def __init__(self, device=0):
self.__capture = cv.CaptureFromCAM(device)
self.working = True
if not self.__capture:
print "Camera not working"
self.working = False
import cv
capture = cv.CaptureFromCAM(-1) #-1 will select the first camera available, usually /dev/video0 on linux
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH, 320)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT, 240)
im = cv.QueryFrame(capture)
cv.SaveImage("/var/lib/cloud9/Dish-Detector/sink-latest.jpg", im)
edges = cv.CreateImage(cv.GetSize(im), cv.IPL_DEPTH_8U, 1)
#convert the image to grayscale
cv.CvtColor(im, edges, cv.CV_BGR2GRAY)
#edge detect it, then smooth the edges
#cv.Canny(edges, edges, 5, 300, 3)
#cv.Smooth(edges, edges, cv.CV_GAUSSIAN, 5, 5)
thresh = 100
cv.Canny(edges, edges, thresh, thresh / 2, 3)
cv.Smooth(edges, edges, cv.CV_GAUSSIAN, 3, 3)
cv.SaveImage("/var/lib/cloud9/Dish-Detector/sink-latest-edges.jpg", edges)
#create storage for hough cirlces
storage = cv.CreateMat(640, 1, cv.CV_32FC3)
#find the circles, most of these parameters are magic numbers that work well enough for where the camera is installed
#cv.HoughCircles(edges, storage, cv.CV_HOUGH_GRADIENT, 2, 50, 5, 300)
cv.HoughCircles(edges, storage, cv.CV_HOUGH_GRADIENT, 2, edges.width / 10, thresh, 350, 0, 0)
f = open("/var/lib/cloud9/Dish-Detector/sink-empty.txt", "r")
drains = []
import cv
import numpy as np
import serial
# initialization of camera and serial port conenction
capture = cv.CaptureFromCAM(3)
ser = serial.Serial("/dev/ttyUSB1")
ser.baudrate = 115200
# s - straight; b - backwards; f - forward; l - left; r - right
direction = "s"
ser.write("b");
ser.write("b");
ser.write(direction);
frame = cv.QueryFrame(capture)
length = frame.width
mid = [round(length/2-0.5),round(length/2+0.5)]
loopCounter = 0
while True:
loopCounter = loopCounter + 1
leftCount = 0
rightCount = 0
frame = cv.QueryFrame(capture)
k = cv.WaitKey(10);
if(loopCounter > 20):
# "confirm" direction from time to time in case of possible error
ser.write(direction)
print "send direction: ", direction
def main(debug=False, fromCam=False):
# threshold for canny edge detect
thresh = 200
#min and max radius for the plughole
plugradius = [0, 0]
#coordinates of the plughole [coord, +-tolerance]
sinkx = [0, 0]
sinky = [0, 0]
#load the sink defs from settings
f = open("/var/lib/cloud9/Dish-Detector/settings", "r")
for line in f:
tok = line.split("=")
if tok[0] == "radius":
plugradius = [int(p) for p in tok[1].split(",")]
elif tok[0] == "x":
sinkx = [int(p) for p in tok[1].split(",")]
elif tok[0] == "y":
sinky = [int(p) for p in tok[1].split(",")]
print "sink at: " + str(sinkx[0]) + ":" + str(sinky[0])
# get an image from our source
im = None
if fromCam == True:
capture = cv.CaptureFromCAM(
-1
) #-1 will select the first camera available, usually /dev/video0 on linux
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH, 320)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT, 240)
im = cv.QueryFrame(capture)
else:
im = cv.LoadImage(sys.argv[1])
#work out the brightness of the image
bright = getBrightness(im)
print "image brightness = ", bright
#lets see if its too dark and we should shut the alarms up
if bright < 30:
#alarm = alarms()
#alarm.stopAllAlarms()
print "Stopping all alarms as its night time, alarms count will continue in the morning"
exit()
#create grayscale and edge storage
gray = cv.CreateImage(cv.GetSize(im), cv.IPL_DEPTH_8U, 1)
edges = cv.CreateImage(cv.GetSize(im), cv.IPL_DEPTH_8U, 1)
#convert the image to grayscale
cv.CvtColor(im, gray, cv.CV_BGR2GRAY)
#edge detect it, then smooth the edges
cv.Canny(gray, edges, thresh, thresh / 2, 3)
cv.Smooth(edges, gray, cv.CV_GAUSSIAN, 3, 3)
#create storage for hough cirlces
storage = cv.CreateMat(640, 1, cv.CV_32FC3)
#find the circles, most of these parameters are magic numbers that work well enough for where the camera is installed
cv.HoughCircles(gray, storage, cv.CV_HOUGH_GRADIENT, 2, gray.width / 18,
thresh, 300, 0, 0)
#how many circles have we detected?
detectedCircles = 0
#for each circle detected...
for i in range(storage.rows):
val = storage[i, 0] #because numpy arrays are retarded
radius = int(val[2])
center = (int(val[0]), int(val[1]))
print "circular feature at: " + str(center), "size: ", str(radius)
sinkFound = False
#try and classify this as sink
if sinkx[0] - sinkx[1] < center[0] < sinkx[0] + sinkx[1]:
if sinky[0] - sinky[1] < center[1] < sinky[0] + sinky[1]:
#plugradius is now min/max
if plugradius[0] < radius < plugradius[1]:
print "..probably the PLUGHOLE"
cv.Circle(im, center, radius, (255, 0, 255), 3, 8, 0)
sinkFound = True
else:
print "..PH failed radius check"
else:
print "..PH failed Y check"
else:
print "..PH failed X check"
if not sinkFound:
print "..probably some unwashed dish"
detectedCircles = detectedCircles + 1
cv.Circle(im, center, radius, (0, 0, 255), 3, 8, 0)
print "detected circle: ", detectedCircles
#create our alarm object to trigger annoyances
#alarm = alarms()
if detectedCircles > 0:
#read the last status from the file. Update it to now
#also consult the Table-o-Annoyance(tm) to see if we set off an alarm/explosion
#lots of this could be tidied up but I DONT CARE
f = open("status", "r")
stat = f.readline().strip()
f.close()
if stat == "clean":
print "last status was : " + stat + ", changing it to DIRTY"
f = open("status", "w")
f.write("DIRTY")
f.close()
#alarm.doAlarm(0)
else:
#just update the dishcounter
print "updating dish counter"
f = open("dishcount", "r")
ct = int(f.readline().strip())
f.close()
ct = ct + 1
f = open("dishcount", "w")
f.write(str(ct))
f.close()
else:
print "Last status was dirty and now we're CLEAN"
f = open("status", "w")
f.write("clean")
f.close()
print "resetting dishcount"
f = open("dishcount", "w")
f.write("0")
f.close()
# kill ALL the alarms \o/
#alarm.stopAllAlarms()
#if debugging then display each stage of the process in a cv windows. Useful when configuring things
if debug:
cv.NamedWindow('Circles')
cv.ShowImage('Circles', im)
cv.WaitKey(0)
cv.ShowImage('Circles', edges)
cv.WaitKey(0)
else:
cv.SaveImage("/var/lib/cloud9/Dish-Detector/dishes.jpg", im)
import cv
import datetime
imageWidth = 1024
imageHeight = 480
cv.NamedWindow("window1", cv.CV_WINDOW_AUTOSIZE)
camera_index = 0
capture = cv.CaptureFromCAM(camera_index)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH, imageWidth)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT, imageHeight)
font = cv.InitFont(cv.CV_FONT_HERSHEY_COMPLEX_SMALL, 0.5, 0.5, 0, 1, cv.CV_AA)
while True:
frame = cv.QueryFrame(capture)
cv.Rectangle(frame, (0, 0), (imageWidth, 15), (255, 255, 255),
cv.CV_FILLED, 8, 0)
timeStampString = datetime.datetime.now().strftime("%A %Y-%m-%d %I:%M %p")
cv.PutText(frame, timeStampString, (10, 10), font, (0, 0, 0))
cv.ShowImage("window1", frame)
command = cv.WaitKey(10)
if command == ord('q'):
print("Ending program")
break
elif command == ord('s'):
print("Saving image")
# Make two windows, these are refered to by name
cv.NamedWindow("cam_live", cv.CV_WINDOW_AUTOSIZE)
cv.NamedWindow("cam_other", cv.CV_WINDOW_AUTOSIZE)
cv.NamedWindow("cam_histo", cv.CV_WINDOW_AUTOSIZE)
CAM_CFG = {
'camidx': 0,
'frameidx': 0,
'handler': None,
'buf': [None] * 10,
'roi': roi
}
# Initialize camera handler
CAM_CFG['handler'] = cv.CaptureFromCAM(CAM_CFG['camidx'])
rawframe = cv.QueryFrame(CAM_CFG['handler'])
frame = cv.GetSubRect(rawframe, roi)
# Make fake calibration frames from data
darkarr = (np.random.random(cv.GetDims(frame)) * 10.0 / 256).astype(np.float32)
darkframe = array2cv(darkarr)
lastframe = cv.CloneImage(darkframe)
camframe = cv.CloneImage(darkframe)
diffframe = cv.CloneImage(darkframe)
# Make real flat field
print "Taking 100 flats..."
frame = cv.GetSubRect(cv.QueryFrame(CAM_CFG['handler']), CAM_CFG['roi'])
cv.ConvertScale(frame, camframe, scale=1.0 / 256)
#!/usr/bin/env python
import sys
import math
import optparse
import cv
import serial
import time
cam = cv.CaptureFromCAM(0)
cv.SetCaptureProperty(cam, cv.CV_CAP_PROP_FRAME_WIDTH, 960)
cv.SetCaptureProperty(cam, cv.CV_CAP_PROP_FRAME_WIDTH, 720)
img = cv.QueryFrame(cam)
width, height = cv.GetSize(img)
if __name__ == "__main__":
while True:
line = [(width / 2, 0), (width / 2, height), (0, height / 2),
(width, height / 2)]
cv.PolyLine(img, [line], False, (255, 0, 0), 2, 8)
key = (cv.WaitKey(10)) % 0x100
cv.ShowImage('source', img)
img = cv.QueryFrame(cam)
if key == 27:
break
def colorEdgeDetector():
# Declare as globals since we are assigning to them now
global capture
global capture_index
# Declare tesseract variables
api = tesseract.TessBaseAPI()
api.Init(".", "eng", tesseract.OEM_DEFAULT)
api.SetPageSegMode(tesseract.PSM_SINGLE_LINE)
# Variable to control size of peeking window
xDiff = 120.0
yDiff = 40.0
rectArea = int(xDiff * 2) * int(yDiff * 2)
# Capture current frame
frame = cv.QueryFrame(capture)
# Declare other variables used to manipulate the frame
threshold_frame = cv.CreateImage(cv.GetSize(frame), 8, 1)
hsv_frame = cv.CreateImage(cv.GetSize(frame), 8, 3)
while True:
# Copy the original frame to display later
original_frame = cv.CloneImage(frame)
# Use Sobel filter to detect edges
cv.Smooth(frame, frame, cv.CV_BLUR, 3, 3)
cv.Sobel(frame, frame, 2, 0, 5)
cv.Smooth(frame, frame, cv.CV_BLUR, 3, 3)
# Convert frame to HSV
cv.CvtColor(frame, hsv_frame, cv.CV_BGR2HSV)
# Remove all pixels that aren't a teal color: RGB(0, 180, 170) HSV(170, 75, 100)
cv.InRangeS(hsv_frame, (70, 150, 150), (100, 255, 255),
threshold_frame)
# Get moments to see if what was found is a license plate or not
moments = cv.Moments(cv.GetMat(threshold_frame, 1), 0)
area = cv.GetCentralMoment(moments, 0, 0)
if (area > 60000):
# Determine the x and y coordinates of the center of the object
x = cv.GetSpatialMoment(moments, 1, 0) / area
y = cv.GetSpatialMoment(moments, 0, 1) / area
# Retrieve candidate license plate and test it's characters
if int(x - xDiff) > 0 and int(y - yDiff) > 0 and (
int(x - xDiff) + int(xDiff * 2)) < 640 and (
int(y - yDiff) + int(yDiff * 2)) < 480:
candidate = cv.GetSubRect(original_frame,
(int(x - xDiff), int(y - yDiff),
int(xDiff * 2), int(yDiff * 2)))
candidateImg = cv.CreateImage(cv.GetSize(candidate), 8, 3)
cv.Convert(candidate, candidateImg)
candidateGrey = cv.CreateImage(cv.GetSize(candidate), 8, 1)
cv.CvtColor(candidateImg, candidateGrey, cv.CV_RGB2GRAY)
tesseract.SetCvImage(candidateImg, api)
text = api.GetUTF8Text()
print "License Plate Characters:", text
"""
# Regex and this don't seem to work
if text.isalnum():
print "License Plate Characters:",text
"""
# Draw circle on center of object
cv.Circle(original_frame, (int(x), int(y)), 2, (255, 255, 255), 10)
# Rectangle
cv.Rectangle(original_frame, (int(x - xDiff), int(y - yDiff)),
(int(x + xDiff), int(y + yDiff)),
cv.CV_RGB(0, 0, 255), 1)
# Display image
cv.ShowImage("CS201 - Tyler Boraski - Final Project", original_frame)
# Capture new frame
frame = cv.QueryFrame(capture)
# If wrong camera index is initialized, press "n" to cycle through camera indexes.
c = cv.WaitKey(10)
if c == "n":
camera_index += 1 # Try the next camera index
capture = cv.CaptureFromCAM(camera_index)
if not capture: # If the next camera index didn't work, reset to 0.
camera_index = 0
capture = cv.CaptureFromCAM(camera_index)
# If "esc" is pressed the program will end
esc = cv.WaitKey(7) % 0x100
if esc == 27:
quit()
def callback(data):
print "data: " + data.data
global height
global width
global capture
global capture1
global fps
global cam
global check_fps_set
global sub
string = str(data.data)
b = string.split(',')
height = str(b[2])
width = str(b[3])
prev_cam = cam
cam = str(b[0])
fps = str(b[1])
if prev_cam == str(2):
#pass
sub.unregister()
if cam == str(0):
capture = None
capture1 = None
capture = cv.CaptureFromCAM(0)
#sub.unregister()
if cam == str(1):
capture = None
capture1 = None
capture = cv.CaptureFromCAM(1)
#sub.unregister()
'''if cam==str(2):
capture=None
capture1=None
capture=cv.CaptureFromCAM(2)
sub.unregister()'''
if cam == str(3):
capture = None
capture1 = None
capture = cv.CaptureFromCAM(3)
#sub.unregister()
if cam == str(2):
capture = None
capture1 = None
sub = rospy.Subscriber('/image_raw/compressed',
CompressedImage,
callback1,
queue_size=1)
check_fps_set = 1
return
if cam == str(4):
capture = None
capture1 = None
#sub.unregister()
capture = cv.CaptureFromCAM(0)
capture1 = cv.CaptureFromCAM(1)
check_fps_set = 1
return
check_fps_set = 1
#print "prev_cam: "+str(prev_cam)+" new cam: "+str(cam)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH, int(width))
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT, int(height))
def __init__(self):
self.capture = cv.CaptureFromCAM(0)
self.measureDisplay = True
self.saveSamples = True
self.NoOfFrames = 3
from sensor_msgs.msg import Image
from sensor_msgs.msg import CompressedImage
from cv_bridge import CvBridge, CvBridgeError
import time
import os
from subprocess import call
import re
cam_no = [7, 6, 5, 4]
List = [str(i) for i in cam_no]
height = str(640)
width = str(480)
fps = str(30)
cam = "0"
capture = cv.CaptureFromCAM(int(List[0]))
# capture=cv.CaptureFromCAM(1)
capture1 = None
sub = None
frame = None
prev_cam = '0'
check_fps_set = 0
def callback1(ros_data):
#pub = rospy.Publisher('/chatter', Image)
#bridge=CvBridge()
#print 'received image data of type:%s'% ros_data.format
global sub
global frame
global cam
import cv
CAMERA_INDEX = 0
# CODEC = cv.CV_FOURCC('D','I','V','3') # MPEG 4.3
# CODEC = cv.CV_FOURCC('M','P','4','2') # MPEG 4.2
# CODEC = cv.CV_FOURCC('M','J','P','G') # Motion Jpeg
# CODEC = cv.CV_FOURCC('U','2','6','3') # H263
# CODEC = cv.CV_FOURCC('I','2','6','3') # H263I
# CODEC = cv.CV_FOURCC('F','L','V','1') # FLV
CODEC = cv.CV_FOURCC('P', 'I', 'M', '1') # MPEG-1
CODEC = cv.CV_FOURCC('D', 'I', 'V', 'X') # MPEG-4 = MPEG-1
# Initialize the camera for video capture
capture = cv.CaptureFromCAM(CAMERA_INDEX)
# Initialize the video writer to write the file
writer = cv.CreateVideoWriter(
'/Users/sean/Desktop/out.avi', # Filename
CODEC, # Codec for compression
25, # Frames per second
(640, 480), # Width / Height tuple
True # Color flag
)
# Capture 50 frames and write each one to the file
for i in range(0, 25):
print 'frame #:', i
frame = cv.QueryFrame(capture)
cv.ShowImage("w1", frame)
cv.WriteFrame(writer, frame)
def on_module_selected(self):
if not self.loaded:
print "Loading User module"
self.face_button = PictureChooserButton(num_cols=4,
button_picture_size=48,
menu_pictures_size=96)
self.face_button.set_alignment(0.0, 0.5)
self.face_button.set_tooltip_text(
_("Click to change your picture"))
self.face_photo_menuitem = Gtk.MenuItem.new_with_label(
_("Take a photo..."))
self.face_photo_menuitem.connect(
'activate', self._on_face_photo_menuitem_activated)
self.face_browse_menuitem = Gtk.MenuItem.new_with_label(
_("Browse for more pictures..."))
self.face_browse_menuitem.connect(
'activate', self._on_face_browse_menuitem_activated)
face_dirs = ["/usr/share/cinnamon/faces"]
for face_dir in face_dirs:
if os.path.exists(face_dir):
pictures = sorted(os.listdir(face_dir))
for picture in pictures:
path = os.path.join(face_dir, picture)
self.face_button.add_picture(
path, self._on_face_menuitem_activated)
self.realname_entry = EditableEntry()
self.realname_entry.connect("changed", self._on_realname_changed)
self.realname_entry.set_tooltip_text(
_("Click to change your name"))
table = Gtk.Table.new(3, 2, False)
table.set_row_spacings(8)
table.set_col_spacings(15)
self.sidePage.add_widget(table)
label_picture = Gtk.Label.new(_("Picture:"))
label_picture.set_alignment(1, 0.5)
label_picture.get_style_context().add_class("dim-label")
table.attach(label_picture, 0, 1, 0, 1)
password_mask = Gtk.Label.new(
u'\u2022\u2022\u2022\u2022\u2022\u2022')
password_mask.set_alignment(0.0, 0.5)
self.password_button = Gtk.Button()
self.password_button.add(password_mask)
self.password_button.set_relief(Gtk.ReliefStyle.NONE)
self.password_button.set_tooltip_text(
_("Click to change your password"))
self.password_button.connect('activate',
self._on_password_button_clicked)
self.password_button.connect('released',
self._on_password_button_clicked)
label_name = Gtk.Label.new(_("Name:"))
label_name.set_alignment(1, 0.5)
label_name.get_style_context().add_class("dim-label")
table.attach(label_name, 0, 1, 1, 2)
label_name = Gtk.Label.new(_("Password:"******"dim-label")
table.attach(label_name, 0, 1, 2, 3)
box = Gtk.Box()
box.pack_start(self.face_button, False, False, 0)
table.attach(box,
1,
2,
0,
1,
xoptions=Gtk.AttachOptions.EXPAND
| Gtk.AttachOptions.FILL)
table.attach(self.realname_entry,
1,
2,
1,
2,
xoptions=Gtk.AttachOptions.EXPAND
| Gtk.AttachOptions.FILL)
table.attach(self.password_button,
1,
2,
2,
3,
xoptions=Gtk.AttachOptions.EXPAND
| Gtk.AttachOptions.FILL)
current_user = GLib.get_user_name()
self.accountService = AccountsService.UserManager.get_default(
).get_user(current_user)
self.accountService.connect('notify::is-loaded',
self.load_user_info)
self.face_button.add_separator()
webcam_detected = False
try:
import cv
capture = cv.CaptureFromCAM(-1)
for i in range(10):
img = cv.QueryFrame(capture)
if img != None:
webcam_detected = True
except Exception, detail:
print detail
if (webcam_detected):
self.face_button.add_menuitem(self.face_photo_menuitem)
self.face_button.add_menuitem(self.face_browse_menuitem)
else:
self.face_button.add_menuitem(self.face_browse_menuitem)
def main():
color_tracker_window = "output"
thresh_window = "thresh"
capture = cv.CaptureFromCAM(-1)
cv.NamedWindow(color_tracker_window, 1)
cv.MoveWindow(color_tracker_window, 0, 0)
cv.NamedWindow(thresh_window, 1)
cv.MoveWindow(thresh_window, 700, 0)
imgScrible = None
storage = None
global posX
global posY
fido.init_servos()
fido.set_servo(fido.NECK, NECK_DOWN)
head_x = fido.get_servo_position(fido.HEAD)
neck_y = fido.get_servo_position(fido.NECK)
jaw_pos = fido.get_servo_position(fido.JAW)
#frame = cv.QueryFrame(capture)
#imgThresh = GetThresholdedImage(frame)
for f in xrange(2000):
frame = cv.QueryFrame(capture)
#cv.Smooth(frame, frame, cv.CV_BLUR, 3)
cv.Smooth(frame, frame, cv.CV_GAUSSIAN, 9, 9)
#imgScrible = cv.CreateImage(cv.GetSize(frame), 8, 3)
imgThresh = GetThresholdedImage(frame)
# pre-smoothing improves Hough detector
#if storage is None:
# storage = cv.CreateMat(imgThresh.width, 1, cv.CV_32FC3)
#try:
# cv.HoughCircles(imgThresh, storage, cv.CV_HOUGH_GRADIENT, 1, imgThresh.height/4, 50, 20, 10, 240)
# circles = np.asarray(storage)
#except Error, e:
# print e
# circles = None
# find largest circle
#maxRadius = 0
#x = 0
#y = 0
#found = False
#if circles is not None:
# for i in range(len(circles)):
# circle = circles[i]
# if circle[2] > maxRadius:
# found = True
# maxRadius = circle[2]
# x = circle[0]
# y = circle[1]
#cvShowImage( 'Camera', frame)
#if found:
# posX = x
# posY = y
# print 'ball detected at position: ',x, ',', y, ' with radius: ', maxRadius
#else:
# print 'no ball'
mat = cv.GetMat(imgThresh)
#Calculating the moments
moments = cv.Moments(mat, 0)
area = cv.GetCentralMoment(moments, 0, 0)
moment10 = cv.GetSpatialMoment(moments, 1, 0)
moment01 = cv.GetSpatialMoment(moments, 0, 1)
#lastX and lastY stores the previous positions
lastX = posX
lastY = posY
#Finding a big enough blob
if area > 20000:
#Calculating the coordinate postition of the centroid
posX = int(moment10 / area)
posY = int(moment01 / area)
print str(datetime.now(
)), ' x: ' + str(posX) + ' y: ' + str(posY) + ' area: ' + str(
area) + ' head_x: ' + str(head_x) + ' neck_y: ' + str(
neck_y) + ' jaw_pos: ' + str(jaw_pos)
#drawing lines to track the movement of the blob
if (lastX > 0 and lastY > 0 and posX > 0 and posY > 0):
#cv.Circle( imgThresh, (posX, posY), maxRadius, cv.Scalar(0,0,255), 3, 8, 0 );
#cv.Line(imgScrible, (posX, posY), (lastX, lastY), cv.Scalar(0, 0, 255), 5)
if posX < CENTER_X - 10:
error_x = (posX - CENTER_X) / MAX_X * (HEAD_RIGHT -
HEAD_LEFT)
desired_x = int(error_x) / 4 + head_x
head_x = desired_x
if head_x < HEAD_LEFT:
head_x = HEAD_LEFT
fido.set_servo(fido.HEAD, head_x)
elif posX > CENTER_X + 10:
new_x = (posX - CENTER_X) / MAX_X * (HEAD_RIGHT -
HEAD_LEFT)
head_x = int(new_x) / 4 + head_x
if head_x > HEAD_RIGHT:
head_x = HEAD_RIGHT
fido.set_servo(fido.HEAD, head_x)
if posY < CENTER_Y - 10:
new_y = (posY - CENTER_Y) / MAX_Y * (NECK_UP - NECK_DOWN)
neck_y = neck_y - (int(new_y) / 8)
if neck_y > NECK_UP:
neck_y = NECK_UP
fido.set_servo(fido.NECK, neck_y)
elif posY > CENTER_Y + 10:
new_y = (posY - CENTER_Y) / MAX_Y * (NECK_UP - NECK_DOWN)
neck_y = neck_y - (int(new_y) / 8)
if neck_y < NECK_DOWN:
neck_y = NECK_DOWN
fido.set_servo(fido.NECK, neck_y)
jaw_pos = int((float(area) - 60000.0) / 1000000.0 *
(fido.JAW_OPEN - fido.JAW_CLOSED_EMPTY) +
fido.JAW_CLOSED_EMPTY)
jaw_pos = max(min(jaw_pos, fido.JAW_OPEN),
fido.JAW_CLOSED_EMPTY)
fido.set_servo(fido.JAW, jaw_pos)
#Adds the three layers and stores it in the frame
#frame -> it has the camera stream
#imgScrible -> it has the line tracking the movement of the blob
#cv.Add(frame, imgScrible, frame)
cv.ShowImage(thresh_window, imgThresh)
cv.ShowImage(color_tracker_window, frame)
c = cv.WaitKey(10)
if (c != -1):
break
print "max frames reached, exiting"
def __init__(self):
self.camera = cv.CaptureFromCAM(-1)
downUpdateTrackbarPos = False
listenToSlider = False
# this function will be called when the trackbar is updated
def onTrackbarSlide(pos):
if (listenToSlider):
downUpdateTrackbarPos = True
cv.SetCaptureProperty(g_capture, cv.CV_CAP_PROP_POS_FRAMES, pos)
downUpdateTrackbarPos = False
if __name__ == '__main__':
cv.NamedWindow("Example3", cv.CV_WINDOW_AUTOSIZE)
if (len(sys.argv) == 1):
g_capture = cv.CaptureFromCAM(0)
useTrackbar = False
else:
g_capture = cv.CreateFileCapture(sys.argv[1])
useTrackbar = True
frames = long(
cv.GetCaptureProperty(g_capture, cv.CV_CAP_PROP_FRAME_COUNT))
if (frames == 0):
print "No video"
loop = False
else:
# create the trackbar and attach the function "onTrackbarSlide" to it
loop = True
cv.CreateTrackbar("Position", "Example3", g_slider_pos, frames,
onTrackbarSlide)
# threshold the image
image_threshed = cv.CreateImage(cv.GetSize(image), image.depth, 1)
cv.InRangeS(image_hsv, MIN_THRESH, MAX_THRESH, image_threshed)
return image_threshed
if FOLLOW:
try:
panTilt = Serial(SERIAL_DEVICE, 9600)
panTilt.write('r')
except:
print 'Serial() failed'
exit(1)
# initialize camera feed
capture = cv.CaptureFromCAM(MY_CAMERA)
if not capture:
print "Could not initialize camera feed!"
exit(1)
# create display windows
cv.NamedWindow('camera', cv.CV_WINDOW_AUTOSIZE)
cv.NamedWindow('threshed', cv.CV_WINDOW_AUTOSIZE)
# initialize position array
positions_x, positions_y = [0] * SMOOTHNESS, [0] * SMOOTHNESS
# read from the camera
while 1:
image = cv.QueryFrame(capture)
if not image:
def __init__(self):
cv.NamedWindow(color_tracker_window, 1)
self.capture = cv.CaptureFromCAM(0)
def __init__(self):
self.capture = cv.CaptureFromCAM(0)
cv.NamedWindow(“Target”, 1)
cv.NamedWindow(“Threshold1”,1)
cv.NamedWindow(“Threshold2”,1)
cv.NamedWindow(“hsv”,1)
#!/usr/bin/env python
import roslib
roslib.load_manifest('kec_line')
import sys
import rospy
import cv
from std_msgs.msg import String
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
pub = rospy.Publisher('cam', Image)
rospy.init_node('camera_driver')
cam = cv.CaptureFromCAM(201)
bridge = CvBridge()
#r = rospy.Rate(1) #run the camera at 10Hz to mimic laser
while not rospy.is_shutdown():
frame = cv.QueryFrame(cam)
print frame.width, frame.height
pub.publish(bridge.cv_to_imgmsg(frame, "bgr8"))
#r.sleep()
#cv.WaitKey(10)
def __init__(self):
self.logger = Logger.Logger(self.__class__.__name__).get()
self.logger.debug("initializing camera")
cam = cv.CaptureFromCAM(self.KAMERA_NR)
def run_real_time_recognition(para_path, Labels):
status_dictionary = {}
# status, pos, radias, color, text, ,pos, font_color
# states:
# 0 -> waiting to be hovered
# 1 -> hovered waiting to be selected(clicked)
# 2 -> selected waiting to be unselected(clicked)
start_time = 0
status_dictionary['b1'] = [False, (530, 70), 60, (255, 255, 0), 'Record', (490, 70), (0,0,0), [], False]
status_dictionary['b2'] = [False, (380, 70), 60, (0, 255, 0), 'Select', (350, 70), (0,0,0), [], False]
status_dictionary['b3'] = [False, (240, 70), 60, (0, 255, 255), 'Billard', (210, 70),(0,0,0), [], False]
status_dictionary['b4'] = [False, (100, 270), 90, (255, 255, 255), 'Drag Me', (70, 270),(0,0,0), [], False]
global depth,ir, rgb
count = 0
# frame_size = (480,640)
# Setting web cam config
capture=cv.CaptureFromCAM(0)
fourcc = cv.CV_FOURCC('X','V','I','D')
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FPS, 25)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH, 640)
cv.SetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT, 480)
# Neuronet Configuration
resize_row = 20
resize_width = 20
weights = loadmat(para_path)
T1 = weights['Theta1']
T2 = weights['Theta2']
history_prediction = [] # smoothing and other purpose
history_gesture_pos = [] # smoothing and other purpose
# Recording
record_st = False
rgb_writer = cv.CreateVideoWriter("recording.avi", cv.CV_FOURCC('X','V','I','D'), 5, (640, 480), True)
# Capture frames IR, RGB, Depth
while True:
# Web cam feed (300, 400, 3)
rgb_ipl = cv.QueryFrame(capture)
# Depth IR feed
(depth,_), (ir,_) = get_depth(), get_video(format=2)
ir = (ir>150).astype(float)
ir = ir*255
ir_ipl = resize_ir_callibrate_with_rgb(ir)
new_rgb_ipl = cv.CreateImage(cv.GetSize(rgb_ipl), 8, 3)
#Billard Mode
yo = rgb_ipl
f = iplimage_to_numpy_color(yo)
green_mono = f[:,:,1]
#image = cv.fromarray(np.array(green_mono[:,:]))
#cv.ShowImage('G', image)
rgb_np, threshold_np, contour_list = billard_extract_and_draw_countour(f, 20, green_mono, 120, 0)
image = cv.fromarray(np.array(rgb_np))
#print contour_list
maxx = (0,0,0,0)
for pos in contour_list:
if pos[1] > maxx[1]:
maxx = pos
#print maxx
for item in contour_list:
if maxx != item:
cv.Line(image, (maxx[0]+maxx[2]/2, maxx[1]+maxx[3]/2), (item[0]+item[2]/2,item[1]+item[3]/2), (0,255,0), thickness=1, lineType=8, shift=0)
#cv.ShowImage('G Threshold', image)
new_rgb_ipl = cvMat_to_iplimage_color(image)
#cv.ShowImage('G Threshold', new_rgb_ipl)
# Hand Sengmentation
rgb_np, ir_np, contour_list, history_gesture_pos = real_time_extract_and_draw_countour(ir_ipl, rgb_ipl, 20000, history_gesture_pos)
# Gesture Recognition
if contour_list:
ir_ipl, rgb_ipl, history_prediction = real_time_gesture_recognition_and_labeling(ir_np, rgb_np, contour_list, T1, T2, Labels, history_prediction, False)
# Update button status
status_dictionary, start_time = update_button_status(contour_list, history_prediction, Labels, status_dictionary, history_gesture_pos, False, start_time)
draw_menu_button(ir_ipl, rgb_ipl, status_dictionary, start_time)
# resize for full screen display
"""
rgb_np = iplimage_to_numpy_color(rgb_ipl)
rgb_np = imresize(rgb_np, (800, 1066))
image = cv.fromarray(np.array(rgb_np))
cv.ShowImage('rgb', image)
"""
if status_dictionary['b3'][0]:
opacity = 0.4
cv.AddWeighted(new_rgb_ipl, opacity, rgb_ipl, 1 - opacity, 0, rgb_ipl)
if status_dictionary['b1'][0]:
cv.WriteFrame(rgb_writer, rgb_ipl)
else:
record_status=False
cv.ShowImage('rgb', rgb_ipl)
cv.ShowImage('ir', ir_ipl)
c=cv.WaitKey(5)
if c==27: #Break if user enters 'Esc'.
break
def __init__(self):
self.capture = cv.CaptureFromCAM(0)
cv.NamedWindow("Object", 1)
if not new_apenom:
def_nia = nia
continue
new_apenom = new_apenom.upper()
new_apenom = new_apenom.strip()
else:
new_email = get_text(
None, first_row[0].decode('utf-8') + '\nDNI: ' + nia +
'\nNIA: ' + first_row[1] + '\n Introduzca email:',
first_row[2])
cur.close()
db.close()
capture = cv.CaptureFromCAM(webcam)
# cv.SetCaptureProperty(capture,cv.CV_CAP_PROP_FRAME_WIDTH,1280)
# cv.SetCaptureProperty(capture,cv.CV_CAP_PROP_FRAME_HEIGHT, 960);
cv.NamedWindow(nia)
cv.MoveWindow(nia, xcam, ycam)
storage = cv.CreateMemStorage()
cascade = cv.Load(
'/usr/share/webcam-ds-common/haarcascade_frontalface_alt.xml')
# get current limits
face_max_x = int(
cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH))
face_max_y = int(
cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT))
import cv
import os
#Configuracoes :
filtro_de_gauss = 3
tolerancia = 40
filtro_de_dilatacao = 4
filtro_de_erosao = 2
resolucao_largura = 640
resolucao_altura = 480
captura = cv.CaptureFromCAM(1)
cv.SetCaptureProperty(captura, cv.CV_CAP_PROP_FRAME_WIDTH, resolucao_largura)
cv.SetCaptureProperty(captura, cv.CV_CAP_PROP_FRAME_HEIGHT, resolucao_altura)
cv.NamedWindow("Webcam", 1)
cv.NamedWindow("Mascara", 0)
cv.NamedWindow("Binario", 0)
cv.NamedWindow("Regiao de Interesse", 1)
cv.MoveWindow("Regiao de Interesse", 1000, 480)
cv.MoveWindow("Mascara", 0, 500)
cv.MoveWindow("Binario", 400, 500)
arquivo = open('Treino.txt', 'a')
mascara = cv.CreateImage((resolucao_largura, resolucao_altura), 8, 3)
cinza = cv.CreateImage((resolucao_largura, resolucao_altura), 8, 1)
while True:
print("Por Favor tire uma foto do fundo estatico do seu video.")
print("Aperte a tecla espaco.")
if cv.WaitKey(0) % 0x100 == 32:
def init_globals():
""" sets up the data we need in the global dictionary D
"""
# get D so that we can change values in it
global D
D.goal = (0, 0)
D.target_vector = (0, 0)
D.heading_vector = 0.0
# our publishers, D.K_PUB
D.K_PUB = rospy.Publisher('text_data', String)
D.V_PUB = rospy.Publisher('visual_data', String)
D.G_PUB = rospy.Publisher('goal_data', String)
rospy.Subscriber('heading_data', String, heading_callback)
# put threshold values into D
D.thresholds = {
'high_green': 141,
'low_green': 0,
'low_blue': 108,
'low_val': 106,
'high_hue': 204,
'high_val': 255,
'high_blue': 255,
'low_red': 160,
'low_hue': 113,
'high_red': 255,
'high_sat': 255,
'low_sat': 130
}
# Set up the windows containing the image from the camera,
# the altered image, and the threshold sliders.
cv.NamedWindow('image')
cv.MoveWindow('image', 0, 0)
cv.NamedWindow('threshold')
THR_WIND_OFFSET = 640
if D.half_size: THR_WIND_OFFSET /= 2
cv.MoveWindow('threshold', THR_WIND_OFFSET, 0)
cv.NamedWindow('sliders')
SLD_WIND_OFFSET = 1280
if D.half_size: SLD_WIND_OFFSET /= 2
cv.MoveWindow('sliders', SLD_WIND_OFFSET, 0)
# Create the sliders within the 'sliders' window
cv.CreateTrackbar('low_red', 'sliders', D.thresholds['low_red'], 255,
lambda x: change_slider('low_red', x))
cv.CreateTrackbar('high_red', 'sliders', D.thresholds['high_red'], 255,
lambda x: change_slider('high_red', x))
cv.CreateTrackbar('low_green', 'sliders', D.thresholds['low_green'], 255,
lambda x: change_slider('low_green', x))
cv.CreateTrackbar('high_green', 'sliders', D.thresholds['high_green'], 255,
lambda x: change_slider('high_green', x))
cv.CreateTrackbar('low_blue', 'sliders', D.thresholds['low_blue'], 255,
lambda x: change_slider('low_blue', x))
cv.CreateTrackbar('high_blue', 'sliders', D.thresholds['high_blue'], 255,
lambda x: change_slider('high_blue', x))
cv.CreateTrackbar('low_hue', 'sliders', D.thresholds['low_hue'], 255,
lambda x: change_slider('low_hue', x))
cv.CreateTrackbar('high_hue', 'sliders', D.thresholds['high_hue'], 255,
lambda x: change_slider('high_hue', x))
cv.CreateTrackbar('low_sat', 'sliders', D.thresholds['low_sat'], 255,
lambda x: change_slider('low_sat', x))
cv.CreateTrackbar('high_sat', 'sliders', D.thresholds['high_sat'], 255,
lambda x: change_slider('high_sat', x))
cv.CreateTrackbar('low_val', 'sliders', D.thresholds['low_val'], 255,
lambda x: change_slider('low_val', x))
cv.CreateTrackbar('high_val', 'sliders', D.thresholds['high_val'], 255,
lambda x: change_slider('high_val', x))
# Set the method to handle mouse button presses
cv.SetMouseCallback('image', onMouse, None)
# We have not created our "scratchwork" images yet
D.created_images = False
# Variable for key presses
D.last_key_pressed = 255
# Create a connection to the Kinect
D.bridge = cv_bridge.CvBridge()
# camera for missile launcher
D.camera = cv.CaptureFromCAM(-1)
def mainLoop():
input_video_fn = get_input_video_filename()
print 'input video filename:', input_video_fn
# Setting up the window objects and environment
proc_win_name = "Processing window"
cam_win_name = "Capture from camera"
proc_win = cv.NamedWindow(proc_win_name, 1)
cam_win = cv.NamedWindow(cam_win_name, 1)
if input_video_fn:
cam = cv.CaptureFromFile(input_video_fn)
else:
cam = cv.CaptureFromCAM(0)
cv.SetMouseCallback(proc_win_name, handle_mouse)
cv.SetMouseCallback(cam_win_name, handle_mouse)
msdelay = 3
initHueThreshold = 42
initIntensityThreshold = 191
skin_detector = skin.SkinDetector()
skin_detector.setHueThreshold(initHueThreshold)
skin_detector.setIntensityThreshold(initIntensityThreshold)
cv.CreateTrackbar('hueThreshold',
proc_win_name,
initHueThreshold,
255,
skin_detector.setHueThreshold)
cv.CreateTrackbar('intensityThreshold',
proc_win_name,
initIntensityThreshold,
255,
skin_detector.setIntensityThreshold)
session = ImageProcessSession(skin_detector)
ga = gesture.GestureAnalyzer()
grammar = Grammar()
gfn = get_grammar_filename()
if not gfn:
print 'usage: python GestureLock.py -g grammar_file.gmr'
exit(0)
answer_grammer = read_grammar(gfn)
im_orig_writer = ImageWriter(output_folder=get_output_folder())
im_contour_writer = ImageWriter(output_folder='out2')
prev = []
while True:
k = cv.WaitKey(msdelay)
k = chr(k) if k > 0 else 0
if handle_keyboard(k) < 0:
break
bgrimg = cv.QueryFrame(cam)
if not bgrimg:
break
im_orig_writer.write(bgrimg)
cv.Flip(bgrimg, None, 1)
contours = session.process(bgrimg)
img = cv.CreateImage((bgrimg.width, bgrimg.height), 8, 3)
if contours:
ges, area, depth = ga.recognize(contours)
x, y, r, b = im.find_max_rectangle(contours)
cv.Rectangle(img, (x,y), (r, b), im.color.RED)
cv.DrawContours(img, contours, im.color.RED, im.color.GREEN, 1,
thickness=3)
print ges
currentInput = grammar.instantGes(ges)
print currentInput
if len(prev)>=2:
for i,g in enumerate(currentInput):
im.puttext(prev[0], str(g), 30, 70+40*i)
im_contour_writer.write(prev[0])
prev.append( img )
prev.pop(0)
else:
prev.append( img )
if grammar == answer_grammer:
for i,g in enumerate(currentInput):
im.puttext(prev[0], str(g), 30, 70+40*i)
im_contour_writer.write(prev[0])
im.puttext(prev[0], 'AUTHENTICATED!', 30, 70+40*len(currentInput))
im_contour_writer.write(prev[0])
print 'AUTHENTICATED!!!!'
break
cv.ShowImage(proc_win_name, img)
def capture():
"""main function"""
# parse cmd line options
parser = OptionParser()
parser.add_option("-0",
"--file0",
dest="file0",
help="path of target file0")
parser.add_option("-1",
"--file1",
dest="file1",
help="path of target file1")
(options, args) = parser.parse_args()
file0 = "out0.avi"
file1 = "out1.avi"
if options.file0:
file0 = options.file0
if options.file1:
file1 = options.file1
print "[INFO ] output file0: " + str(file0)
print "[INFO ] output file1: " + str(file1)
# init cams
cam0 = cv.CaptureFromCAM(0)
cam1 = cv.CaptureFromCAM(1)
# check if cams are init correctly
if not cam0:
print "[ERROR] Could not init cam0"
return
if not cam1:
print "[ERROR] Could not init cam1"
return
# skip first frames since they are normally garbage...
print "[INFO ] Skipping first 10 frames..."
for i in xrange(10):
frame0 = cv.QueryFrame(cam0)
frame1 = cv.QueryFrame(cam1)
# init some vars
# TODO: calc fps and image size correctly and output on console
writer0 = cv.CreateVideoWriter(file0, cv.CV_FOURCC('M', 'J', 'P', 'G'), 30,
(320, 240))
writer1 = cv.CreateVideoWriter(file1, cv.CV_FOURCC('M', 'J', 'P', 'G'), 30,
(320, 240))
# create some windows to output frames
cv.NamedWindow("cam0", cv.CV_WINDOW_AUTOSIZE)
cv.NamedWindow("cam1", cv.CV_WINDOW_AUTOSIZE)
print "[INFO ] Starting recording..."
print "[INFO ] To quit press q or esc..."
while True:
# save the frames we want...
frame0 = cv.QueryFrame(cam0)
frame1 = cv.QueryFrame(cam1)
# check if frames are valid
if not frame0:
print "[ERROR] could not query frame from cam0"
continue
if not frame1:
print "[ERROR] could not query frame from cam1"
continue
# write frames to video files
cv.WriteFrame(writer0, frame0)
cv.WriteFrame(writer1, frame1)
# output frames...
cv.ShowImage("cam0", frame0)
cv.ShowImage("cam1", frame1)
key = cv.WaitKey(100)
if key == 113 or key == 27: # esc or q key
break
# destroy stuff...
print "[INFO ] destroying opencv objects..."
cv.DestroyWindow("cam0")
cv.DestroyWindow("cam1")
del (writer0)
del (writer1)
del (cam0)
del (cam1)
print "[INFO ] everything done... bye..."
def __init__(self, device=-1):
"""Given a device number provides access to that device - -1, the default, means choose any. There is no way of querying the devices and finding out what each is unfortunatly."""
self.vid = cv.CaptureFromCAM(device)
self.frame = None
def __init__(self, index=0, **k):
self.cam = cv.CaptureFromCAM(index)
super(OpenCVCapture, self).__init__(**k)