def __init__(self, pos):
pygame.sprite.Sprite.__init__(self)
self.depth = 0
self.prevpos = V.vector(pos)
self.velocity = V.vector(0, 0)
self.visible = True
self.showheading = False
self.showbox = False
def __init__(self, pos):
pygame.sprite.Sprite.__init__(self)
self.depth = 0
self.prevpos = V.vector(pos)
self.velocity = V.vector(0,0)
self.visible = True
self.showheading = False
self.showbox = False
def update(self):
self.prevpos = V.vector(self.rect.center).copy()
self.state.execute(self)
## Add a tiny force toward the center of the field
if False: #self.state != S.Wait():
center = V.vector(pygame.display.get_surface().get_rect().center)
towardcenter = center - self.rect.center
V.normalize_ip(towardcenter)
self.steering += 0.5 * towardcenter
self.velocity += FORCE_PER_TICK * self.steering / (self.mass)
V.truncate(self.velocity, self.maxspeed)
speed = V.length(self.velocity)
if speed > 0.001:
self.heading = V.normalize(self.velocity)
self.rect.center += self.velocity
self.depth = -self.rect.centery
#determine which image direction to use, based on heading and velocity:
if speed >= 0.001:
small = 0.382 # sin(22.5 degrees)
big = 0.923 # cos(22.5 degrees)
x, y = self.heading
if y >= big: self.dir = 's'
elif small <= y:
if x > 0: self.dir = 'se'
else: self.dir = 'sw'
elif -small <= y:
if x > 0: self.dir = 'e'
else: self.dir = 'w'
elif -big <= y:
if x > 0: self.dir = 'ne'
else: self.dir = 'nw'
else: self.dir = 'n'
else:
self.velocity[0] = self.velocity[1] = 0.0
#image action: stopped or moving?
if speed < 0.001:
self.aspeed = 0.5
action = 'looking'
else:
self.aspeed = 0.2 * speed
action = 'walking'
self.images = Images.get(self.name)[self.dir][action]
self.nframes = len(self.images)
#advance animation frame
self.frame = self.aspeed + self.frame
while self.frame >= self.nframes:
self.frame -= self.nframes
self.image = self.images[int(self.frame)]
def update(self):
self.prevpos = V.vector(self.rect.center).copy()
self.state.execute(self)
## Add a tiny force toward the center of the field
if False:#self.state != S.Wait():
center = V.vector(pygame.display.get_surface().get_rect().center)
towardcenter = center - self.rect.center
V.normalize_ip(towardcenter)
self.steering += 0.5*towardcenter
self.velocity += FORCE_PER_TICK*self.steering/(self.mass)
V.truncate(self.velocity, self.maxspeed)
speed = V.length(self.velocity)
if speed > 0.001:
self.heading = V.normalize(self.velocity)
self.rect.center += self.velocity
self.depth = -self.rect.centery
#determine which image direction to use, based on heading and velocity:
if speed >= 0.001:
small = 0.382 # sin(22.5 degrees)
big = 0.923 # cos(22.5 degrees)
x,y = self.heading
if y >= big: self.dir = 's'
elif small <= y:
if x > 0: self.dir = 'se'
else: self.dir = 'sw'
elif -small <= y:
if x > 0: self.dir = 'e'
else: self.dir = 'w'
elif -big <= y:
if x > 0: self.dir = 'ne'
else: self.dir = 'nw'
else: self.dir = 'n'
else:
self.velocity[0] = self.velocity[1] = 0.0
#image action: stopped or moving?
if speed < 0.001:
self.aspeed = 0.5
action = 'looking'
else:
self.aspeed = 0.2*speed
action = 'walking'
self.images = Images.get(self.name)[self.dir][action]
self.nframes = len(self.images)
#advance animation frame
self.frame = self.aspeed+self.frame
while self.frame >= self.nframes: self.frame -= self.nframes
self.image = self.images[int(self.frame)]
def test_get_prediction_vector(self):
points = [(1,5),(3,0),(5,6)]
v1 = vector(points[1],points[0])
v2 = vector(points[1],points[2])
angle = vectorAngle(v1,v2)
c= Corner(points,1,imgtime=1)
c1= Corner(points,1,imgtime=1)
ans= c.get_prediction_vector(True, c1)
self.assertAlmostEqual(ans[0],v1[0],6)
self.assertAlmostEqual(ans[1],v1[1],6)
ans= c.get_prediction_vector(False, c1)
self.assertAlmostEqual(ans[0],v2[0],6)
self.assertAlmostEqual(ans[1],v2[1],6)
def test_get_prediction_vector(self):
points = [(1, 5), (3, 0), (5, 6)]
v1 = vector(points[1], points[0])
v2 = vector(points[1], points[2])
angle = vectorAngle(v1, v2)
c = Corner(points, 1, imgtime=1)
c1 = Corner(points, 1, imgtime=1)
ans = c.get_prediction_vector(True, c1)
self.assertAlmostEqual(ans[0], v1[0], 6)
self.assertAlmostEqual(ans[1], v1[1], 6)
ans = c.get_prediction_vector(False, c1)
self.assertAlmostEqual(ans[0], v2[0], 6)
self.assertAlmostEqual(ans[1], v2[1], 6)
def pnt2line(pnt, start, end):
line_vec = vec.vector(start, end)
pnt_vec = vec.vector(start, pnt)
line_len = vec.length(line_vec)
line_unitvec = vec.unit(line_vec)
pnt_vec_scaled = vec.scale(pnt_vec, 1.0 / line_len)
t = vec.dot(line_unitvec, pnt_vec_scaled)
if t < 0.0:
t = 0.0
elif t > 1.0:
t = 1.0
nearest = vec.scale(line_vec, t)
dist = vec.distance(nearest, pnt_vec)
nearest = vec.add(nearest, start)
return (dist, nearest)
def get(win, min_x, min_y, min_z, len,quantity,fname):
# Ещё раз считываем obj файл, для записи точек(с нормалями), и разбиения на треугольники.
if (min_x > 0):
min_x = 0
if (min_y > 0):
min_y = 0
if (min_z > 0):
min_z = 0
f = open(fname, 'r')
new = QColor()
lines = f.read()
i = 0
j = 0
k = 0
points = np.empty(shape = (len,), dtype = Point)
triangl_normals = np.empty(shape = (len,), dtype= for_normals)
for l in range(len):
triangl_normals[l] = for_normals()
world_coords = np.empty(shape = (3,), dtype= Point)
communication = np.empty(shape = (quantity,), dtype = Point)
normals = np.empty(shape = (len,), dtype = vector)
for line in lines.split('\n'):
try:
v, x, y, z = re.split('\s+', line)
except:
try:
v, x, y, z = re.split('\s+', line[:-1])
except:
continue
if v == 'v':
points[i] = Point(float(x) - min_x, float(y) - min_y, float(z) - min_z, None)
i += 1
if v == 'f':
world_coords[0] = points[int(x.split('/')[0]) - 1]
world_coords[1] = points[int(y.split('/')[0]) - 1]
world_coords[2] = points[int(z.split('/')[0]) - 1]
n = (world_coords[2] - world_coords[0]) ** (world_coords[1] - world_coords[0])
n = vector(n.x,n.y,n.z)
q = n.normolize()
triangl_normals[int(x.split('/')[0]) - 1].for_no.append(q)
triangl_normals[int(y.split('/')[0]) - 1].for_no.append(q)
triangl_normals[int(z.split('/')[0]) - 1].for_no.append(q)
communication[j] = [points[int(i.split('/')[0])-1] for i in (x, y, z)]
j += 1
for i in range(len):
points[i].norma = triangl_normals[i].get_medium()
normolize_all(points)
subject = Obj(points, communication)
objects.add(subject)
if win.flag == 0:
show_all_models1(win)
else:
show_all_models2(win)
f.close()
def sphere_to_2D_plane(ref,w): xmult = orthonorm_tox(ref) xmult = v3.vector(xmult.x, xmult.y, xmult.z) ymult = orthonorm_toy(ref) ymult = v3.vector(ymult.x, ymult.y, ymult.z) zmult = orthonorm_toz(ref) zmmult = v3.vector(zmult.x, zmult.y, zmult.z) return v.vector(ymult.dot(w), -zmult.dot(w))
def sphere_to_2D_plane(ref, w):
xmult = orthonorm_tox(ref)
xmult = v3.vector(xmult.x, xmult.y, xmult.z)
ymult = orthonorm_toy(ref)
ymult = v3.vector(ymult.x, ymult.y, ymult.z)
zmult = orthonorm_toz(ref)
zmmult = v3.vector(zmult.x, zmult.y, zmult.z)
return v.vector(ymult.dot(w), -zmult.dot(w))
def set_new_position(self, points, offset=True,scale=1):
res = Marker.set_new_position(self, points, offset,scale)
le = len(points)
if le<0 or type(points[0])<>tuple: return res
for i, cor in enumerate(self.corners):
cor.diag = v.vector(cor.p, points[(i + 2) % le])
cor.set_colors(self.m_d.img)
return res
def execute(self, obj):
pos = V.vector(obj.rect.center)
targpos = obj.target.rect.center
traveltime = V.length(pos-targpos)/obj.maxspeed
targvel = obj.target.velocity
futurepos = targpos + targvel*traveltime
desired_velocity = obj.maxspeed*V.normalize(futurepos - pos)
obj.steering = desired_velocity - obj.velocity
V.truncate(obj.steering, obj.maxforce)
def get_medium(self):
sumx = 0
sumy = 0
sumz = 0
for i in range(len(self.for_no)):
sumx += self.for_no[i].x
sumy += self.for_no[i].y
sumz += self.for_no[i].z
return vector(sumx/len(self.for_no),sumy/len(self.for_no),sumz/len(self.for_no))
def execute(self, obj):
pos = V.vector(obj.rect.center)
targpos = obj.target.rect.center
traveltime = V.length(pos - targpos) / obj.maxspeed
targvel = obj.target.velocity
futurepos = targpos + targvel * traveltime
desired_velocity = obj.maxspeed * V.normalize(pos - futurepos)
obj.steering = desired_velocity - obj.velocity
V.truncate(obj.steering, obj.maxforce)
def get_border_points(self,rect):
black=[]
white=[]
vec1=v.vector(rect[0], rect[2])
vec2=v.vector(rect[1], rect[3])
real_p=[]
f=2.0/32
img=self.m_d.gray_img
def get_points(p1,p2,f1,f2,points):
a,b=self.get_line(v.add(p1, vec1, f1), v.add(p2,vec2,f2), img)
points.extend(a)
real_p.extend(b)
def get_points_color(f,points):
get_points(rect[0],rect[1],-f,-f,points)
get_points(rect[2],rect[1],f,-f,points)
get_points(rect[0],rect[3],-f,f,points)
get_points(rect[2],rect[3],f,f,points)
get_points_color(f,black)
get_points_color(-f,white)
return black,white,real_p
def get_velocity_vectors(self): own_v = [] intr_v = [[] for x in range(len(self.names)-1)] self.velocity = [[] for x in range(len(self.names)-1)] if self.spherical_velocity: for y in range(len(self.data)): test = v.vector(float(self.data[y][self.vx_place]), float(self.data[y][self.vy_place])) if self.data[y][0] == self.names[0]: own_v.append(test) else: for x in range(0, len(self.names)): if self.data[y][0] == self.names[x]: intr_v[x-1].append(test) else: for y in range (len(self.data)): temp_angle = float(self.data[y][self.trk_place]) temp_gs = float(self.data[y][self.gs_place]) if self.units_list[0][self.trk_place] == "deg": temp_angle = math.radians(temp_angle) test = v.vector(math.sin(temp_angle)*temp_gs, math.cos(temp_angle)*temp_gs) if self.data[y][0] == self.names[0]: own_v.append(test) else: for x in range(0, len(self.names)): if self.data[y][0] == self.names[x]: intr_v[x-1].append(test) for x in range(len(intr_v)): for y in range(0, len(intr_v[x])): temp = own_v[y] - intr_v[x][y] self.velocity[x].append(temp)
def __init__(self, name, pos, maxspeed=PLAYER_MAXSPEED, screen=None):
AutoObject.__init__(self, pos)
# Image and rect vars
self.name = name
self.images = Images.get(self.name)['e']['looking']
self.imagesize = self.images[0].get_size()
w, h = self.imagesize
self.rect = pygame.Rect(0, 0, Player.wfrac * w, Player.hfrac * h)
self.rect.center = V.vector(pos)
# Physics vars
self.obstacles = []
self.state = S.Wait()
self.maxspeed = maxspeed
self.maxforce = maxspeed * 0.1
self.velocity = V.vector(0, 0)
self.steering = V.vector(0, 0)
randang = random.uniform(0, 2 * math.pi)
x, y = math.cos(randang), math.sin(randang)
self.heading = V.vector(x, y)
self.dir = 's'
# Animation vars
self.depth = 0
self.nframes = len(self.images)
self.frame = random.randint(0, self.nframes - 1)
self.mass = 1.0
# Vars that should be in the state (IMHO):
wanderangle = random.uniform(0, 2 * math.pi)
self.wanderpoint = V.vector(math.cos(wanderangle),
math.sin(wanderangle))
V.normalize_ip(self.wanderpoint)
self.seektarget = None
self.seektarget2 = None
def __init__(self, name, pos, maxspeed=PLAYER_MAXSPEED, screen=None):
AutoObject.__init__(self, pos)
# Image and rect vars
self.name = name
self.images = Images.get(self.name)['e']['looking']
self.imagesize = self.images[0].get_size()
w,h = self.imagesize
self.rect = pygame.Rect(0, 0, Player.wfrac*w, Player.hfrac*h)
self.rect.center = V.vector(pos)
# Physics vars
self.obstacles = []
self.state = S.Wait()
self.maxspeed = maxspeed
self.maxforce = maxspeed*0.1
self.velocity = V.vector(0,0)
self.steering = V.vector(0,0)
randang = random.uniform(0, 2*math.pi)
x,y = math.cos(randang), math.sin(randang)
self.heading = V.vector(x,y)
self.dir = 's'
# Animation vars
self.depth = 0
self.nframes = len(self.images)
self.frame = random.randint(0,self.nframes-1)
self.mass = 1.0
# Vars that should be in the state (IMHO):
wanderangle = random.uniform(0, 2*math.pi)
self.wanderpoint = V.vector(math.cos(wanderangle), math.sin(wanderangle))
V.normalize_ip(self.wanderpoint)
self.seektarget = None
self.seektarget2 = None
def get_position_vectors(self): pso = [] psi = [[] for x in range(len(self.names)-1)] si = [[] for x in range(len(self.names)-1)] self.position = [[] for x in range(len(self.names)-1)] origin = v.vector(0.0, 0.0) for y in range (0, len(self.data)): a = float(self.data[y][1]) b = float(self.data[y][2]) if not self.spherical: test = v.vector(a,b) else: a = math.radians(a) b = math.radians(b) test = ENU.spherical2xyz(a,b) # the next two loops put the temp vector in the appropriate slot if self.data[y][0] == self.names[0]: pso.append(test) else: for x in range(0, len(self.names)): if self.data[y][0] == self.names[x]: psi[x-1].append(test) # calculation using sphere_to_2D_plane # if self.spherical: for x in range(0, len(psi)): for y in range(0, len(psi[x])): temp = ENU.sphere_to_2D_plane(pso[y], psi[x][y]) si[x].append(temp) # calculate relative position for x in range(0, len(psi)): for y in range(0, len(psi[x])): temp = origin - si[x][y] self.position[x].append(temp)
def show_all_models1(win):
# Отображение объектов с тонировкой
win.Delete_all()
qwe = 0
new = QColor()
# Инициализация z-буфера.
zbufer = np.full(width * (height+1),-10000)
# Инициализация луча света(возможно заменю на vector )
light_dir = vector(0, 0, -1)
for k in objects.objects:
# перебор всех объектов
start_time = time.clock()
for i in k.tri:
qwe = triangle(i, win, zbufer,qwe,light_dir)
print("{:g} s".format(time.clock() - start_time))
win.update()
def get_gs(self): self.gs = [[] for x in range(len(self.names))] if self.spherical_velocity: for x in range(len(self.data)): temp_vector = v.vector(self.data[x][self.vx_place], self.data[x][self.vy_place]) temp = temp_vector.norm(temp_vector) for y in range(len(self.names)): if self.data[x][0] == self.names[y]: self.gs[y].append(temp) else: for x in range(len(self.data)): temp = float(self.data[x][self.gs_place]) for y in range(0, len(self.names)): if self.data[x][0] == self.names[y]: self.gs[y].append(temp)
def get_turn_down(self, win):
for j in self.points:
y = j.y
y = y - 325 / half_scr_y
matr = np.matrix([[1, 0, 0, 0], \
[0, m.cos(-m.pi / 30), m.sin(-m.pi / 30), 0], \
[0, -m.sin(-m.pi / 30), m.cos(-m.pi / 30), 0], \
[0, 0, 0, 1]])
matr = np.linalg.inv(matr)
vector_turn = np.matrix([j.norma.x, j.norma.y, j.norma.z,0])
vector_turn = vector_turn.dot(matr)
new_v = vector(vector_turn[0, 0], vector_turn[0, 1], vector_turn[0, 2])
new = Point(j.x, (y * m.cos(-m.pi / 30) + j.z * m.sin(-m.pi / 30))+325 / half_scr_y,-y * (m.sin(-m.pi / 30)) + j.z * m.cos(-m.pi / 30),new_v)
j.y = new.y
j.z = new.z
j.norma = new.norma
if win.flag == 0:
show_all_models1(win)
else:
show_all_models2(win)
def get_line(self,p1,p2,img):
a,b = v.vector(p1, p2)
if a>b:l=a
else:l=b
if l==0: return [],[]
li=cv.InitLineIterator(img, p1, p2,8)
points=[]
for i,c in enumerate(li):
points.append(c)
l=len(points)
if len(points)==0:
return [],[]
vec=(a/float(l),b/float(l))
real_p=[]
for i in range(l):
# list.append(c)
# for i in range(l):
p=v.int_point(v.add(p1,vec,i))
real_p.append(p)
# points.append(img[p[1],p[0]]);
return points,real_p
def turn_left_point(self, win):
# Поворот вокруг оси оy вправо
for j in self.points:
x = j.x
x = x - 325 / half_scr_y
matr = np.matrix([[m.cos(-m.pi / 30), 0, m.sin(-m.pi / 30),0 ], \
[0,1 , 0, 0], \
[-m.sin(-m.pi / 30), 0, m.cos(-m.pi / 30),0],\
[0,0,0,1]])
matr = np.linalg.inv(matr)
vector_turn = np.matrix([j.norma.x,j.norma.y,j.norma.z,0])
vector_turn = vector_turn.dot(matr)
new_v = vector(vector_turn[0,0],vector_turn[0,1],vector_turn[0,2])
new = Point(x*m.cos(-m.pi/30)+j.z*m.sin(-m.pi/30)+ 325 / half_scr_y,j.y,-x*m.sin(-m.pi/30) + j.z*m.cos(-m.pi/30),new_v)
j.x = new.x
j.z = new.z
j.norma = new.norma
if win.flag == 0:
show_all_models1(win)
else:
show_all_models2(win)
def turn_z_left_point(self,win):
for j in self.points:
x = j.x
x = x - 325 / half_scr_y
y = j.y
y = y - 325 / half_scr_y
matr = np.matrix([[m.cos(m.pi / 30), -m.sin(m.pi / 30), 0 , 0], \
[m.sin(m.pi / 30), m.cos(m.pi / 30), 0, 0], \
[0, 0, 1,0],\
[0, 0, 0, 1]])
matr = np.linalg.inv(matr)
vector_turn = np.matrix([j.norma.x,j.norma.y,j.norma.z,0])
vector_turn = vector_turn.dot(matr)
new_v = vector(vector_turn[0,0],vector_turn[0,1],vector_turn[0,2])
new = Point(x*m.cos(m.pi/30)-y*m.sin(m.pi/30),x*m.sin(m.pi/30) + y*m.cos(m.pi/30),j.z,new_v)
j.x = new.x + 325 / half_scr_y
j.y = new.y +325 / half_scr_y
j.norma = new.norma
if win.flag == 0:
show_all_models1(win)
else:
show_all_models2(win)
import vectors as V ZERO_VECTOR = V.vector((0,0)) PLAYER_MAXSPEED = 5 FORCE_PER_TICK = 0.125 WANDER_RADIUS = 80 WANDER_OFFSET = 100
def random_pos():
return V.vector(random.randint(100,world_size[0]-100),
random.randint(100,world_size[1]-100))
def execute(self, obj):
pos = V.vector(obj.rect.center)
endpos = obj.target.rect.center
desired_velocity = obj.maxspeed*V.normalize(pos - endpos)
obj.steering = desired_velocity - obj.velocity
V.truncate(obj.steering, obj.maxforce)
def add_line(a,b,c,d,factor):
p1=v.add(r[a],v.vector(r[a],r[b]),factor)
p2=v.add(r[c],v.vector(r[c],r[d]),factor)
lines.append(((p1,p2),(a,c)))
def main():
ip= CamImageProvider(0, "../resources/testdata.avi")
#ip = MovieImageProvider("../resources/testdata.avi",0,0)
sq = Square(0)
img,imgtime = ip.getImage(1)
m_d = SquareDetector(img, imgtime, 2, 0)
m_d.add_marker(sq)
angle_min = math.pi
angle_max = 0
angle_diff_min = 100
angle_diff_max = 0
prop_min = 40
prop_max = 0
rot_max = 0
debug.start_at(ip, 0)
while cv.WaitKey(1)<>27:
img,imgtime = ip.getImage(1)
if img is None:
return
# tmpimg = cv.CloneImage(draw_img)
# tmpimg2 = cv.CloneImage(draw_img)
# gray2 = cv.CloneImage(gray)
# gray3 = cv.CloneImage(gray)
# tmp = cv.CloneImage(gray)
# mask = cv.CloneImage(gray)
# mask2=cv.CloneImage(gray)
# cv.Set(mask2,1)
# cv.CvtColor(draw_img, gray, cv.CV_BGR2GRAY)
# cv.CvtColor(draw_img, tmpimg, cv.CV_BGR2HSV)
# cv.SetImageCOI(tmpimg, 1)
# cv.Copy(tmpimg, gray)
# print cv.MinMaxLoc(gray)
# cv.ShowImage("gray", gray)
if debug.is_time():
pass
m_d.find_markers(img,imgtime,True)
mar = m_d.markers[0]
points = mar.points
m_d.draw_markers(m_d.draw_img)
debug.show([m_d.draw_img],"main",1,1)
#debug.show_images()
if len(points)<>4 or cv.WaitKey(50)<>32:
continue
a = length(vector(points[0],points[1]))
b = length(vector(points[1],points[2]))
c = length(vector(points[2],points[3]))
d = length(vector(points[3],points[0]))
if a>c:
a,c = c,a
if b>d:
b,d = d,b
if c == 0.0:
print mar
else:
print "sides a/c:", a/c
if a/c > prop_max: prop_max = a/c
if a/c < prop_min: prop_min = a/c
if d==0.0:
print mar
else:
print "sides b/d", b/d
if b/d > prop_max: prop_max = b/d
if b/d < prop_min: prop_min = b/d
for cor in mar.corners:
if cor.angle < angle_min:angle_min = cor.angle
if cor.angle > angle_max:angle_max = cor.angle
if cor.rotation > rot_max: rot_max = cor.rotation
a,b,c,d = [c.angle for c in mar.corners]
if a>c:
a,c=c,a
if b>d:
b,d=d,b
if a/c > angle_diff_max: angle_diff_max=a/c
if a/c< angle_diff_min: angle_diff_min = a/c
print "angle diff a/c", a/c
if b/d > angle_diff_max: angle_diff_max=b/d
if b/d< angle_diff_min: angle_diff_min = b/d
print "angle diff b/d", b/d
print "angle_min", angle_min
print "angle_max", angle_max
print "prop_min", prop_min
print "prop_max", prop_max
print "rot_max",rot_max
print "angle_diff_min", angle_diff_min
print "angle_diff_max",angle_diff_max
def random_pos():
return V.vector(random.randint(50,screen_size[0]-50),
random.randint(50,screen_size[1]-50))
def random_pos():
return V.vector(random.randint(50, screen_size[0] - 50),
random.randint(50, screen_size[1] - 50))
def random_pos():
return V.vector(random.randint(100, world_size[0] - 100),
random.randint(100, world_size[1] - 100))
def vect2(self):
return v.vector(self.x, self.y)
def execute(self, obj):
pos = V.vector(obj.rect.center)
endpos = obj.target.rect.center
desired_velocity = obj.maxspeed * V.normalize(endpos - pos)
obj.steering = desired_velocity - obj.velocity
V.truncate(obj.steering, obj.maxforce)
import vectors as V ZERO_VECTOR = V.vector((0, 0)) PLAYER_MAXSPEED = 5 FORCE_PER_TICK = 0.125 WANDER_RADIUS = 80 WANDER_OFFSET = 100
def vect2(self): return v.vector(self.x, self.y)
def main():
ip = CamImageProvider(0, "../resources/testdata.avi")
#ip = MovieImageProvider("../resources/testdata.avi",0,0)
sq = Square(0)
img, imgtime = ip.getImage(1)
m_d = SquareDetector(img, imgtime, 2, 0)
m_d.add_marker(sq)
angle_min = math.pi
angle_max = 0
angle_diff_min = 100
angle_diff_max = 0
prop_min = 40
prop_max = 0
rot_max = 0
debug.start_at(ip, 0)
while cv.WaitKey(1) <> 27:
img, imgtime = ip.getImage(1)
if img is None:
return
# tmpimg = cv.CloneImage(draw_img)
# tmpimg2 = cv.CloneImage(draw_img)
# gray2 = cv.CloneImage(gray)
# gray3 = cv.CloneImage(gray)
# tmp = cv.CloneImage(gray)
# mask = cv.CloneImage(gray)
# mask2=cv.CloneImage(gray)
# cv.Set(mask2,1)
# cv.CvtColor(draw_img, gray, cv.CV_BGR2GRAY)
# cv.CvtColor(draw_img, tmpimg, cv.CV_BGR2HSV)
# cv.SetImageCOI(tmpimg, 1)
# cv.Copy(tmpimg, gray)
# print cv.MinMaxLoc(gray)
# cv.ShowImage("gray", gray)
if debug.is_time():
pass
m_d.find_markers(img, imgtime, True)
mar = m_d.markers[0]
points = mar.points
m_d.draw_markers(m_d.draw_img)
debug.show([m_d.draw_img], "main", 1, 1)
#debug.show_images()
if len(points) <> 4 or cv.WaitKey(50) <> 32:
continue
a = length(vector(points[0], points[1]))
b = length(vector(points[1], points[2]))
c = length(vector(points[2], points[3]))
d = length(vector(points[3], points[0]))
if a > c:
a, c = c, a
if b > d:
b, d = d, b
if c == 0.0:
print mar
else:
print "sides a/c:", a / c
if a / c > prop_max: prop_max = a / c
if a / c < prop_min: prop_min = a / c
if d == 0.0:
print mar
else:
print "sides b/d", b / d
if b / d > prop_max: prop_max = b / d
if b / d < prop_min: prop_min = b / d
for cor in mar.corners:
if cor.angle < angle_min: angle_min = cor.angle
if cor.angle > angle_max: angle_max = cor.angle
if cor.rotation > rot_max: rot_max = cor.rotation
a, b, c, d = [c.angle for c in mar.corners]
if a > c:
a, c = c, a
if b > d:
b, d = d, b
if a / c > angle_diff_max: angle_diff_max = a / c
if a / c < angle_diff_min: angle_diff_min = a / c
print "angle diff a/c", a / c
if b / d > angle_diff_max: angle_diff_max = b / d
if b / d < angle_diff_min: angle_diff_min = b / d
print "angle diff b/d", b / d
print "angle_min", angle_min
print "angle_max", angle_max
print "prop_min", prop_min
print "prop_max", prop_max
print "rot_max", rot_max
print "angle_diff_min", angle_diff_min
print "angle_diff_max", angle_diff_max
