(tux_pos - pos)
elif tux_pos < pos:
move_tux_left(pos - tux_pos)
tux_pos = pos
if highgui.cvWaitKey(fps) >= 0:
highgui.cvDestroyWindow('Camera')
sys.exit(0)
def getFilter(frameWidht, frameHeight):
cvNamedWindow("Filtred")
cvCreateTrackbar("hmax", "Filtred", getHlsFilter('hmax'), 180, trackBarChangeHmax)
cvCreateTrackbar("hmin", "Filtred", getHlsFilter('hmin'), 180, trackBarChangeHmin)
#cvCreateTrackbar("lmax", "Filtred", hlsFilter['lmax'], 255, trackBarChangeLmax)
#cvCreateTrackbar("lmin", "Filtred", hlsFilter['lmin'], 255, trackBarChangeLmin)
cvCreateTrackbar("smax", "Filtred", getHlsFilter('smax'), 255, trackBarChangeSmax)
cvCreateTrackbar("smin", "Filtred", getHlsFilter('smin'), 255, trackBarChangeSmin)
cvSetMouseCallback("Filtred", mouseClick, None)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
filtredFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
key = -1
while key == -1:
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
frame = cvQueryFrame(CAM)
cvCvtColor(frame, hlsFrame, CV_BGR2HLS)
cvSplit(hlsFrame, hFrame, lFrame, sFrame, None)
pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame)
#pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame)
pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame)
cvSetZero(mask)
cvAnd(ThHFrame, ThSFrame, mask)
cvSetZero(filtredFrame)
cvCopy(frame, filtredFrame, mask)
cvShowImage("Filtred", filtredFrame)
key = cvWaitKey(10)
if key == 'r':
key = -1
resetHlsFilter()
cvDestroyWindow("Filtred")
def getBackground(frameWidht, frameHeight):
cvNamedWindow("Background")
text = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
frame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
background = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
font = cvInitFont(CV_FONT_HERSHEY_COMPLEX, 1.0, 1.0, 0.0, 2)
pt1 = cvPoint(50, 100)
pt2 = cvPoint(50, 150)
center = cvPoint(frameWidth/2, frameHeight/2)
cvPutText(text, "Press enter, run away and wait", pt1, font, CV_RGB(150, 100, 150))
cvPutText(text, str(delayS) + " seconds to capture background", pt2, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key == -1:
key = cvWaitKey(10)
like = False
while not like:
for i in range(delayS):
cvZero(text)
cvPutText(text, str(delayS-i), center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
cvWaitKey(1000)
csut = camStartUpTime
while (csut): # Stats capturing frames in order to give time to the cam to auto-adjust colors
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
cvWaitKey(10)
csut -= 1
frame = cvQueryFrame(CAM)
cvCopy(frame, background)
cvCopy(frame, text)
cvPutText(text, "Is correct? [y/n]", center, font, CV_RGB(150, 100, 150))
cvShowImage("Background", text)
key = -1
while key != 'n' and key != 'y':
key = cvWaitKey(10)
if key == 'y':
like = True
return background
cvDestroyWindow("Background")
def recognize_face():
try:
argsnum=len(sys.argv)
print "args:",argsnum
#if(argsnum<5):
# print "usage:python pyfaces.py imgname dirname numofeigenfaces threshold "
# sys.exit(2)
#imgname=sys.argv[1]
#dirname=sys.argv[2]
#egfaces=int(sys.argv[3])
#thrshld=float(sys.argv[4])
capture=hg.cvCreateCameraCapture(0)
hg.cvNamedWindow("Snapshot")
i=0
#time.sleep(1)
myframe=0
imgname='sample.png'
dirname='images'
egfaces=5
thrshld=0.3
#frame=0
while 1:
frame=hg.cvQueryFrame(capture)
#print type(frame)
hg.cvShowImage("Snapshot",frame)
key = hg.cvWaitKey(5)
if key=='c' or key=='C':
hg.cvDestroyWindow("Snapshot")
hg.cvSaveImage(imgname,frame)
global_frame=frame
break
#print frame
#sys.exit(0)
pyf=PyFaces(imgname,dirname,egfaces,thrshld,frame)
#if pyfaces returns false then save this image into images folder
hg.cvReleaseCapture(capture)
return pyf.getFileName()
except Exception,detail:
print detail
print "usage:python pyfaces.py imgname dirname numofeigenfaces threshold "
def startChroma(background, frameWidht, frameHeight):
#cvNamedWindow("Original")
cvNamedWindow("Chroma")
hlsFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
transparency = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 3)
mask = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
hFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
lFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
sFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThHFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThLFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
ThSFrame = cvCreateImage(cvSize(frameWidth, frameHeight), IPL_DEPTH_8U, 1)
key = -1
while key == -1:
if not cvGrabFrame(CAM):
print "Could not grab a frame"
exit
frame = cvQueryFrame(CAM)
cvCvtColor(frame, hlsFrame, CV_BGR2HLS)
cvSplit(hlsFrame, hFrame, lFrame, sFrame, None)
pixelInRange(hFrame, getHlsFilter('hmin'), getHlsFilter('hmax'), 0, 180, ThHFrame)
#pixelInRange(lFrame, getHlsFilter('lmin'), getHlsFilter('lmax'), 0, 255, ThLFrame)
pixelInRange(sFrame, getHlsFilter('smin'), getHlsFilter('smax'), 0, 255, ThSFrame)
cvAnd(ThHFrame, ThSFrame, mask)
cvCopy(background, frame, mask)
cvShowImage("Chroma", frame)
key = cvWaitKey(10)
cvDestroyWindow("Chroma")
def opencvSnap(dev,size):
"""
An example use of the "camera" taking a single picture frame using opencv's cvMat as the return method.
"""
# First lets take a picture using opencv, and display it using opencv...
cvWin = hg.cvNamedWindow( "Opencv Rendering and Capture", 0 )
print("Opening device %s, with video size (%s,%s)" % (dev,size[0],size[1]))
# creates the camera of the specified size and in RGB colorspace
cam = Camera(dev, size, "RGB")
a = cam.get_image()
hg.cvShowImage ('Opencv Rendering and Capture', a)
# close the capture stream to avoid problems later, should see the camera turn off
hg.cvReleaseCapture(cam.capture)
del cam
# Wait for any key then clean up
print("Press any key to continue")
k = hg.cvWaitKey()
hg.cvDestroyWindow("Opencv Rendering and Capture")
def opencvSnap(dev, size):
"""
An example use of the "camera" taking a single picture frame using opencv's cvMat as the return method.
"""
# First lets take a picture using opencv, and display it using opencv...
cvWin = hg.cvNamedWindow("Opencv Rendering and Capture", 0)
print("Opening device %s, with video size (%s,%s)" %
(dev, size[0], size[1]))
# creates the camera of the specified size and in RGB colorspace
cam = Camera(dev, size, "RGB")
a = cam.get_image()
hg.cvShowImage('Opencv Rendering and Capture', a)
# close the capture stream to avoid problems later, should see the camera turn off
hg.cvReleaseCapture(cam.capture)
del cam
# Wait for any key then clean up
print("Press any key to continue")
k = hg.cvWaitKey()
hg.cvDestroyWindow("Opencv Rendering and Capture")
def process(self, take_new_image=True):
"""We will take a snapshot, optionally do some arbitrary process (eg in numpy/scipy)
then display it. If a frame is given use that instead of taking a new image.
"""
try:
if take_new_image:
logging.debug("capturing an image")
self.snapshot = cv.cvCloneMat(hg.cvQueryFrame(self.camera))
if self.processFunction is not None:
logging.debug("Sending image to process function")
res = self.processFunction(self.snapshot)
logging.debug("Received result from processing function")
assert isinstance(res, cv.CvMat), "Not CvMat"
self.snapshot = res
if self.show:
hg.cvShowImage(self.title, self.snapshot)
except Exception, e:
# If something goes wrong make sure we close the window
logging.error("Error in processing image: %s" % e)
hg.cvDestroyWindow(self.title)
raise SystemExit
def process(self, take_new_image=True):
"""We will take a snapshot, optionally do some arbitrary process (eg in numpy/scipy)
then display it. If a frame is given use that instead of taking a new image.
"""
try:
if take_new_image:
logging.debug("capturing an image")
self.snapshot = cv.cvCloneMat( hg.cvQueryFrame( self.camera) )
if self.processFunction is not None:
logging.debug("Sending image to process function")
res = self.processFunction(self.snapshot)
logging.debug("Received result from processing function")
assert isinstance(res,cv.CvMat), "Not CvMat"
self.snapshot = res
if self.show:
hg.cvShowImage( self.title, self.snapshot )
except Exception, e:
# If something goes wrong make sure we close the window
logging.error("Error in processing image: %s" % e)
hg.cvDestroyWindow(self.title)
raise SystemExit
def __init__(self, processFunction = None, title = "Video Capture Player", show=True, **argd):
self.__dict__.update(**argd)
super(VideoCapturePlayer, self).__init__(**argd)
t_begin = time.time()
self.processFunction = processFunction
self.title = title
self.show = show
if self.show is True:
self.display = hg.cvNamedWindow(self.title)
try:
self.camera = hg.cvCreateCameraCapture(0)
# Take a frame to get props and use in testing
self.snapshot = cv.cvCloneMat( hg.cvQueryFrame( self.camera ) )
# check that we got an image, otherwise try again.
for i in xrange(20):
if self.snapshot is not None: break
self.snapshot = hg.cvQueryFrame( self.camera )
except:
print("Couldn't open camera device, is it connected?")
hg.cvDestroyWindow(title)
raise SystemExit
# we can now display the images
highgui.cvShowImage('Camera', frame)
highgui.cvShowImage('Binarisation', frameBin)
highgui.cvShowImage('1-without background', framewithoutbg)
highgui.cvShowImage('2-amplifie', framemul)
highgui.cvShowImage('3-lisser-Smooth', framelisser1)
highgui.cvShowImage('4-lisser-And', framelisser2)
# handle events
if image_par_image == 1:
k = highgui.cvWaitKey(100000000)
if k == '\x1b':
# user has press the ESC key, so exit
highgui.cvDestroyWindow("Camera")
highgui.cvDestroyAllWindows()
sys.exit(0)
break
if k == 'n':
#image par image. util si la var image_par_image=1 ligne 42
None
k = highgui.cvWaitKey(10)
if k == 'b':
# recupere l image en appuyant sur b
frameGrayBg = cv.cvCloneImage(frameGray)
if k == 's':
# save configuration
# load image and force it to be grayscale
image03 = highgui.cvLoadImage(filename, 0)
if not image03:
print "Could not load image " + filename
sys.exit(-1)
# Create the destination images
image02 = cv.cvCloneImage(image03)
image04 = cv.cvCloneImage(image03)
# Create windows.
highgui.cvNamedWindow("Source", 1)
highgui.cvNamedWindow("Result", 1)
# Show the image.
highgui.cvShowImage("Source", image03)
# Create toolbars. HighGUI use.
highgui.cvCreateTrackbar("Threshold", "Result", slider_pos, 255,
process_image)
process_image(1)
#Wait for a key stroke; the same function arranges events processing
print "Press any key to exit"
highgui.cvWaitKey(0)
highgui.cvDestroyWindow("Source")
highgui.cvDestroyWindow("Result")
# load image and force it to be grayscale
image03 = highgui.cvLoadImage(filename, 0)
if not image03:
print "Could not load image " + filename
sys.exit(-1)
# Create the destination images
image02 = cv.cvCloneImage( image03 );
image04 = cv.cvCloneImage( image03 );
# Create windows.
highgui.cvNamedWindow("Source", 1);
highgui.cvNamedWindow("Result", 1);
# Show the image.
highgui.cvShowImage("Source", image03);
# Create toolbars. HighGUI use.
highgui.cvCreateTrackbar( "Threshold", "Result", slider_pos, 255, process_image );
process_image( 1 );
#Wait for a key stroke; the same function arranges events processing
print "Press any key to exit"
highgui.cvWaitKey(0);
highgui.cvDestroyWindow("Source");
highgui.cvDestroyWindow("Result");
#! /usr/bin/env python
import sys
# import the necessary things for OpenCV
from opencv import cv
from opencv import highgui
im = highgui.cvLoadImage("molecule.jpg", 1)
highgui.cvNamedWindow( "image", highgui.CV_WINDOW_AUTOSIZE)
highgui.cvShowImage( "image", im )
highgui.cvWaitKey(0)
highgui.cvDestroyWindow( "image" )
