def update(self, dt):
self.img = GameInstance().cam.getImage().flipHorizontal()
hsv = self.img.toHSV()
mask = cv2.inRange(hsv.getNumpy(),
GameInstance().lower,
GameInstance().upper)
img2 = Image(source=mask)
img2 = img2.erode(1)
img2 = img2.dilate(2)
blops = img2.findBlobs()
if blops:
largest = blops[-1]
x, y = largest.centroid()
y = self.size[1] - y
self.movement_filter(numpy.array([x, y]))
self.blob_coor[0] = x
self.blob_coor[1] = y
if self.last_pos[1] is not None:
with self.game.canvas:
kvColor(1, 1, 0)
d = 10.
# Ellipse(pos=(x - d / 2, self.blob_coor[1] - d / 2), size=(d, d))
Line(points=(self.last_pos[0][0], self.last_pos[0][1],
self.last_pos[1][0], self.last_pos[1][1]))
self.last_pos[0] = self.last_pos[1]
def encuentraYFiltraBlobs(self,areaMin, areaMax, toleranciaWH, desviacionD, toleranciaLP, tipoDibujo): imagenBlobs = Image(self.rutaImagenTratada_Fase2).copy() blobs = imagenBlobs.findBlobs() self.todosLosCandidatos = blobs if blobs: blobs.image = imagenBlobs self.areaBlobs = blobs.area() blobs = self.filtroPorArea(blobs, areaMin, areaMax) self.numBlobsCandidatosPorArea = len(blobs) # Busca los blobs de forma circular , los blobs que pasan el filtro # se guardan en la lista self.articulaciones blobs = self.filtroPorForma(blobs, toleranciaWH, desviacionD, toleranciaLP) if tipoDibujo == 'blobs': self.dibujaBlobs(blobs) elif tipoDibujo == 'estructura': self.dibujaEstructura(imagenBlobs) # La imagen tratada tiene que ser guardada porque sino no funciona # la integracion con Tkinter imagenBlobs.save(self.rutaImagenBlobs) return Image(self.rutaImagenBlobs)
def check_image(image_path):
#Find file by path and import. File currently resides in same directory.
image = Image(image_path)
# grey = image.grayscale()
instruction = "go"
array_bounds_possible_widths = [image.width / 4, image.width / 4 * 3]
shapes_pic_attributes = image.size()
shapes_pic_size = shapes_pic_attributes[0] * shapes_pic_attributes[1]
# dist = img.colorDistance(SimpleCV.Color.Black).dilate(2)
blobs = image.findBlobs()
#check if the blob is in the middle 1/2 of screen and is too high
for blob in blobs[:-1]:
# print blob.contains()
if (blob.coordinates()[0] > array_bounds_possible_widths[0]
and blob.coordinates()[0] < array_bounds_possible_widths[1]
) and (blob.height() > image.height / 5
and blob.coordinates()[1] > image.height / 5 * 2):
# print grey.height
print blob.coordinates()[1]
print "Blob is in the way!!"
blob.draw(color=(255, 0, 0))
instruction = "stop"
# Display the blob until you click on the left side of the picture.
display = SimpleCV.Display()
while display.isNotDone():
image.show()
if display.mouseLeft:
break
return instruction
def encuentraYFiltraBlobs(self, tipoDibujo='estructura'):
imagenBlobs = Image(self.rutaImagenTratada_Fase2).copy()
blobs = imagenBlobs.findBlobs()
self.todosLosCandidatos = blobs
if blobs != []:
blobs.image = imagenBlobs
self.areaBlobs = blobs.area()
blobs = self.filtroPorArea(blobs)
self.numBlobsCandidatosPorArea = len(blobs)
# Busca los blobs de forma circular , los blobs que pasan el filtro
# se guardan en la lista self.articulaciones
blobs = self.filtroPorForma(blobs)
if tipoDibujo == 'blobs':
self.dibujaBlobs(blobs)
elif tipoDibujo == 'estructura':
self.listaAngulos = self.encuentraYDibujaAngulos(imagenBlobs)
# La imagen tratada tiene que ser guardada porque sino no funciona
# la integracion con Tkinter
imagenBlobs.save(self.rutaImagenBlobs)
return Image(self.rutaImagenBlobs)
def center(filename):
image = Image(filename)
blobs = image.findBlobs()
box = blobs[0].mBoundingBox
x = box[0] + box[2] / 2.
y = box[1] + box[3] / 2.
return [x, y]
def main():
camera = cv2.VideoCapture('video2.avi')
background_subtractor = cv2.BackgroundSubtractorMOG()
# Store previous tracking image
previous_track_image = Image()
while camera.isOpened():
is_success, image = camera.read()
if is_success:
mask = background_subtractor.apply(image, None, 0.1)
# Vehicles will be detected from this image
track_image = Image(ndimage.median_filter(mask, 3), cv2image=True)
blobs = track_image.findBlobs(minsize=250, maxsize=800)
if not blobs:
# print('No Blobs Found.')
continue
else:
# print("Width: {0}; Height: {1}".format(blobs[0].width(), blobs[0].height()))
# Only keep near square blobs
blobs = filter(lambda b: 0.25 < b.width() / b.height() < 4, blobs)
# print("Found {0} Blobs. {1}".format(len(blobs)))
if len(vehicle_track_set_list) == 0:
# Find first batch of blobs
for blob in blobs:
blob.drawRect(color=Color.BLUE, width=3, alpha=225)
# bounding_box = tuple(blob.boundingBox())
# print("Area: {0}".format(blob.area()))
track_set = track_image.track(method='mftrack', img=track_image, bb=blob.boundingBox())
if track_set:
vehicle_track_set_list.append(VehicleTrackSet(track_set))
track_set.drawBB(color=(255, 0, 0))
track_set.drawPath()
track_image.show()
else:
for blob in blobs:
blob.drawRect(color=Color.BLUE, width=3, alpha=225)
# print("Blob Coordinate: ({0}, {1}).".format(blob.x, blob.y))
update_track_set(track_image, previous_track_image, blob.boundingBox())
# Save current image
previous_track_image = track_image
# time.sleep(0.1)
else:
camera.release()
break
def run(self):
cam_mode=self.cam_mode
wsh = self.wsh
js = self.js
wsh2 = self.wsh2
d = "n"
c2 = self.c2
c = self.c
sqx = self.sqx
sqy = self.sqy
x = 0
y = 0
stat="live cam"
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
img1 = c.getImage()
time.sleep(1)
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img2 = Image('imagesmall.jpg')
time.sleep(.5)
img1 = img1.sideBySide(img2)
img1 = img1.scale(544,288)
time.sleep(.5)
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs :
##blobs.draw()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
blobx1 = blobs[-1].x
bloby1 = blobs[-1].y
print blobx1
print bloby1
img1.drawText("ogp: live cam", 10, 10, fontsize=50)
img1.drawText(str(blobx1), blobx1, 250, color=(255,255,255), fontsize=20)
img1.drawText(str(bloby1), 10, bloby1, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
sqx2=sqx+20
sqy2=sqy+20
time.sleep(.5)
wsh.write_message(wsh2, "live")
else:
wsh.write_message(wsh2, "live")
def filter_to_point(filter, imgname):
img = Image(imgname)
zones = img.colorDistance(filter).invert()
blobs = zones.binarize(230)
blobs.findBlobs().draw(color=Color.BLACK, width=20)
blobs.save('blobs.bmp')
blobs_img = Image('blobs.bmp').invert()
points = blobs_img.findBlobs(minsize=100).coordinates()
return list(points[0])
def update(self, dt): self.img = GameInstance().cam.getImage().flipHorizontal() GameInstance().lower = np.array((float(self.val[0]), float(self.val[1]), float(self.val[2]))) GameInstance().upper = np.array((float(self.val[3]), float(self.val[4]), float(self.val[5]))) hsv = self.img.toHSV() mask = cv2.inRange(hsv.getNumpy(), GameInstance().lower, GameInstance().upper) img2 = Image(source=mask) img2 = img2.erode(1) img2 = img2.dilate(2) if self.cvActiveBloops.active: blops = img2.findBlobs() if blops: self.cvBlob.texture = getKivyTexture(blops[-1].getMaskedImage()) self.cvFilter.texture = getKivyTexture(img2) self.cvImage.texture = getKivyTexture(self.img)
def get_puzzle_from_image(raw_image):
# Returns None if no puzzle found
# Returns puzzle, x offset, y offset
# if puzzle found. Offsets are top
# left corner of puzzle
# Remove color
gray_image = raw_image.grayscale()
# Smooth to remove speckle
smooth_image = gray_image.gaussianBlur((5,5),0)
# Convert to Numpy Array For OpenCV use
cv_image = smooth_image.getGrayNumpyCv2()
# Adaptive threshold does much better than linear
raw_thresh_image = cv2.adaptiveThreshold(cv_image,255,1,1,11,2)
# Convert back to a SimpleCV image
thresh_image = Image(raw_thresh_image)
# For some reason it gets rotated and flipped, reverse
thresh_image = thresh_image.rotate90().flipVertical()
# Find "blobs" which are interesting items in the image
blobs = thresh_image.findBlobs()
# Assume the largest rectangular blob is our puzzle
puzzle_blob = None
puzzle_area = 0
for blob in blobs:
if blob.isRectangle() and blob.area() > puzzle_area:
puzzle_blob = blob
puzzle_area = blob.area()
# Only continue if there is a puzzle
if puzzle_blob is None: return None, 0, 0
# Crop image to just the puzzle
puzzle_image = puzzle_blob.crop()
offset_x, offset_y = puzzle_blob.topLeftCorner()
return puzzle_image, offset_x, offset_y
def update(self, dt):
self.img = GameInstance().cam.getImage().flipHorizontal()
GameInstance().lower = np.array(
(float(self.val[0]), float(self.val[1]), float(self.val[2])))
GameInstance().upper = np.array(
(float(self.val[3]), float(self.val[4]), float(self.val[5])))
hsv = self.img.toHSV()
mask = cv2.inRange(hsv.getNumpy(),
GameInstance().lower,
GameInstance().upper)
img2 = Image(source=mask)
img2 = img2.erode(1)
img2 = img2.dilate(2)
if self.cvActiveBloops.active:
blops = img2.findBlobs()
if blops:
self.cvBlob.texture = getKivyTexture(
blops[-1].getMaskedImage())
self.cvFilter.texture = getKivyTexture(img2)
self.cvImage.texture = getKivyTexture(self.img)
def update(self, dt): self.img = GameInstance().cam.getImage().flipHorizontal() hsv = self.img.toHSV() mask = cv2.inRange(hsv.getNumpy(), GameInstance().lower, GameInstance().upper) img2 = Image(source=mask) img2 = img2.erode(1) img2 = img2.dilate(2) blops = img2.findBlobs() if blops: largest = blops[-1] x, y = largest.centroid() y = self.size[1]-y self.movement_filter(numpy.array([x, y])) self.blob_coor[0] = x self.blob_coor[1] = y if self.last_pos[1] is not None: with self.game.canvas: kvColor(1, 1, 0) d = 10. # Ellipse(pos=(x - d / 2, self.blob_coor[1] - d / 2), size=(d, d)) Line(points=(self.last_pos[0][0], self.last_pos[0][1],self.last_pos[1][0], self.last_pos[1][1])) self.last_pos[0] = self.last_pos[1]
def run(self):
wsh = self.wsh
## c = self.c
js = self.js
wsh2 = self.wsh2
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
irpic = pinoir2(js)
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx1 = blobs[-1].x
acy1 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'r'
ms = 50
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx2 = blobs[-1].x
acy2 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'd'
ms = 50
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx3 = blobs[-1].x
acy3 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'l'
ms = 50
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx4 = blobs[-1].x
acy4 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
d = 'u'
ms = 50
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x, blobs[-1].y), 30, color=(255, 255, 255))
img1.drawCircle((blobs[-1].centroid()), 10, color=(255, 100, 100))
acx5 = blobs[-1].x
acy5 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acx5), 130, 50, color=(255, 255, 255), fontsize=20)
img1.drawText(str(acy5), 130, 75, color=(255, 255, 255), fontsize=20)
img1.save(js.framebuffer)
cal1 = acx1 - acx2
cal2 = acy2 - acy3
cal3 = acx3 - acx4
cal4 = acy4 = acy5
time.sleep(2)
wsh.write_message(
wsh2, "x_" + str(cal1) + "_" + str(cal2) + "_" + str(cal3) + "_" +
str(cal4))
from SimpleCV import Image
import time
#using opencv captured image, but purpose is make by video
call(“raspistill -n -t 0 -w %s -h %s -o image.bmp” % 640 480, shell=True)
img = Image(“image.bmp”)
img.show()
time.sleep(5)
#--------
cam = Camera()
img = cam.getImage()
#-----
img = img.edges()
img.show()
time.sleep(5)
img = img.binarize()
img.show()
time.sleep(5)
img = img.findBlobs()
for blob in blobs:
blob.draw()
img.show()
time.sleep(5)
#연속적인 이미지 촬영으로 영상을 만들면 속도가 너무 느리다 한방으로 가자
from SimpleCV import Camera, Display, Image
import time
img = Image('logo')
blobs = img.findBlobs(100)
print blobs
#Prints out
#[SimpleCV.Features.Blob.Blob object at (146, 28) with area 20, SimpleCV.Features.Blob.Blob object at (182, 218) with area 63, SimpleCV.Features.Blob.Blob object at (116, 31) with area 70, SimpleCV.Features.Blob.Blob object at (119, 222) with area 82, SimpleCV.Features.Blob.Blob object at (103, 218) with area 152, SimpleCV.Features.Blob.Blob object at (56, 222) with area 153, SimpleCV.Features.Blob.Blob object at (198, 222) with area 160, SimpleCV.Features.Blob.Blob object at (81, 222) with area 173, SimpleCV.Features.Blob.Blob object at (161, 219) with area 193, SimpleCV.Features.Blob.Blob object at (135, 215) with area 264, SimpleCV.Features.Blob.Blob object at (125, 125) with area 60792]
def blobs(filename):
image = Image(filename)
blobs = image.findBlobs()
return json.dumps([b.mBoundingBox for b in blobs])
def run(self):
cam_mode=self.cam_mode
s.write('s')
wsh = self.wsh
js = self.js
wsh2 = self.wsh2
ms = 50
d = "n"
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
c2=self.c2
sqx=self.sqx
sqy=self.sqy
x=0
y=0
stat="centering"
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs :
##blobs.draw()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
blobx1 = blobs[-1].x
bloby1 = blobs[-1].y
print blobx1
print bloby1
img1.drawText("ogp: centering", 10, 10, fontsize=50)
img1.drawText(str(blobx1), 10, 200, color=(255,255,255), fontsize=50)
##img1.drawText(str(bloby1), 50, 200, color=(255,255,255), fontsize=50)
img1.drawText(str(bloby1), 10, 250, color=(255,255,255), fontsize=50)
img1.save(js.framebuffer)
sqx2=sqx+20
sqy2=sqy+20
if blobx1 > sqx2:
d = '_r'
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
if blobx1 < sqx:
d = 'l'
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 > sqy2:
d = 'd'
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 < sqy:
d = 'u'
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
wsh.write_message(wsh2, "g_"+ str(d))
wsh.write_message(wsh2, "c")
else:
wsh.write_message(wsh2, "c_" + "null" )
def run(self):
cam_mode=self.cam_mode
wsh = self.wsh
js = self.js
wsh2 = self.wsh2
d = "n"
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
c2=self.c2
c=self.c
sqx=self.sqx
sqy=self.sqy
x=0
y=0
stat="centering"
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
img1 = c.getImage()
## with picamera.PiCamera() as camera:
## camera.resolution = (544, 288)
## camera.capture('imagesmall.jpg')
## img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs :
##blobs.draw()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
blobx1 = blobs[-1].x
bloby1 = blobs[-1].y
print blobx1
print bloby1
print "sensor"
s.write('n')
time.sleep(1)
position = "altaz_ " + str(s.readline())
wsh.write_message(wsh2, str(position))
img1.drawText("ogp: chasing", 10, 5, fontsize=40)
img1.drawText(str(blobx1), blobx1, 250, color=(255,255,255), fontsize=20)
img1.drawText(str(bloby1), 10, bloby1, color=(255,255,255), fontsize=20)
img1.drawText(str(position), 10, 50, color=(255,255,255), fontsize=25)
sqx2=sqx+20
sqy2=sqy+20
img1.drawRectangle(sqx,sqy,20,20,color=(100,100,255))
img1.save(js.framebuffer)
if blobx1 > sqx2:
d = 'r'
s.write('s')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
if blobx1 < sqx:
d = 'l'
s.write('q')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 > sqy2:
d = 'd'
s.write('a')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
if bloby1 < sqy:
d = 'u'
s.write('w')
time.sleep(.5)
wsh.write_message(wsh2, "g_"+ str(d))
time.sleep(.5)
wsh.write_message(wsh2, "c")
else:
wsh.write_message(wsh2, "c" )
wsh.write_message(wsh2, "CAPTURE" )
smooth_image = gray_image.gaussianBlur((5,5),0)
# Convert to Numpy Array For OpenCV use
cv_image = smooth_image.getGrayNumpyCv2()
# Adaptive threshold does much better than linear
raw_thresh_image = cv2.adaptiveThreshold(cv_image,255,1,1,11,2)
# Convert back to a SimpleCV image
thresh_image = Image(raw_thresh_image)
# For some reason it gets rotated and flipped, reverse
thresh_image = thresh_image.rotate90().flipVertical()
# Find "blobs" which are interesting items in the image
blobs = thresh_image.findBlobs()
# Assume the largest rectangular blob is our puzzle
puzzle_blob = None
puzzle_area = 0
for blob in blobs:
if blob.isRectangle() and blob.area() > puzzle_area:
puzzle_blob = blob
puzzle_area = blob.area()
# Only continue if there is a puzzle
#if puzzle_blob is None: return
# Crop image to just the puzzle
puzzle_image = puzzle_blob.crop()
def histo(self):
cam_mode = self.cam_mode
js = self.js
ms = self.ms
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
s.write('s')
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode == 1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode == 2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs:
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
img1.drawCircle((blobs[-1].x, blobs[-1].y),
30,
color=(255, 255, 255))
img1.drawCircle((blobs[0].centroid()), 10, color=(255, 100, 100))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
thumbnail = img1.crop(150, 25, 250, 250)
thumbnail = thumbnail.scale(20, 20)
thumb1 = "/var/www/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
self.p = p
mySet.add((p, x, y, w, cent, rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy = int(cent[1])
rcolor = rgb1[0]
gcolor = rgb1[1]
bcolor = rgb1[2]
rcolor = int(rcolor)
gcolor = int(gcolor)
bcolor = int(bcolor)
wsh.write_message(
wsh2,
"rgb_" + str(rcolor) + "_" + str(gcolor) + "_" + str(bcolor))
wsh.write_message(wsh2,
"x_" + str(centroidx) + "_" + str(centroidy))
img1.save(js.framebuffer)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p))
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
print "dark"
def histo(self): ## this def is the "light meter" part---
cam_mode = self.cam_mode ## the pic gets cataloged if true ---
js = self.js
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
i=0
brightpixels=0
darkpixels=0
blobs = 0
if cam_mode == 3: ## sort out the confusing cam modes
img1 = c2.getImage()
time.sleep(.25)
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
time.sleep(0.5)
if blobs:
##find the blob centroid and cut it out 20x20
crop1 = blobs[-1].x
crop2 = blobs[-1].y
crop3 = crop1 - 10
crop4 = crop2 - 10
thumbnail = img1.crop(crop3,crop4,20,20)
img2 = thumbnail
hist = img2.histogram(20)
## split the thumb into 20 levels of darkness
brightpixels = hist[10]
## 10 is where the darkest of the light pixels accumulate
print brightpixels
##while i < 20:
##old code for if you want to split the histogram in two
##if (i < 10):
##darkpixels = darkpixels + hist[i]
##self.darkpixels = darkpixels
##print hist[i]
##else:
##brightpixels = brightpixels + hist[i]
##self.brightpixels = brightpixels
##print hist[i]
##i = i + 1
if (brightpixels<400): ## heres where it decides to catalog the pic or not...
wsh.write_message(wsh2, "histo_" + str(darkpixels) + "_" + str(brightpixels))
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
thumb1 = "/var/www/html/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
img1.drawText("blob = True", 10, 35, color=(255,255,255),fontsize=30)
img1.drawText("search_mode", 10, 5, color=(0,0,255),fontsize=40)
img1.drawText("blob centroid", blobs[-1].x,blobs[-1].y, color=(255,255,255),fontsize=20)
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,0))
img1.drawCircle((blobs[0].centroid()),10,color=(255,255,255))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/html/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
time.sleep(0.5)
self.p = p
mySet.add((p,x,y,w,cent,rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy=int(cent[1])
rcolor=rgb1[0]
gcolor=rgb1[1]
bcolor=rgb1[2]
rcolor=int(rcolor)
gcolor=int(gcolor)
bcolor=int(bcolor)
wsh.write_message(wsh2, "rgb_" + str(rcolor)+"_"+str(gcolor)+"_"+str(bcolor))
wsh.write_message(wsh2, "x_" + str(centroidx)+"_"+str(centroidy))
img1.save(js.framebuffer)
time.sleep(0.5)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p) )
else:
print "senosor dark"
print darkpixels,'_', brightpixels
blobs = 0
wsh.write_message(wsh2, "histo_" + str(darkpixels) + "_" + str(brightpixels))
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
img1.save(js.framebuffer)
print "no blob"
statusWin.addstr( 1, 1, str(object.meanColor()))
num_corners = len(corners)
statusWin.addstr(2,1, "Corners Found:" + str(num_corners))
corners.draw()
img.addDrawingLayer(object.dl())
# circle tracking
#dist = img.colorDistance(Color.BLACK).dilate(2)
#segmented = dist.stretch(200,255)
blobs = img.findBlobs()
if blobs:
circles = blobs.filter([b.isCircle(0.2) for b in blobs])
if circles:
img.drawCircle((circles[-1].x, circles[-1].y), circles[-1].radius(),Color.BLUE,3)
img.save("/dev/shm/p4.png")
#img.save(js.framebuffer)
elif keyp == 'v':
pz.stop()
def run(self):
wsh = self.wsh
## c = self.c
js = self.js
wsh2 = self.wsh2
acu = int(1)
acd = int(1)
acl = int(1)
acr = int(1)
irpic = pinoir2(js)
img1 = Image('imagesmall.jpg')
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx1 = blobs[-1].x
acy1 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'r'
ms = 50
s.write('4')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx2 = blobs[-1].x
acy2 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'd'
ms = 50
s.write('9')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx3 = blobs[-1].x
acy3 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'l'
ms = 50
s.write('2')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx4 = blobs[-1].x
acy4 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
d = 'u'
ms = 50
s.write('6')
mov = acx(s, d, ms, acu, acd, acl, acr)
mov.run()
time.sleep(1)
img1 = c.getImage()
blobs = img1.findBlobs()
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[-1].centroid()),10,color=(255,100,100))
acx5 = blobs[-1].x
acy5 = blobs[-1].y
img1.drawText("ogp: autocalibrating", 10, 10, fontsize=50)
img1.drawText(str(acx1), 10, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy1), 10, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx2), 40, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy2), 40, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx3), 70, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy3), 70, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx4), 100, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy4), 100, 75, color=(255,255,255), fontsize=20)
img1.drawText(str(acx5), 130, 50, color=(255,255,255), fontsize=20)
img1.drawText(str(acy5), 130, 75, color=(255,255,255), fontsize=20)
img1.save(js.framebuffer)
cal1 = acx1 - acx2
cal2 = acy2 - acy3
cal3 = acx3 - acx4
cal4 = acy4 = acy5
time.sleep(2)
wsh.write_message(wsh2, "x_" + str(cal1) + "_" + str(cal2) + "_" + str(cal3)+ "_" + str(cal4) )
def histo(self):
cam_mode = self.cam_mode
js = self.js
ms = self.ms
w = self.w
cent = 0
rgb1 = 0
c2 = self.c2
wsh = self.wsh
wsh2 = self.wsh2
s.write('s')
if cam_mode == 3:
img1 = c2.getImage()
if cam_mode==1:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
if cam_mode==2:
with picamera.PiCamera() as camera:
camera.resolution = (544, 288)
camera.capture('imagesmall.jpg')
img1 = Image('imagesmall.jpg')
self.img1 = img1
blobs = img1.findBlobs()
if blobs:
print "blob"
x = self.x
y = self.y
p = self.p
p = p + 1
img1.drawCircle((blobs[-1].x,blobs[-1].y),30,color=(255,255,255))
img1.drawCircle((blobs[0].centroid()),10,color=(255,100,100))
print blobs[-1].meanColor()
rgb1 = blobs[-1].meanColor()
cent = blobs[-1].centroid()
pth1 = "/var/www/images/image"
pth3 = ".png"
pth = pth1 + str(p) + pth3
print pth
img1.save(pth)
thumbnail = img1.crop(150,25,250,250)
thumbnail = thumbnail.scale(20,20)
thumb1 = "/var/www/images/thumbs/thumb"
thumb3 = ".png"
thumbpath = thumb1 + str(p) + thumb3
print thumbpath
thumbnail.save(thumbpath)
self.p = p
mySet.add((p,x,y,w,cent,rgb1))
self.mySet = mySet
wshx = str(self.x)
wshy = str(self.y)
centroidx = int(cent[0])
centroidy=int(cent[1])
rcolor=rgb1[0]
gcolor=rgb1[1]
bcolor=rgb1[2]
rcolor=int(rcolor)
gcolor=int(gcolor)
bcolor=int(bcolor)
wsh.write_message(wsh2, "rgb_" + str(rcolor)+"_"+str(gcolor)+"_"+str(bcolor))
wsh.write_message(wsh2, "x_" + str(centroidx)+"_"+str(centroidy))
img1.save(js.framebuffer)
wsh.write_message(wsh2, "d_" + wshx + "_" + wshy + "_" + str(p) )
else:
wshx = str(self.x)
wshy = str(self.y)
wsh.write_message(wsh2, wshx + " " + wshy + "dark")
print "dark"
def detectBlobs(image_file):
original = Image(image_file)
blobs = original.findBlobs()
for blob in blobs:
blob.drawMinRect(color=Color.RED,width =10)
#blobs[-1].drawMinRect(color=Color.RED,width =10)
blobs.image = original
#original.save("foundBlobs.jpg")
return 1
