def getFeatures(self, grey):
"""
Returns a list of features generated by the OpenCV
GoodFeaturesToTrack() function in the gray scale image 'gray'.
"""
#cv.ShowImage ('getFeatures() grey',grey)
eig = cv.CreateImage(cv.GetSize(grey), 32, 1)
temp = cv.CreateImage(cv.GetSize(grey), 32, 1)
mask = cv.CreateImage(cv.GetSize(grey), 8, 1)
# Create a mask image to hide the top 10% of the image (which contains text)
(w, h) = cv.GetSize(grey)
cv.Rectangle(mask, (0, 0), (w, h), cv.Scalar(255, 0, 0), -1)
cv.Rectangle(mask, (0, 0), (w, int(0.1 * h)), cv.Scalar(0, 0, 0), -1)
# cv.ShowImage ('mask',mask)
# search for the good points
feat = cv.GoodFeaturesToTrack(grey, eig, temp, self.MAX_COUNT,
self.quality, self.min_distance, mask, 3,
0, 0.04)
print "found %d features (MAX_COUNT=%d)" % (len(feat), self.MAX_COUNT)
# refine the corner locations
feat = cv.FindCornerSubPix(
grey, feat, (self.win_size, self.win_size), (-1, -1),
(cv.CV_TERMCRIT_ITER | cv.CV_TERMCRIT_EPS, 20, 0.03))
return (feat)
def getthresholdedimg(im):
#this fucntion takes the RGB image. Then converts it into HSV for easy color detection and thresholds it with yellow part
imghsv=cv.CreateImage(cv.GetSize(im),8,3)
cv.CvtColor(im,imghsv,cv.CV_BGR2HSV)
imgthreshold=cv.CreateImage(cv.GetSize(im),8,1)
cv.InRangeS(imghsv,cv.Scalar(20,100,100),cv.Scalar(30,255,255),imgthreshold)
return imgthreshold
def display_pts(screen_in, q, P, IND):
# Get New Point
print('POINT ' + str(IND) + '\n')
# If first point, start from center
if (IND == 0):
pt = np.array([N / 2, M / 2])
q.append(pt)
cv2.circle(screen_in, (pt[0], pt[1]), 11, cv.Scalar(0, 255, 0), -1)
return q, screen_in
else:
if (IND > P):
#print('q before removal: '+str(q)+'\n')
#q = q[1:]
q.popleft()
#print('q after removal: '+str(q)+'\n')
#print('LENGTH - q =' +str(len(q))+'\n')
pt = gen_random_pt(q[-1])
#pt = q[-1]+R
q.append(pt)
for i in range(0, len(q)):
#print(str(q[i])+' ')
cv2.circle(screen_in, (int(q[i][0]), int(q[i][1])), 11,
cv.Scalar(0, 255, 0), -1)
#print('\n')
return q, screen_in
def getthresholdedimg(im):
imghsv = cv.CreateImage(cv.GetSize(im), 8, 3)
cv.CvtColor(im, imghsv, cv.CV_BGR2HSV) # Convert image from RGB to HSV
imgthreshold = cv.CreateImage(cv.GetSize(im), 8, 1)
cv.InRangeS(imghsv, cv.Scalar(23, 100, 100), cv.Scalar(25, 255, 255),
imgthreshold) ## catch the orange yellow blob
return imgthreshold
def getthresholdedimg(im): # this function take RGB image.Then convert it into HSV for easy colour detection # and threshold it with yellow and blue part as white and all other regions as black.Then return that image global imghsv imghsv = cv.CreateImage(cv.GetSize(im),8,3) # Convert image from RGB to HSV cv.CvtColor(im,imghsv,cv.CV_BGR2HSV) # creates images for blue imgblue = cv.CreateImage(cv.GetSize(im),8,1) # creates blank image to which color images are added imgthreshold = cv.CreateImage(cv.GetSize(im),8,1) # determine HSV color thresholds for yellow, blue, and green # cv.InRange(src, lowerbound, upperbound, dst) # for imgblue, lowerbound is 95, and upperbound is 115 cv.InRangeS(imghsv, cv.Scalar(55,100,100), cv.Scalar(155,255,255), imgblue) #55/155 original, 105 seems to be lower threshold needed to eliminate flag detection # add color thresholds to blank 'threshold' image cv.Add(imgthreshold, imgblue, imgthreshold) return imgthreshold
def blink_dot(img, pt, i): #, num_blinks):
print('In Blink Dot')
#for i in range(0,num_blinks):
while 1:
cv2.circle(img, pt, 11, cv.Scalar(255, 255, 255), -1)
cv2.imshow("CALIB_SCREEN", img)
key = cv.WaitKey(500)
img = np.zeros(img.shape)
cv2.imshow("CALIB_SCREEN", img)
key = cv.WaitKey(500)
if (key == 27):
print('Dot Skipped!!')
return
if (key == 99):
# If c is pressed, capture images
capture_imgs(i)
# Blink a Green Dot
cv2.circle(img, pt, 11, cv.Scalar(0, 255, 0), -1)
cv2.imshow("CALIB_SCREEN", img)
key = cv.WaitKey(500)
img = np.zeros(img.shape)
cv2.imshow("CALIB_SCREEN", img)
key = cv.WaitKey(500)
return
def on_mouse_left(img_x, img_y, flags, param):
self = param
# Edit data
if self.data_read:
# find nearest intersection and toggle its value
for x in self.grid_points_x:
if img_x >= x - self.config.radius / 2 and img_x <= x + self.config.radius / 2:
for y in self.grid_points_y:
if img_y >= y - self.config.radius / 2 and img_y <= y + self.config.radius / 2:
value = toggle_data(self, x, y)
#print self.img_target[x, y]
#print 'value', value
if value == '0':
cv.Circle(self.img_grid, (x, y),
self.config.radius,
cv.Scalar(0xff, 0x00, 0x00),
thickness=2)
else:
cv.Circle(self.img_grid, (x, y),
self.config.radius,
cv.Scalar(0x00, 0xff, 0x00),
thickness=2)
show_image(self)
# Edit grid
else:
#if not Target[img_y, img_x]:
if flags != cv.CV_EVENT_FLAG_SHIFTKEY and not get_pixel(
self, img_y, img_x):
print 'autocenter: miss!'
return
if img_x in self.grid_points_x:
return
# only draw a single line if this is the first one
if len(self.grid_points_x) == 0 or self.group_cols == 1:
if flags != cv.CV_EVENT_FLAG_SHIFTKEY:
img_x, img_y = auto_center(self, img_x, img_y)
# don't try to auto-center if shift key pressed
draw_line(self, img_x, img_y, 'V', False)
self.grid_points_x.append(img_x)
if self.group_rows == 1:
draw_line(self, img_x, img_y, 'V', True)
else:
# set up auto draw
if len(self.grid_points_x) == 1:
# use a float to reduce rounding errors
self.step_x = float(img_x - self.grid_points_x[0]) / (
self.group_cols - 1)
# reset stored self.data as main loop will add all entries
img_x = self.grid_points_x[0]
self.grid_points_x = []
update_radius(self)
# draw a full set of self.group_cols
for x in range(self.group_cols):
draw_x = int(img_x + x * self.step_x)
self.grid_points_x.append(draw_x)
draw_line(self, draw_x, img_y, 'V', True)
def getthresholdedimg(im):
'''this function take RGB image.Then convert it into HSV for easy colour detection and threshold it with yellow part as white and all other regions as black.Then return that image'''
imghsv = cv.CreateImage(cv.GetSize(im), 8, 3)
cv.CvtColor(im, imghsv, cv.CV_BGR2HSV) # Convert image from RGB to HSV
imgthreshold = cv.CreateImage(cv.GetSize(im), 8, 1)
cv.InRangeS(imghsv, cv.Scalar(20, 100, 100), cv.Scalar(30, 255, 255),
imgthreshold) # Select a range of yellow color
return imgthreshold
def thresholdImage(img):
# allocate temp image based on size of input img
img_hsv = cv.CreateImage((img.width, img.height), 8, 3) # 3 channel
img_thresh = cv.CreateImage((img.width, img.height), 8, 1) # 1 channel
cv.CvtColor(img, img_hsv, cv.CV_BGR2HSV)
cv.InRangeS(img_hsv, cv.Scalar(0, 100, 100), cv.Scalar(43, 255, 255),
img_thresh)
return (img_thresh)
def result_image(img, posX, posY, distance):
hScale = 0.5
vScale = 0.5
lineWidth = 1
font = cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX | cv.CV_FONT_ITALIC, hScale,
vScale, 0, lineWidth)
cv.PutText(img, ("%0.2fcm" % distance), (10, 20), font,
cv.Scalar(0, 255, 255))
cv.Circle(img, (posX, posY), 15, cv.Scalar(0, 255, 0), 2)
cv.Circle(img, (posX, posY), 2, cv.Scalar(0, 255, 0), 2)
return img
def draw_crossway(self, image, vertex_array, is_nearmiss):
overlay = image.copy()
color = cv.Scalar(255, 0, 0)
if is_nearmiss:
color = cv.Scalar(0, 0, 255)
pts = numpy.array(vertex_array, numpy.int32)
pts = pts.reshape((-1, 1, 2))
cv2.fillConvexPoly(overlay, pts, color)
alpha = 0.5
cv2.addWeighted(overlay, alpha, image, 1 - alpha, 0, image)
def getThresholdImage(im):
newim = cv.CloneImage(im)
cv.Smooth(newim, newim, cv.CV_BLUR, 12) #Remove noise
hsv = cv.CreateImage(cv.GetSize(im), 8, 3)
cv.CvtColor(newim, hsv, cv.CV_BGR2HSV) # Convert image to HSV
imThreshed = cv.CreateImage(cv.GetSize(im), 8, 1)
#Do the threshold on the hsv image, with the right range for the yellow color
cv.InRangeS(hsv, cv.Scalar(20, 100, 100), cv.Scalar(30, 255, 255),
imThreshed)
del hsv
return imThreshed
def read_data(self, data_ref=None, force=False):
if not force and not self.data_read:
return
redraw_grid(self)
# maximum possible value if all pixels are set
maxval = (self.config.radius * self.config.radius) * 255
print 'read_data max aperture value:', maxval
if data_ref:
print 'read_data: loading reference data (%d entries)' % len(data_ref)
print 'Grid intersections: %d' % len(self.grid_intersections)
self.data = data_ref
else:
print 'read_data: computing'
# Compute
self.data = []
for x, y in self.grid_intersections:
value = 0
# FIXME: misleading
# This isn't a radius but rather a bounding box
for xx in range(x - (self.config.radius / 2),
x + (self.config.radius / 2)):
for yy in range(y - (self.config.radius / 2),
y + (self.config.radius / 2)):
value += get_pixel(self, yy, xx)
if value > maxval / self.config.bit_thresh_div:
self.data.append('1')
else:
self.data.append('0')
# Render
for i, (x, y) in enumerate(self.grid_intersections):
if self.data[i] == '1':
cv.Circle(self.img_grid, (x, y),
self.config.radius,
cv.Scalar(0x00, 0xff, 0x00),
thickness=2)
# highlight if we're in edit mode
if y == self.Edit_y:
sx = self.Edit_x - (self.Edit_x % self.group_cols)
if self.grid_points_x.index(
x) >= sx and self.grid_points_x.index(
x) < sx + self.group_cols:
cv.Circle(self.img_grid, (x, y),
self.config.radius,
cv.Scalar(0xff, 0xff, 0xff),
thickness=2)
else:
pass
self.data_read = True
def drawLagoons(self, image) :
global toggle
global lagoon
cler = [cv.Scalar(0,0,255,255),cv.Scalar(0,255,255,255),cv.Scalar(255,0,0,255),cv.Scalar(255,0,255,255)]
i = 0
for bb in lagoon.values():
cv2.rectangle(image,(bb[0],bb[1]),(bb[0]+bb[2],bb[1]+bb[3]),cler[i%4],1)
cv2.circle(image,(bb[0],bb[1]),5,cler[(i+1)%4],2)
i = i + 1
if (image != None) :
self.evocv2.showUser(image)
else :
plog(">>>>drawLagoons>>>\nimage was None in drawLagoons\n>>>>>>")
def getContour(cvImg):
lowerBound = cv.Scalar(0, 0, 0)
upperBound = cv.Scalar(3, 3, 3)
size = cv.GetSize(cvImg)
output = cv.CreateMat(size[0], size[1], cv.CV_8UC1)
cv.InRangeS(cvImg, lowerBound, upperBound, output)
storage = cv.CreateMemStorage(0)
seq = cv.FindContours(output, storage, cv.CV_RETR_LIST,
cv.CV_CHAIN_APPROX_SIMPLE)
mask = np.array(output)
y, x = np.nonzero(mask)
return (x, y)
def drawRects(self, image, outlines):
# Create a different set of colors so the outlines are distinct
cset = [
cv.Scalar(128, 0, 255, 255),
cv.Scalar(255, 0, 0, 255),
cv.Scalar(0, 255, 128, 255),
cv.Scalar(0, 0, 255, 255)
]
i = 0
for r in outlines:
cv2.rectangle(image, (r[0], r[1]), (r[2], r[3]), cset[i % 4], 1)
cv2.circle(image, (r[0], r[1]), 5, cset[(i + 1) % 4], 2)
i = i + 1
self.showUser(image)
def drawBbs(self, image, outlines):
# Create a set of colors so the outlines are distinct
cset = [
cv.Scalar(0, 0, 255, 255),
cv.Scalar(0, 255, 255, 255),
cv.Scalar(255, 0, 0, 255),
cv.Scalar(255, 0, 255, 255)
]
i = 0
for bb in outlines:
cv2.rectangle(image, (bb[0], bb[1]),
(bb[0] + bb[2], bb[1] + bb[3]), cset[i % 4], 1)
cv2.circle(image, (bb[0], bb[1]), 5, cset[(i + 1) % 4], 2)
i = i + 1
self.showUser(image)
def show_camera_and_wait_for_key(capture, timeout=5, mapx=None, mapy=None):
img = capture_image(capture, mapx, mapy)
size = cv.GetSize(img)
centerx = size[0] / 2
centery = size[1] / 2
crosslen = 4
cv.Line(img, (0, centery), (size[0], centery), cv.Scalar(255, 255, 0))
cv.Line(img, (centerx, 0), (centerx, size[1]), cv.Scalar(255, 255, 0))
cv.Line(img, (centerx - crosslen, centery), (centerx + crosslen, centery),
cv.Scalar(255, 255, 0), 2)
cv.Line(img, (centerx, centery - crosslen), (centerx, centery + crosslen),
cv.Scalar(255, 255, 0), 2)
cv.ShowImage('camera', img)
k = cv.WaitKey(timeout)
return img, k
def random_color(random):
"""
Return a random color
"""
icolor = random.randint(0, 0xFFFFFF)
return cv.Scalar(icolor & 0xff, (icolor >> 8) & 0xff,
(icolor >> 16) & 0xff)
def _random_color(self, name):
"""
Return a random color
"""
icolor = abs(hash(name)) % 0xFFFFFF
return cv.Scalar(icolor & 0xff, (icolor >> 8) & 0xff,
(icolor >> 16) & 0xff)
def redraw_grid(self):
if not self.gui:
return
cv.Set(self.img_grid, cv.Scalar(0, 0, 0))
cv.Set(self.img_peephole, cv.Scalar(0, 0, 0))
self.grid_intersections = []
self.grid_points_x.sort()
self.grid_points_y.sort()
for x in self.grid_points_x:
cv.Line(self.img_grid, (x, 0), (x, self.img_target.height),
cv.Scalar(0xff, 0x00, 0x00), 1)
for y in self.grid_points_y:
self.grid_intersections.append((x, y))
self.grid_intersections.sort()
for y in self.grid_points_y:
cv.Line(self.img_grid, (0, y), (self.img_target.width, y),
cv.Scalar(0xff, 0x00, 0x00), 1)
for x, y in self.grid_intersections:
cv.Circle(self.img_grid, (x, y),
self.config.radius,
cv.Scalar(0x00, 0x00, 0x00),
thickness=-1)
cv.Circle(self.img_grid, (x, y),
self.config.radius,
cv.Scalar(0xff, 0x00, 0x00),
thickness=1)
cv.Circle(self.img_peephole, (x, y),
self.config.radius + 1,
cv.Scalar(0xff, 0xff, 0xff),
thickness=-1)
def drawGraph(ar, im, size): #Draw the histogram on the image
minV, maxV, minloc, maxloc = cv.MinMaxLoc(ar) #Get the min and max value
hpt = 0.9 * histsize
for i in range(size):
intensity = ar[
i] * hpt / maxV #Calculate the intensity to make enter in the image
cv.Line(im, (i, size), (i, int(size - intensity)),
cv.Scalar(255, 255, 255)) #Draw the line
i += 1
def centerRadius(cvImg, ColorLower=None, ColorUpper=None):
lowerBound = cv.Scalar(90, 0, 90)
upperBound = cv.Scalar(171, 80, 171)
size = cv.GetSize(cvImg)
output = cv.CreateMat(size[0], size[1], cv.CV_8UC1)
cv.InRangeS(cvImg, lowerBound, upperBound, output)
yi, xi = np.nonzero(output)
#points = np.array([xi,yi]).T
#coords = [tuple(points[pt]) for pt in range(len(points))]
coords = zip(xi, yi)
PointArray2D32f = cv.CreateMat(1, len(coords), cv.CV_32FC2)
for (i, (x, y)) in enumerate(coords):
PointArray2D32f[0, i] = (x, y)
(center, size, angle) = cv.FitEllipse2(PointArray2D32f)
h, k = center
radius = np.sqrt(np.power((xi[0] - h), 2) + np.power(yi[0] - k, 2))
return tuple(np.around([h, k])), round(radius)
def show_data():
global Hex
global Display_Data
global Display_Binary
global Search_HEX
global Grid_Points_x
global Grid_Points_y
global Font
global Data_Read
global Radius
if not Data_Read:
return
cv.Set(Hex, cv.Scalar(0, 0, 0))
print
dat = get_all_data()
for row in range(Grid_Entries_y):
out = ''
outbin = ''
for column in range(Grid_Entries_x / Bits):
thisbyte = ord(dat[column * Grid_Entries_y + row])
hexbyte = '%02X ' % thisbyte
out += hexbyte
outbin += to_bin(thisbyte) + ' '
if Display_Binary:
dispdata = to_bin(thisbyte)
else:
dispdata = hexbyte
if Display_Data:
if Search_HEX and Search_HEX.count(thisbyte):
cv.PutText(Hex, dispdata,
(Grid_Points_x[column * Bits],
Grid_Points_y[row] + Radius / 2 + 1), Font,
cv.Scalar(0x00, 0xff, 0xff))
else:
cv.PutText(Hex, dispdata,
(Grid_Points_x[column * Bits],
Grid_Points_y[row] + Radius / 2 + 1), Font,
cv.Scalar(0xff, 0xff, 0xff))
print outbin
print
print out
print
def gen_mask(frec, tpoly):
mask = cv.CreateMat(int(np.round(frec.height())),
int(np.round(frec.width())), cv.CV_8UC1)
cv.Zero(mask)
pts = tuple((int(np.round(x - frec.left)), int(np.round(y - frec.top)))
for (x, y) in tpoly.contour(0))
cv.FillPoly(mask, [pts], cv.Scalar(1), lineType=8, shift=0)
return np.asarray(mask)
def findImage(img):
#Set up storage for images
frame_size = cv.GetSize(img)
img2 = cv.CreateImage(frame_size,8,3)
tmp = cv.CreateImage(frame_size,8,cv.CV_8U)
h = cv.CreateImage(frame_size,8,1)
#copy original image to do work on
cv.Copy(img,img2)
#altering the image a bit for smoother processing
cv.Smooth(img2,img2,cv.CV_BLUR,3)
cv.CvtColor(img2,img2,cv.CV_BGR2HSV)
#make sure temp is empty
cv.Zero(tmp)
#detection based on HSV value
#30,100,90 lower limit on pic 41,255,255 on pic
#cv.InRangeS(img2,cv.Scalar(25,100,87),cv.Scalar(50,255,255),tmp)
#Range for green plate dot in my Living room
#cv.InRangeS(img2,cv.Scalar(55,80,60),cv.Scalar(65,95,90),tmp)
#classroom
#cv.InRangeS(img2,cv.Scalar(55,80,60),cv.Scalar(70,110,70),tmp)
#Kutztowns Gym
cv.InRangeS(img2,cv.Scalar(65,100,112),cv.Scalar(85,107,143),tmp)
elmt_shape=cv.CV_SHAPE_ELLIPSE
pos = 3
element = cv.CreateStructuringElementEx(pos*2+1, pos*2+1, pos, pos, elmt_shape)
cv.Dilate(tmp,tmp,element,6)
cv.Erode(tmp,tmp,element,2)
cv.Split(tmp,h,None,None,None)
storage = cv.CreateMemStorage()
scan = sc.FindContours(h,storage)
xyImage=drawCircles(scan,img)
if xyImage != None:
return (xyImage,tmp)
else:
return None
def colorFilter(img, color, calibrate):
imgHSV = cv.CreateImage(cv.GetSize(img), 8, 3)
cv.CvtColor(img, imgHSV, cv.CV_BGR2HSV)
if color == "yellow":
minColor = cv.Scalar(20, 70, 70)
maxColor = cv.Scalar(60, 255, 255)
elif color == "blue":
minColor = cv.Scalar(100, 100, 100)
maxColor = cv.Scalar(120, 255, 255)
elif color == "calibrate":
minColor = cv.Scalar(calibrate[0], calibrate[1], calibrate[2])
maxColor = minColor
imgFiltered = cv.CreateImage(cv.GetSize(img), 8, 1)
cv.InRangeS(imgHSV, minColor, maxColor, imgFiltered)
return imgFiltered
def test_40_tostringRepeat(self):
cnt = 0
image = cv.CreateImage(self.size, cv.IPL_DEPTH_8U, 1)
cv.Set(image, cv.Scalar(0, 0, 0, 0))
for i in range(self.repeat * 100):
image.tostring()
cnt = cv.CountNonZero(image)
self.assertEqual(cnt,
0,
msg="Repeating tostring(): Mean CountNonZero=%.3f" %
(1. * cnt / self.repeat))
def drawPlate(self, plate=True):
pos1 = (self.select.startX, self.select.startY)
pos2 = (self.select.endX, self.select.endY)
if (pos1[0] > pos2[0]) or (pos1[1] > pos2[1]):
cor1 = cv.Scalar(0, 0, 255, 0)
cor2 = cv.Scalar(255, 255, 255, 0)
thick = 8
else:
cor1 = cv.Scalar(36, 186, 255, 0)
cor2 = cv.Scalar(8, 44, 72, 0)
thick = 4
numpyImg = cv2.resize(numpy.asarray(self.src[:, :]), (0, 0),
fx=self.fx,
fy=self.fy)
cimg = cv.fromarray(numpyImg)
# draw plate if setted
if plate:
cv.Rectangle(cimg, pos1, pos2, cor1, thickness=thick)
cv.Rectangle(cimg, pos1, pos2, cor2, thickness=2)
cv.ShowImage("Camera", cimg)
def read_data():
global Grid_Intersections
global Grid_Entries_x
global Grid_Entries_y
global Radius
global Target
global Bits
global Data_Read
global Data
global Inverted
redraw_grid()
# maximum possible value if all pixels are set
maxval = (Radius * Radius) * 255
print 'max:', maxval
Data = []
for x, y in Grid_Intersections:
value = 0
for xx in range(x - (Radius / 2), x + (Radius / 2)):
for yy in range(y - (Radius / 2), y + (Radius / 2)):
value += get_pixel(yy, xx)
if value > maxval / ReadVal:
cv.Circle(Grid, (x, y),
Radius,
cv.Scalar(0x00, 0xff, 0x00),
thickness=2)
# highlight if we're in edit mode
if y == Edit_y:
sx = Edit_x - (Edit_x % Bits)
if Grid_Points_x.index(x) >= sx and Grid_Points_x.index(
x) < sx + Bits:
cv.Circle(Grid, (x, y),
Radius,
cv.Scalar(0xff, 0xff, 0xff),
thickness=2)
Data.append('1')
else:
Data.append('0')
Data_Read = True