def OpticalFlow(img0, img1, lk_params, feature_params):
# convert image to gray
img0_tmp = cv2.cvtColor(img0, cv2.COLOR_BGR2GRAY)
img1_tmp = cv2.cvtColor(img1, cv2.COLOR_BGR2GRAY)
p0 = cv2.goodFeaturesToTrack(img0_tmp, mask = None, **feature_params)
p1 = cv2.goodFeaturesToTrack(img1_tmp, mask = None, **feature_params)
if p0 is None or p1 is None:
return -1.0, [], []
st1_0, st0_1 = [], []
if p0 is not None:
p0_1, st0_1, err0_1 = cv2.calcOpticalFlowPyrLK(img0_tmp, img1_tmp, p0, None, **lk_params)
st0_1_tmp = list(np.array(st0_1).T[0])
if p1 is not None:
p1_0, st1_0, err1_0 = cv2.calcOpticalFlowPyrLK(img1_tmp, img0_tmp, p1, None, **lk_params)
st1_0_tmp = list(np.array(st1_0).T[0])
l_move_x = []
l_move_y = []
for pts0, pts1, s in itertools.izip(p0, p1_0, st1_0):
if s[0] == 1:
l_move_x.append(pts1[0][0]-pts0[0][0])
l_move_y.append(pts1[0][1]-pts0[0][1])
return np.mean(st0_1_tmp + st1_0_tmp), l_move_x, l_move_y
def score_OF(roi, frame1, frame0, lk_params, feature_params):
img0 = cv2.cvtColor(frame0[roi.ymin:roi.ymax, roi.xmin:roi.xmax], cv2.COLOR_BGR2GRAY)
img1 = cv2.cvtColor(frame1[roi.ymin:roi.ymax, roi.xmin:roi.xmax], cv2.COLOR_BGR2GRAY)
p0 = cv2.goodFeaturesToTrack(img0, mask = None, **feature_params)
p1 = cv2.goodFeaturesToTrack(img1, mask = None, **feature_params)
if p0 is None or p1 is None:
return -1.0, 0.0, 0.0, 0.0, 0.0
p1_0, st1_0, err1_0 = cv2.calcOpticalFlowPyrLK(img0, img1, p0, p1, **lk_params)
p0_1, st0_1, err0_1 = cv2.calcOpticalFlowPyrLK(img1, img0, p1, p0, **lk_params)
nb_c_p0=0.0
nb_p0=0.0
nb_c_p1=0.0
nb_p1=0.0
move_x = 0.0
move_y = 0.0
for pts0, pts1, s in itertools.izip(p0, p1_0, st1_0):
nb_p0+=1
if s[0] == 1:
nb_c_p0+=1
move_x+=(pts1[0][0]-pts0[0][0])
move_y+=(pts1[0][1]-pts0[0][1])
if nb_c_p0>0:
move_x=int(round(move_x/nb_c_p0,0))
move_y=int(round(move_y/nb_c_p0,0))
for pts0, pts1, s in itertools.izip(p1, p0_1, st0_1):
nb_p1+=1
if s[0] == 1:
nb_c_p1+=1
return (nb_c_p0/nb_p0+nb_c_p1/nb_p1)/2, nb_p0, nb_p1, move_x, move_y
def calcGFTTShift(fimg1, fimg2):
frm1=cv2.imread(fimg1, 0)
frm2=cv2.imread(fimg2, 0)
frm1=cv2.resize(frm1, (int(frm1.shape[1]/kdif), int(frm1.shape[0]/kdif)))
frm2=cv2.resize(frm2, (int(frm2.shape[1]/kdif), int(frm2.shape[0]/kdif)))
pts1=cv2.goodFeaturesToTrack(frm1, 1000, 0.01, 30)
pts2=cv2.goodFeaturesToTrack(frm2, 1000, 0.01, 30)
nextPts, status, err = cv2.calcOpticalFlowPyrLK(frm1, frm2, pts1, pts2)
# print status
pts1Good=pts1[ status==1 ]
# pts1Good=np.reshape(pts1Good, (pts1Good.shape[0],1,pts1Good.shape[1]))
nextPtsG=nextPts[ status==1 ]
# nextPtsG=np.reshape(nextPtsG, (nextPtsG.shape[0],1,nextPtsG.shape[1]))
# T=cv2.estimateRigidTransform(pts1Good, nextPtsG, True)
T,msk=cv2.findHomography(pts1Good, nextPtsG, cv2.RANSAC)
print T
if T==None:
dxy=(0,0)
else:
dx,dy=T[0,2],T[1,2]
dxy=(dx,dy)
tmp=np.zeros((frm1.shape[0], frm1.shape[1], 3), np.uint8)
frm2_shift=np.roll(frm2, int(math.floor(-dxy[0])), 1)
frm2_shift=np.roll(frm2_shift, int(math.floor(-dxy[1])), 0)
tmp[:,:,2]=frm1
tmp[:,:,1]=frm2_shift
tmp[:,:,0]=0
cv2.imshow("frame #2 shift", cv2.resize(tmp, (tmp.shape[1]/1, tmp.shape[0]/1)))
return dxy
def test_umat_optical_flow(self):
img1 = self.get_sample("samples/data/right01.jpg", cv.IMREAD_GRAYSCALE)
img2 = self.get_sample("samples/data/right02.jpg", cv.IMREAD_GRAYSCALE)
# Note, that if you want to see performance boost by OCL implementation - you need enough data
# For example you can increase maxCorners param to 10000 and increase img1 and img2 in such way:
# img = np.hstack([np.vstack([img] * 6)] * 6)
feature_params = dict(maxCorners=239,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
p0 = cv.goodFeaturesToTrack(img1, mask=None, **feature_params)
p0_umat = cv.goodFeaturesToTrack(cv.UMat(img1), mask=None, **feature_params)
self.assertEqual(p0_umat.get().shape, p0.shape)
p0 = np.array(sorted(p0, key=lambda p: tuple(p[0])))
p0_umat = cv.UMat(np.array(sorted(p0_umat.get(), key=lambda p: tuple(p[0]))))
self.assertTrue(np.allclose(p0_umat.get(), p0))
_p1_mask_err = cv.calcOpticalFlowPyrLK(img1, img2, p0, None)
_p1_mask_err_umat0 = list(map(lambda umat: umat.get(), cv.calcOpticalFlowPyrLK(img1, img2, p0_umat, None)))
_p1_mask_err_umat1 = list(map(lambda umat: umat.get(), cv.calcOpticalFlowPyrLK(cv.UMat(img1), img2, p0_umat, None)))
_p1_mask_err_umat2 = list(map(lambda umat: umat.get(), cv.calcOpticalFlowPyrLK(img1, cv.UMat(img2), p0_umat, None)))
for _p1_mask_err_umat in [_p1_mask_err_umat0, _p1_mask_err_umat1, _p1_mask_err_umat2]:
for data, data_umat in zip(_p1_mask_err, _p1_mask_err_umat):
self.assertEqual(data.shape, data_umat.shape)
self.assertEqual(data.dtype, data_umat.dtype)
for _p1_mask_err_umat in [_p1_mask_err_umat1, _p1_mask_err_umat2]:
for data_umat0, data_umat in zip(_p1_mask_err_umat0[:2], _p1_mask_err_umat[:2]):
self.assertTrue(np.allclose(data_umat0, data_umat))
def test_goodFeaturesToTrack(self):
arr = self.get_sample("samples/data/lena.jpg", 0)
original = arr.copy(True)
threshes = [x / 100.0 for x in range(1, 10)]
numPoints = 20000
results = dict([(t, cv2.goodFeaturesToTrack(arr, numPoints, t, 2, useHarrisDetector=True)) for t in threshes])
# Check that GoodFeaturesToTrack has not modified input image
self.assertTrue(arr.tostring() == original.tostring())
# Check for repeatability
for i in range(1):
results2 = dict(
[(t, cv2.goodFeaturesToTrack(arr, numPoints, t, 2, useHarrisDetector=True)) for t in threshes]
)
for t in threshes:
self.assertTrue(len(results2[t]) == len(results[t]))
for i in range(len(results[t])):
self.assertTrue(cv2.norm(results[t][i][0] - results2[t][i][0]) == 0)
for t0, t1 in zip(threshes, threshes[1:]):
r0 = results[t0]
r1 = results[t1]
# Increasing thresh should make result list shorter
self.assertTrue(len(r0) > len(r1))
# Increasing thresh should monly truncate result list
for i in range(len(r1)):
self.assertTrue(cv2.norm(r1[i][0] - r0[i][0]) == 0)
def _get_distance(before, after):
# Get lists of key points (corners)
threshold = 50
# before_kp = corner.detect_corners(before, threshold)
# after_kp = corner.detect_corners(after, threshold)
before = cv2.cvtColor(before, cv2.COLOR_BGR2GRAY)
after = cv2.cvtColor(after, cv2.COLOR_BGR2GRAY)
before_kp = cv2.goodFeaturesToTrack(before, 4, 0.01, 10)
after_kp = cv2.goodFeaturesToTrack(after, 4, 0.01, 10)
kp_len = min(len(before_kp), len(after_kp))
before_features = drawKeyPoints(before, before_kp)
after_features = drawKeyPoints(after, after_kp)
cv2.imwrite('before_features.jpg', before_features)
cv2.imwrite('after_features.jpg', after_features)
before_kp_pts = np.asarray([kp.ravel() for kp in before_kp[:kp_len-1]])
after_kp_pts = np.asarray([kp.ravel() for kp in after_kp[:kp_len-1]])
total_distance = 0
for pt in before_kp_pts:
closest_pt = get_closest_pt(pt, after_kp_pts)
dist = np.sqrt((pt[0] - closest_pt[0])**2 + (pt[1] - closest_pt[1])**2)
# print pt, closest_pt, dist
total_distance += dist
return total_distance/kp_len, kp_len
def detectionMethod(self, im, im_copy, frame_gray, net, p, detectedItem, colorScheme):
scores, boxes = im_detect(net, im)
NMS_THRESH = 0.3
detectedItemsInThisFrame = []
for cls_ind, cls in enumerate(CLASSES[1:]):
cls_ind += 1 # because we skipped background
cls_boxes = boxes[:, 4*cls_ind:4*(cls_ind + 1)]
cls_scores = scores[:, cls_ind]
dets = np.hstack((cls_boxes,
cls_scores[:, np.newaxis])).astype(np.float32) #stacks them together
keep = nms(dets, NMS_THRESH) #Removes overlapping bounding boxes
dets = dets[keep, :]
#print "if cls == {0}: {1}".format(str(detectedItem), (cls == detectedItem))
if cls == detectedItem:
print "under else"
inds = np.where(dets[:, -1] >= 0.5)[0] #Threshold applied to score values here
im = im[:, :, (2, 1, 0)]
for i in inds:
print "running for loop"
bbox = dets[i, :4]
detectedBBox = bbox.astype(int)
score = dets[i, -1]
bboxCentroid = c.mathArrayCentroid(detectedBBox)
cv2.circle(im_copy, bboxCentroid, 5, colorScheme, -1) #bbox centroid of detectedItemArray
#Calculate bbox centroid. Use it to determine if the item should be added to detectedItemArray
#Check if the centroid of the detected box is within the designated traffic intersection area
if (str(detectedItem) == "car") or (str(detectedItem) == "bus"):
print "if statement, detected car or bus"
if p.contains_point(bboxCentroid) == 1:
print "within area"
#Calculate corners of interest within the bounding box area and add them all to the corner array
detectedPixels = frame_gray[bbox[1]:bbox[3], bbox[0]:bbox[2]] #[y1:y2, x1:x2]
detectedPixelsColor = im_copy[bbox[1]:bbox[3], bbox[0]:bbox[2]] #for show on colored image
corners = cv2.goodFeaturesToTrack(detectedPixels, mask=detectedPixels, **self.feature_params).reshape(-1, 2)
# for x, y in np.float32(corners).reshape(-1, 2): #black
# cv2.circle(detectedPixels, (x,y), 5, (0, 0, 0), -1)
# cv2.circle(detectedPixelsColor, (x, y), 5, (0, 0, 0), -1)
detectedItemsInThisFrame.append([[detectedBBox, corners]])
else:
print "car/bus not added. Coordinates: ", bbox
else:
print "else not car or bus detected"
detectedPixels = frame_gray[bbox[1]:bbox[3], bbox[0]:bbox[2]] #[y1:y2, x1:x2]
detectedPixelsColor = im_copy[bbox[1]:bbox[3], bbox[0]:bbox[2]] #for show on colored image
corners = cv2.goodFeaturesToTrack(detectedPixels, mask=detectedPixels, **self.feature_params).reshape(-1, 2)
print "detectedItemsInThisFrame len: {0}-------------------------------------".format(len(detectedItemsInThisFrame))
print "detectedItemsInThisFrame: ", detectedItemsInThisFrame
return detectedItemsInThisFrame
def stabilize (img_list):
cv_images = []
for i in xrange(len(img_list)):
cv_images.append(pil_to_opencv(img_list[i]))
#prev and prev_gray should be of type Mat
prev = cv_images[0]
cv2.cvtColor(prev, prev_gray, cv2.COLOR_BGR2GRAY)
for i in xrange(1, len(cv_images)):
current = cv_images[i]
cv2.cvtColor(current, current_gray, cv2.COLOR_BGR2GRAY)
cv2.goodFeaturesToTrack(prev_gray, prev_corner, 200, 0.01, 30)
cv2.calcOpticalFlowPyrLK(prev_gray, current_gray, prev_corner, current_corner, status, err)
prev_corner2 = []
current_corner2 = []
for j in xrange(len(status)):
if(status[j]):
prev_corner2.push_back(prev_corner[j])
current_corner2.push_back(current_corner[j])
T = cv2.estimateRigidTransform(prev_corner2, current_corner2, false)
if T.data == NULL:
last_T.copyTo(T)
T.copyTo(last_T)
dx = T.at(0,2)
dy = T.at(1,2)
da = numpy.atan2(T.at(1,0), T.at(0,0))
transform = []
transform.push_back(Transform(dx, dy, da))
current.copyTo(prev)
current_gray.copyTo(prev_gray)
# accumulate transformations to get image trajectory
x = 0
y = 0
a = 0
trajectory_list = []
for k in xrange(len(transform)):
x += transform[i].dx
y += transform[i].dy
a += transform[i].da
#trajectory_list.push_back(Trajectory(x,y,a))
return img_list
def detect(old_frame,faces):
old_gray = cv2.cvtColor(old_frame, cv2.COLOR_BGR2GRAY)
# Detect faces in the image
faces = faceCascade.detectMultiScale(
old_gray,
scaleFactor=1.1,
minNeighbors=5,
minSize=(20, 20),
flags = cv2.CASCADE_SCALE_IMAGE
)
if len(faces)==0:
return [],[],[],[]
f_temp=faces
points=[]
r_gray=[]
r_color=[]
coords=[]
if len(faces)>0:
##reduces overlaping faces
for i in range (len(faces)):
(x0, y0, w0, h0) = faces[i]
for k in range (len(faces)):
(x1, y1, w1, h1) = faces[k]
if x1>x0 and y1>y0 and x1+w1<x0+w0 and h1+h1<y0+h0:
f_temp = np.delete(f_temp, (k), axis=0)
faces=f_temp
(x, y, w, h) = faces[0]
roi_gray = old_gray[y:y+h, x:x+w]
roi_color=old_frame[y:y+h, x:x+w]
points.append( cv2.goodFeaturesToTrack(roi_gray, mask = None, **feature_params))
r_gray=[roi_gray]
r_color=[roi_color]
coords=[ (x, y, w, h) ]
for (x, y, w, h) in faces:
cv2.rectangle(old_frame, (x, y), (x+w, y+h), (0, 255, 0), 2)
roi_gray=old_gray[y:y+h, x:x+w]
roi_color=old_frame[y:y+h, x:x+w]
p=cv2.goodFeaturesToTrack(roi_gray, mask = None, **feature_params)
if not np.in1d(p,points).all():
points.append(p)
r_gray.append( roi_gray )
r_color.append( roi_color)
coords.append( (x, y, w, h) )
# Create a mask image for drawing purposes
cv2.imshow('old_frame',old_frame)
return r_gray,points,faces,coords
def test_lk_homography(self):
self.render = TestSceneRender(self.get_sample('samples/python2/data/graf1.png'),
self.get_sample('samples/c/box.png'), noise = 0.1, speed = 1.0)
frame = self.render.getNextFrame()
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
self.frame0 = frame.copy()
self.p0 = cv2.goodFeaturesToTrack(frame_gray, **feature_params)
isForegroundHomographyFound = False
if self.p0 is not None:
self.p1 = self.p0
self.gray0 = frame_gray
self.gray1 = frame_gray
currRect = self.render.getCurrentRect()
for (x,y) in self.p0[:,0]:
if isPointInRect((x,y), currRect):
self.numFeaturesInRectOnStart += 1
while self.framesCounter < 200:
self.framesCounter += 1
frame = self.render.getNextFrame()
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
if self.p0 is not None:
p2, trace_status = checkedTrace(self.gray1, frame_gray, self.p1)
self.p1 = p2[trace_status].copy()
self.p0 = self.p0[trace_status].copy()
self.gray1 = frame_gray
if len(self.p0) < 4:
self.p0 = None
continue
H, status = cv2.findHomography(self.p0, self.p1, cv2.RANSAC, 5.0)
goodPointsInRect = 0
goodPointsOutsideRect = 0
for (x0, y0), (x1, y1), good in zip(self.p0[:,0], self.p1[:,0], status[:,0]):
if good:
if isPointInRect((x1,y1), self.render.getCurrentRect()):
goodPointsInRect += 1
else: goodPointsOutsideRect += 1
if goodPointsOutsideRect < goodPointsInRect:
isForegroundHomographyFound = True
self.assertGreater(float(goodPointsInRect) / (self.numFeaturesInRectOnStart + 1), 0.6)
else:
p = cv2.goodFeaturesToTrack(frame_gray, **feature_params)
self.assertEqual(isForegroundHomographyFound, True)
def run(self):
while True:
ret, frame = self.cam.read()
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
vis = frame.copy()
if self.p0 is not None:
p2, trace_status = checkedTrace(self.gray1, frame_gray, self.p1)
self.p1 = p2[trace_status].copy()
self.p0 = self.p0[trace_status].copy()
self.gray1 = frame_gray
if len(self.p0) < 4:
self.p0 = None
continue
H, status = cv2.findHomography(self.p0, self.p1, (0, cv2.RANSAC)[self.use_ransac], 10.0)
h, w = frame.shape[:2]
overlay = cv2.warpPerspective(self.frame0, H, (w, h))
vis = cv2.addWeighted(vis, 0.5, overlay, 0.5, 0.0)
for (x0, y0), (x1, y1), good in zip(self.p0[:,0], self.p1[:,0], status[:,0]):
if good:
cv2.line(vis, (x0, y0), (x1, y1), (0, 128, 0))
cv2.circle(vis, (x1, y1), 2, (red, green)[good], -1)
draw_str(vis, (20, 20), 'track count: %d' % len(self.p1))
if self.use_ransac:
draw_str(vis, (20, 40), 'RANSAC')
else:
p = cv2.goodFeaturesToTrack(frame_gray, **feature_params)
if p is not None:
for x, y in p[:,0]:
cv2.circle(vis, (x, y), 2, green, -1)
draw_str(vis, (20, 20), 'feature count: %d' % len(p))
cv2.imshow('lk_homography', vis)
ch = 0xFF & cv2.waitKey(1)
if ch == 27:
break
if ch == ord(' '):
self.frame0 = frame.copy()
self.p0 = cv2.goodFeaturesToTrack(frame_gray, **feature_params)
if self.p0 is not None:
self.p1 = self.p0
self.gray0 = frame_gray
self.gray1 = frame_gray
if ch == ord('r'):
self.use_ransac = not self.use_ransac
def find_features(image, rectangle, features_num):
# rectangle (x1,x2,y1,y2)
dist2B = list()
features = list()
global features_number
x1 = rectangle[0]
x2 = rectangle[2]
y1 = rectangle[1]
y2 = rectangle[3]
cropped_image = image[y1:y2, x1:x2]
corners = cv2.goodFeaturesToTrack(cropped_image, mask = None, **feature_params)
print ("\n")
for corner in corners:
#print (corner)
distance = (y2-y1) - corner[0][1]
dist2B.append(distance)
corner[0][0] = rectangle[0] + corner[0][0]
corner[0][1] = rectangle[1] + corner[0][1]
features.append(corner)
for i in range(len(features)):
d = dist2B.pop(0)
height_from_floor.append(d)
return features, height_from_floor
def findCornersInMask(frameGray, cx, cy, h, w, featureParams):
"""Find Shi-Tomasi corners in a subpart of a frame.
The research mask is centered around (cx, cy).
Parameters
----------
frameGray : np.ndarray
frame to search corners from.
cx : int
X coordinate for mask center.
cy : int
Y coordinate for mask center.
w : int
Mask width. Should be odd.
h : int
Mask height. Should be odd.
featureParams : dict
See **kwargs in ``cv2.cv2.goodFeaturesToTrack()``.
Returns
-------
tuple
First element is a N x 1 x 2 array containing coordinates of N good
corners to track. Second element being the frame contanining the mask.
"""
new_mask, pts = createWhiteMask(frameGray, cx, cy, h, w)
new_p0 = cv2.goodFeaturesToTrack(frameGray, mask=new_mask, **featureParams)
return new_p0, new_mask
def shiDetector(img):
corners = cv2.goodFeaturesToTrack(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), 25, 0.01, 10)
corners = np.int0(corners)
for i in corners:
x,y = i.ravel()
cv2.circle(img,(x,y),3,255,-1)
return img
def good_corners():
img = cv2.imread('Z:/Cartographer/Test.png')
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
blur = cv2.bilateralFilter(gray, 7, 175, 175)
corners = cv2.goodFeaturesToTrack(blur,20,0.01,10)
corners = np.int0(corners)
#make a set to keep track of the coordinates that are detected
coordinates = []
dict_gradient_maps = {}
for i in corners:
x,y = i.ravel()
point = Point()
point.x = x
point.y = y
coordinates.append(point)
cv2.circle(img,(x,y),3,255,-1)
while len(coordinates ) > 2 :
smallest = find_smallest(coordinates)
#if it's been part of a gradient check and the gradient coordinate list
#is a good size, then the coordinates are removed from the list - they
#don't belong in there anymore
#we dont want to check the gradient for something we're checking against
coordinates.remove(smallest)
dict_gradient_maps[smallest] = gradients(coordinates)
dict_gradient_maps = {key: value for key, value in dict_gradient_maps.items() if len(value) > 0}
plt.imshow(img),plt.show()
print dict_gradient_maps
def goodFeaturesToTrack_Demo(val):
maxCorners = max(val, 1)
# Parameters for Shi-Tomasi algorithm
qualityLevel = 0.01
minDistance = 10
blockSize = 3
gradientSize = 3
useHarrisDetector = False
k = 0.04
# Copy the source image
copy = np.copy(src)
# Apply corner detection
corners = cv.goodFeaturesToTrack(src_gray, maxCorners, qualityLevel, minDistance, None, \
blockSize=blockSize, gradientSize=gradientSize, useHarrisDetector=useHarrisDetector, k=k)
# Draw corners detected
print('** Number of corners detected:', corners.shape[0])
radius = 4
for i in range(corners.shape[0]):
cv.circle(copy, (corners[i,0,0], corners[i,0,1]), radius, (rng.randint(0,256), rng.randint(0,256), rng.randint(0,256)), cv.FILLED)
# Show what you got
cv.namedWindow(source_window)
cv.imshow(source_window, copy)
def findCorners(img):
corners = cv2.goodFeaturesToTrack(img, 4, 0.01, img.shape[0]/10)
corners = sortCorners(corners)
print('Detected corners: '+str(corners))
for i in range(4):
cv2.circle(img, (int(corners[i][0]),int(corners[i][1])), 10, (255,0,0), -1)
return img, corners
def featureDetection(im):
# Initiate FAST object with default values
# fast = cv2.FastFeatureDetector_create(20,True)
# fast = cv2.FastFeatureDetector_create()
# fast.setNonmaxSuppression(True)
# fast.setThreshold(20)
# # find and draw the keypoints
# keypoints = fast.detect(im)
# keypoints=np.array([[k.pt] for k in keypoints],dtype='f4')
# print 'fast keypoints',keypoints.shape
# orb = cv2.ORB_create()
# keypoints = orb.detect(im,None)
# keypoints=np.array([[k.pt] for k in keypoints],dtype='f4')
# print 'orb shape',keypoints.shape
# params for ShiTomasi corner detection
feature_params = dict(maxCorners=500,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
keypoints = cv2.goodFeaturesToTrack(im, mask=None, **feature_params)
print('goodFeaturesToTrack shape', keypoints.shape)
return keypoints
def process(self, img):
img = super(GoodFeaturesProcessor, self).process(img)
corners = cv2.goodFeaturesToTrack(img, int(self.num), int(self.distance), float(self.quality))
if corners:
for c in corners:
cv2.ellipse(img, (c[0][0], c[0][1]), (5, 5), 0, 0, 360, 255, -1)
return img
def track_using_trajectories( cur, prev ):
global curr_loc_
global static_features_img_
p0 = cv2.goodFeaturesToTrack( cur, 200, 0.01, 5 )
insert_int_corners( p0 )
draw_point( cur, p0, 1 )
ellipse, p1 = update_mouse_location( p0 )
if p1 is not None:
for p in p1:
cv2.circle( cur, p, 10, 20, 2 )
cv2.ellipse( cur, ellipse, 1 )
cv2.circle( cur, curr_loc_, 10, 255, 3)
display_frame( cur, 1 )
# cv2.imshow( 'static features', static_features_img_ )
return
# Find a contour
prevE = find_edges( prev )
curE = find_edges( cur )
img = curE - prevE
cnts, hier = cv2.findContours( img, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_NONE )
cnts = filter( ismouse, cnts )
cv2.drawContours( img, cnts, -1, 255, 3 )
display_frame( img, 1)
return
p1, status, err = cv2.calcOpticalFlowPyrLK( prev, cur, p0 )
mat = cv2.estimateRigidTransform( p0, p1, False )
# print cv2.warpAffine( curr_loc_, mat, dsize=(2,1) )
if mat is not None:
dx, dy = mat[:,2]
da = math.atan2( mat[1,0], mat[0,0] )
trajectory_.append( (dx, dy, da) )
print( "Transformation", dx, dy, da )
curr_loc_ = (curr_loc_[0] - int(dy), curr_loc_[1] - int(dx))
def goodFeaturesToTrack(image, maxCorners, qualityLevel, minDistance):
maxCorners=int(maxCorners)
minDistance=int(minDistance)
corners = cv2.goodFeaturesToTrack(image,maxCorners,qualityLevel,minDistance)
corners = np.int0(corners)
return corners
def __compensate_shi_tomasi(self, new_frame):
"""
Measure and compensate for inter-frame motion:
- get points on both frames
-- we use Shi & Tomasi here, to be adapted ?
@rtype : opencv frame
"""
self.corners = cv2.goodFeaturesToTrack(self.frame_prev, self.n_max_corners, .01, 50)
# - track points
[self.corners_next, status, err] = cv2.calcOpticalFlowPyrLK(self.frame_prev, new_frame, self.corners)
# - track back (more reliable)
[corners_next_back, status_back, err_back] = cv2.calcOpticalFlowPyrLK(new_frame,
self.frame_prev, self.corners_next)
# - sort out to keep reliable points :
[self.corners, self.corners_next] = self.__sort_corners(self.corners,
self.corners_next, status,
corners_next_back, status_back)
# - compute the transformation from the tracked pattern
# -- estimate the rigid transform
transform, mask = cv2.findHomography(self.corners_next, self.corners, cv2.RANSAC, 5.0)
# -- see if this transform explains most of the displacements (thresholded..)
if len(mask[mask > 0]) > 20: # TODO: More robust test here
print "Enough match for motion compensation"
acc_frame_aligned = cv2.warpPerspective(self.frame_acc, transform, self.frame_acc.shape[2::-1])
self.frame_acc = acc_frame_aligned
return True
else:
print "Not finding enough matchs - {}".format(len(mask[mask > 0]))
return False
def detect_points(self):
# load the image and create grayscale
self.filter(track=False)
# search for good points
features = cv2.goodFeaturesToTrack(self.gray, **feature_params)
(cb, gray, cr) = cv2.split(self.img)
gray = cv2.threshold(gray, 150, 255, cv2.THRESH_TOZERO)[1]
circles = cv2.HoughCircles(gray,cv2.cv.CV_HOUGH_GRADIENT,3,100,param1=100,param2=30,minRadius=3,maxRadius=20)
self.circles = circles
confirmed_features = []
if features != None:
if circles != None:
for feature in features:
x1 = int(feature[0][0])
y1 = int(feature[0][1])
for circle in circles:
x2 = circle[0][0]
y2 = circle[0][1]
if sqrt( (x2 - x1)**2 + (y2 - y1)**2 ) < circle[0][2] * 1.1:
confirmed_features.append(feature)
break
else:
confirmed_features = features
# initialize the tracking
self.features = confirmed_features
self.tracks = [[p] for p in features.reshape((-1, 2))]
self.prev_gray = self.gray
def find_keypoints ( gray , quality , ksize , blocksize , max_area = None ) :
"""
Find keypoints
return keypoints,oob,oob_corners
"""
gray32 = np.float32(gray)
points = cv2.goodFeaturesToTrack(gray32,maxCorners = 100, qualityLevel = quality ,minDistance = ksize , blockSize = blocksize )
if points is None :
return None , None , None
if len(points) < 4 :
return None , None , None
oob = cv2.minAreaRect(points)
if oob is None :
return None, None , None
oob_corners = get_oob_corners ( oob = oob )
if oob_corners is None :
return None, None , None
if max_area is None :
return points , oob , oob_corners
area = get_polygon_area ( corners = oob_corners )
if area > max_area :
return None, None , None
return points , oob , oob_corners
def my_function():
cap = cv2.VideoCapture(0)
stop = False
while(not stop):
# Capture frame-by-frame
ret, frame = cap.read()
# Our operations on the frame come here
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# blur = cv2.GaussianBlur(gray, (7, 7), 1.5)
# edges = cv2.Canny(blur, 0, 30)
corners = cv2.goodFeaturesToTrack(gray, 25, 0.01, 10)
try:
corners = np.int0(corners)
for i in corners:
x, y = i.ravel()
cv2.circle(frame, (x, y), 3, 255, -1)
except Exception:
print "nope~"
# Display the resulting frame
cv2.imshow('frame', frame)
if cv2.waitKey(1) > 0:
stop = True
cv2.destroyAllWindows()
return
def __motion_estimation_shi_tomasi(self, ref_frame, new_frame, min_matches=20):
# detect corners
grey_frame = cv.cvtColor(ref_frame, cv.COLOR_BGR2GRAY)
corners = cv.goodFeaturesToTrack(grey_frame, self.n_max_corners, .01, 50) # Better with Fast ?
corners_next, status, _ = cv.calcOpticalFlowPyrLK(ref_frame, new_frame, corners) # Track points
corners_next_back, status_back, _ = cv.calcOpticalFlowPyrLK(new_frame, ref_frame, corners_next) # Track back
# - sort out to keep reliable points :
corners, corners_next = self.__sort_corners(corners, corners_next, status, corners_next_back, status_back, 1.0)
if len(corners) < 5:
return None, False
# Compute the transformation from the tracked pattern
# -- estimate the rigid transform
transform, mask = cv.findHomography(corners, corners_next, cv.RANSAC, 5.0)
# -- see if this transform explains most of the displacements (thresholded..)
if len(mask[mask > 0]) > min_matches:
print "Enough match for motion compensation"
return transform, True
else:
print "Not finding enough matchs - {}".format(len(mask[mask > 0]))
return None, False
def getOpticalFlow(self, frame2):
# voir http://jayrambhia.wordpress.com/2012/08/09/lucas-kanade-tracker/
lk_params = dict(
winSize = (10, 10),
maxLevel = 5,
criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03)
)
feature_params = dict(
maxCorners = 3000,
# à l'origine 0.5
qualityLevel = 0.1,
minDistance = 3,
blockSize = 3
)
frame1_gray = cv2.cvtColor(self.getCVFrame(), cv2.cv.CV_BGR2GRAY)
frame2_gray = cv2.cvtColor(frame2.getCVFrame(), cv2.cv.CV_BGR2GRAY)
pt = cv2.goodFeaturesToTrack(frame1_gray, **feature_params)
p0 = np.float32(pt).reshape(-1, 1, 2)
p1, st, err = cv2.calcOpticalFlowPyrLK(frame1_gray, frame2_gray, p0, None, **lk_params)
mean_motion = np.mean(np.absolute(np.subtract(p0, p1)))
return mean_motion
def getCornerList(img): gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY) corners = cv2.goodFeaturesToTrack(gray,50,0.05,0) corners = np.int0(corners) return corners;
def initLK(self):
self.is_person, self.is_known_person = False, False
self.person_id, self.confidence = -1, 0
self.tracks = []
frame = self._video_source.getFrame()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
self._face_rect = self._face_finder.findLargestFaceInImage(frame)
if self._face_rect:
self.is_person = True
face_img = util.subimage(frame, self._face_rect)
self.is_known_person, self.person_id, self.confidence = self._face_identifier.predict(face_img)
mask = np.zeros_like(gray)
mask[:] = 255
for mx, my in [np.int32(tr[-1]) for tr in self.tracks]:
cv2.circle(mask, (mx, my), 5, 0, -1)
p = cv2.goodFeaturesToTrack(gray, mask=mask, **self.feature_params)
if p is not None:
(point1, point2) = self._face_rect.pt1, self._face_rect.pt2
ptScaleX = (int(point2.x - point1.x) * 0)
ptScaleY = (int(point2.y - point1.y) * 0)
for px, py in np.float32(p).reshape(-1, 2):
if (point1.x + ptScaleX <= px <= point2.x - ptScaleX) and (point1.y + ptScaleY <= py <= point2.y - ptScaleY):
self.tracks.append([(px, py)])
self.resetLK = False
self.prev_gray = gray.copy()
def getPrevTransform(self):
ret, prev = self.cap.read()
prev_gray = cv2.cvtColor(prev, cv2.COLOR_BGR2GRAY)
p0 = cv2.goodFeaturesToTrack(prev_gray, mask = None, **feature_params)
while(True):
ret, cur = self.cap.read()
#print cur
if cur is None:
break
cur_gray = cv2.cvtColor(cur,cv2.COLOR_BGR2GRAY)
#print prev_corner
img0, img1 = prev_gray, cur_gray
# calculate optical flow
p1, st, err = cv2.calcOpticalFlowPyrLK(img0, img1, p0, None, **lk_params)
# Select good points
good_new = p1[st==1]
good_old = p0[st==1]
T = cv2.estimateRigidTransform(good_new, good_old, False)
print "---"
import numpy as np
import cv2
"""
Shi Tomasi - Good Features To Track;
*Similar to Harris Corner Detector but gives better results.
*We can provide the no. of corners to detect
"""
image = cv2.imread('../images/pic1.png')
image_gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
# find the strongest corners (as specified by maxCorners)
corners = cv2.goodFeaturesToTrack(image_gray, 50, 0.01, 10) # 50 - maxCorners: displays the strongest 25 corners
# convert the corners into int64 (int0)
corners = np.int0(corners)
# loop through all the corners
for corner in corners:
x, y = corner.ravel() # find the coordinates of the corner
cv2.circle(image, (x, y), 3, 255, -1) # draw a dot in the detected corner
cv2.imshow('Result', image)
if cv2.waitKey(0) & 0xFF == 27:
cv2.destroyAllWindows()
def run():
parser = argparse.ArgumentParser(description='This sample demonstrates Lucas-Kanade Optical Flow calculation. \
The example file can be downloaded from: \
https://www.bogotobogo.com/python/OpenCV_Python/images/mean_shift_tracking/slow_traffic_small.mp4')
parser.add_argument('image', type=str, help='path to image file')
parser.add_argument('display', type=bool, help='Display output')
args = parser.parse_args()
if args.display:
display = True
# params for ShiTomasi corner detection
feature_params = dict( maxCorners = 100,
qualityLevel = 0.2,
minDistance = 7,
blockSize = 7 )
# Parameters for lucas kanade optical flow
lk_params = dict(winSize=(15, 15),
maxLevel=2,
criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03))
# Create some random colors
color = np.random.randint(0, 255, (100, 3))
cap = cv2.VideoCapture(args.image)
# Start 3 seconds in
start_frame_number = 70
cap.set(cv2.CAP_PROP_POS_FRAMES, start_frame_number)
# Take first frame and find corners in it
ret, fullFrame = cap.read()
fencerFrame = fullFrame[fencersTopCrop:fencersBottomCrop, 0:640]
cameraFrame = fullFrame[cameraTopCrop:cameraBottomCrop, 0:640]
fshape = fullFrame.shape
fheight = fshape[0]
fwidth = fshape[1]
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output.avi', fourcc, 20.0, (fwidth, fheight))
fencer_old_frame = fencerFrame.copy()
fencer_old_gray = cv2.cvtColor(fencer_old_frame, cv2.COLOR_BGR2GRAY)
camera_old_frame = cameraFrame.copy()
camera_old_gray = cv2.cvtColor(camera_old_frame, cv2.COLOR_BGR2GRAY)
# Create a mask image for drawing purposes
mask = np.zeros_like(fullFrame)
mask2 = np.zeros_like(fullFrame)
# get fencer points from pose detection
allPoints = detectPosesInImage(fencerFrame)
# nest all the points so that calcOpticalFlowPyrLK works
fencer1p0 = np.zeros(shape=(18, 1, 2), dtype=np.float32)
fencer2p0 = np.zeros(shape=(18, 1, 2), dtype=np.float32)
for i in range(len(allPoints[0])):
fencer1p0[i][0] = allPoints[0][i]
for i in range(len(allPoints[1])):
fencer2p0[i][0] = allPoints[1][i]
# Get camera points from good features to track
camerap0 = cv2.goodFeaturesToTrack(camera_old_gray, mask=None, **feature_params)
totalDisplacement = 0
totalMovement = 0
frameCount = 0
cleanAverageX = 0
fencer1Positions = []
fencer1PistePositions = []
fencer2Positions = []
fencer2PistePositions = []
cameraPositions = []
averageFencerXPositionDifference = 0
while 1:
ret, fullFrame = cap.read()
if not ret:
break
fencerFrame = fullFrame[fencersTopCrop:fencersBottomCrop, 0:640]
cameraFrame = fullFrame[cameraTopCrop:cameraBottomCrop, 0:640]
frameCount = frameCount + 1
fencer_frame_gray = cv2.cvtColor(fencerFrame, cv2.COLOR_BGR2GRAY)
camera_frame_gray = cv2.cvtColor(cameraFrame, cv2.COLOR_BGR2GRAY)
if fencer1p0 is None:
break
if fencer2p0 is None:
break
if camerap0 is None:
break
# calculate optical flow
fencer1p1, st1, err1 = cv2.calcOpticalFlowPyrLK(fencer_old_gray, fencer_frame_gray, fencer1p0, None, **lk_params)
fencer2p1, st2, err2 = cv2.calcOpticalFlowPyrLK(fencer_old_gray, fencer_frame_gray, fencer2p0, None, **lk_params)
camerap1, cameraStatus, err3 = cv2.calcOpticalFlowPyrLK(camera_old_gray, camera_frame_gray, camerap0, None, **lk_params)
img = np.zeros_like(fullFrame)
img = cv2.add(img, fullFrame)
if camerap1 is not None:
# Select good points
camera_good_new = camerap1[cameraStatus==1]
camera_good_old = camerap0[cameraStatus==1]
# get the average change
totalX = 0
pointCount = 0
for i, (new, old) in enumerate(zip(camera_good_new, camera_good_old)):
a, b = new.ravel()
c, d = old.ravel()
totalX = (c - a) + totalX
pointCount = pointCount + 1
averageX = 0
if pointCount > 0:
averageX = totalX / pointCount
cleanTotalX = 0
cleanPointCount = 0
for i, (new, old) in enumerate(zip(camera_good_new, camera_good_old)):
a, b = new.ravel()
c, d = old.ravel()
usePoint = False
if averageX > 0:
if (c - a) * (1 + cameraThreshold) > averageX > (c - a) * (1 - cameraThreshold):
usePoint = True
else:
if (c - a) * (1 + cameraThreshold) < averageX < (c - a) * (1 - cameraThreshold):
usePoint = True
if usePoint:
cleanTotalX = cleanTotalX + (c - a)
cleanPointCount = cleanPointCount + 1
if cleanPointCount > 0:
cleanAverageX = cleanTotalX / pointCount
totalDisplacement = totalDisplacement + cleanAverageX
totalMovement = totalMovement + abs(cleanAverageX)
cameraPositions.append(int(totalDisplacement))
cameraMask = np.zeros_like(fullFrame)
cv2.circle(cameraMask, (int(-totalDisplacement + 320), 30), 8, (0, 255, 255), thickness=-1, lineType=cv2.FILLED)
img = cv2.add(img, cameraMask)
else:
cameraPositions.append(-1)
camera_good_new = camerap0[cameraStatus == 1]
if fencer1p1 is None or fencer2p1 is None:
continue
# Select good points
fencer1_good_new = fencer1p1[st1 == 1]
fencer1_good_old = fencer1p0[st1 == 1]
fencer2_good_new = fencer2p1[st2 == 1]
fencer2_good_old = fencer2p0[st2 == 1]
lungeMask = np.zeros_like(fullFrame)
# draw the tracks
fencer1Points = []
fencer1PistePoints = []
for i, (new, old) in enumerate(zip(fencer1_good_new, fencer1_good_old)):
a, b = new.ravel()
c, d = old.ravel()
b = np.int(b + fencersTopCrop)
d = np.int(d + fencersTopCrop)
fencer1Points.append([int(a), int(b)])
fencer1PistePoints.append([int(a + totalDisplacement), int(b)])
mask = cv2.line(mask, (int(a), int(b)), (int(c), int(d)), color[i].tolist(), 2)
fencer1Positions.append(fencer1Points)
fencer1PistePositions.append(fencer1Points)
# draw the tracks
fencer2Points = []
fencer2PistePoints = []
for i, (new, old) in enumerate(zip(fencer2_good_new, fencer2_good_old)):
a, b = new.ravel()
c, d = old.ravel()
b = np.int(b + fencersTopCrop)
d = np.int(d + fencersTopCrop)
fencer2Points.append([int(a), int(b)])
fencer2PistePoints.append([int(a + totalDisplacement), int(b)])
mask2 = cv2.line(mask, (int(a), int(b)), (int(c), int(d)), color[i].tolist(), 2)
fencer2Positions.append(fencer2Points)
fencer2PistePositions.append(fencer2Points)
# X position of the fencers necks
averageFencerXPositionDifference = (averageFencerXPositionDifference + (
fencer1Points[1][0] - fencer1Points[1][0])) / 2
if detectLunge(fencer1Points):
cv2.circle(lungeMask, (10, 10), 8, (255, 255, 255), thickness=-1, lineType=cv2.FILLED)
if detectLunge(fencer2Points):
cv2.circle(lungeMask, (40, 10), 8, (255, 255, 255), thickness=-1, lineType=cv2.FILLED)
img = cv2.add(img, mask)
img = cv2.add(img, mask2)
img = cv2.add(img, lungeMask)
if display:
cropMask = np.zeros_like(fullFrame)
cv2.line(cropMask, (0, cameraTopCrop), (640, cameraTopCrop), (0, 255, 255), 2)
cv2.line(cropMask, (0, cameraBottomCrop), (640, cameraBottomCrop), (0, 255, 255), 2)
cv2.line(cropMask, (0, fencersTopCrop), (640, fencersTopCrop), (255, 0, 255), 2)
cv2.line(cropMask, (0, fencersBottomCrop), (640, fencersBottomCrop), (255, 0, 255), 2)
cv2.line(cropMask, (320, 0), (320, 360), (255, 255, 0), 2)
cv2.line(cropMask, (160, 0), (160, 360), (255, 255, 0), 2)
cv2.line(cropMask, (480, 0), (480, 360), (255, 255, 0), 2)
img = cv2.add(img, cropMask)
out.write(img)
cv2.imshow('frame',img)
k = cv2.waitKey(30) & 0xff
if k == 27:
break
# Now update the previous frame and previous points
fencer_old_gray = fencer_frame_gray.copy()
camera_old_gray = camera_frame_gray.copy()
fencer1p0 = fencer1_good_new.reshape(-1,1,2)
fencer2p0 = fencer2_good_new.reshape(-1,1,2)
camerap0 = camera_good_new.reshape(-1,1,2)
cap.release()
out.release()
if averageFencerXPositionDifference < 0:
leftFencerPositions = fencer1Positions
leftFencerPistePositions = fencer1PistePositions
rightFencerPositions = fencer2Positions
rightFencerPistePositions = fencer2PistePositions
else:
leftFencerPositions = fencer2Positions
leftFencerPistePositions = fencer2PistePositions
rightFencerPositions = fencer1Positions
rightFencerPistePositions = fencer1PistePositions
outputJson = ''
outputJson = outputJson + '{'
outputJson = outputJson + '"leftFencer":'
outputJson = outputJson + '{'
# outputJson = outputJson + '"positions":'
# outputJson = outputJson + json.dumps(leftFencerPositions)
# outputJson = outputJson + ','
outputJson = outputJson + '"pistePositions":'
outputJson = outputJson + json.dumps(leftFencerPistePositions)
outputJson = outputJson + '}'
outputJson = outputJson + ','
outputJson = outputJson + '"rightFencer":'
outputJson = outputJson + '{'
# outputJson = outputJson + '"positions":'
# outputJson = outputJson + json.dumps(rightFencerPositions)
# outputJson = outputJson + ','
outputJson = outputJson + '"pistePositions":'
outputJson = outputJson + json.dumps(rightFencerPistePositions)
outputJson = outputJson + '}'
outputJson = outputJson + ','
outputJson = outputJson + '"camera":'
outputJson = outputJson + json.dumps(cameraPositions)
outputJson = outputJson + '}'
outputJson = outputJson.replace(' ', '')
print(outputJson)
import numpy as np
import cv2
origImg = cv2.imread("SampleImages/PuzzlesAndGames/puzzle4.png")
if origImg is None:
print("Image not loaded successfully, try again")
grayImg = cv2.cvtColor(origImg, cv2.COLOR_BGR2GRAY)
grayImg = np.float32(grayImg)
goodFeats = cv2.goodFeaturesToTrack(grayImg, 400, 0.05, 3)
# print (goodFeats)
# print (goodFeats[1])
# print (goodFeats[0,0,0])
print(goodFeats.shape)
for feat in goodFeats:
center = (feat[0, 0], feat[0, 1])
cv2.circle(origImg, center, 3, (255, 255, 0), 1)
cv2.imshow("Corners detected", origImg)
cv2.waitKey(80000)
def CmList(fi, fjList):
# fi = cv2.cvtColor(fi, cv2.COLOR_BGR2GRAY)
# fj = cv2.cvtColor(fj, cv2.COLOR_BGR2GRAY)
d = np.sqrt(fi.shape[0] * fi.shape[0] + fi.shape[1] * fi.shape[1])
tc = 0.1 * d
gamma = 0.5 * d
# params for ShiTomasi corner detection
feature_params = dict(maxCorners=100,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
# Parameters for lucas kanade optical flow
lk_params = dict(winSize=(15, 15),
maxLevel=2,
criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT,
10, 0.03))
p0 = cv2.goodFeaturesToTrack(fi, mask=None, **feature_params)
motionCostArr = np.zeros(fjList.size)
it = 0
for fj in fjList:
# calculate optical flow and
# Try to find homography
try:
p1, st, err = cv2.calcOpticalFlowPyrLK(fi, fj, p0, None,
**lk_params)
good_new = p1[st == 1]
good_old = p0[st == 1]
# print good_old
if len(good_old) > 10:
h, status = cv2.findHomography(good_old, good_new)
Cm = 0.0
pt1 = np.ones([3, 1])
pt2 = np.ones([3, 1])
pt1 = np.asmatrix(pt1)
pt2 = np.asmatrix(pt2)
for x in xrange(0, good_old.shape[0]):
pt1[0, 0] = good_old[x, 0]
pt1[1, 0] = good_old[x, 1]
pt1[2, 0] = 1
pt1 = np.mat(h) * pt1
pt1[0, 0] /= pt1[2, 0]
pt1[1, 0] /= pt1[2, 0]
pt1[2, 0] = 1
pt2[0, 0] = good_new[x, 0]
pt2[1, 0] = good_new[x, 1]
pt2[2, 0] = 1
Cm += np.linalg.norm(pt2 - pt1)
Cm /= good_old.shape[0]
pt1[0, 0] = fi.shape[1] / 2
pt1[1, 0] = fi.shape[0] / 2
pt1[2, 0] = 1
pt2 = np.mat(h) * pt1
pt2[0, 0] /= pt2[2, 0]
pt2[1, 0] /= pt2[2, 0]
pt2[2, 0] = 1
C0 = np.linalg.norm(pt2 - pt1)
# print Cm , C0 , tc , gamma
if Cm < tc:
motionCostArr[it] = C0
else:
motionCostArr[it] = gamma
else:
motionCostArr[it] = gamma
it += 1
#Exception if homography not found
except Exception, e:
motionCostArr[it] = gamma
it += 1
print("Error!! read video failed!")
# parameters for corners detection
featureParams = dict(maxCorners=100,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
# parameters for optical flow estimation
lkParams = dict(winSize=(15, 15),
maxLevel=2,
criteria=(cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10,
0.03))
ret, prev = cap.read()
prevGray = cv.cvtColor(prev, cv.COLOR_BGR2GRAY)
p0 = cv.goodFeaturesToTrack(prevGray, mask=None, **featureParams)
while True:
ret, frame = cap.read() # capture frame by frame.
if not ret: # ret = True or False represent capture sucess of fail.
break
gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
#calculate optical flow
p1, st, err = cv.calcOpticalFlowPyrLK(prevGray, gray, p0, None, **lkParams)
'''
p1 - optical flow points
st - confidence level
'''
goodPoints = p1[st >= 0.7]
# out = cv2.VideoWriter("D:\Study\Datasets\\Stabledmorecam.avi", fourcc, fps, (w,h))
# Read first frame
_, prev = cap.read()
# Convert frame to grayscale
prev_gray = cv2.cvtColor(prev, cv2.COLOR_BGR2GRAY)
# Pre-define transformation-store array
transforms = np.zeros((n_frames - 1, 3), np.float32)
for i in range(n_frames - 2):
# Detect feature points in previous frame
prev_pts = cv2.goodFeaturesToTrack(prev_gray,
maxCorners=200,
qualityLevel=0.5,
minDistance=5,
blockSize=2)
# Read next frame
success, curr = cap.read()
if not success:
break
# Convert to grayscale
curr_gray = cv2.cvtColor(curr, cv2.COLOR_BGR2GRAY)
# Calculate optical flow (i.e. track feature points)
curr_pts, status, err = cv2.calcOpticalFlowPyrLK(prev_gray, curr_gray,
prev_pts, None)
DISTANCE_THRESH = 20
#räkna Euclidean distance (avstånds formel)
def d2(p, q):
return np.linalg.norm(np.array(p) - np.array(q))
#ladda video och första frame
video_cap = cv2.VideoCapture('test.mov')
_, frame = video_cap.read()
frame_counter = 1
#Convertera frame till grayscale och välj points att följa
old_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
prev_pts = cv2.goodFeaturesToTrack(image=old_gray, **feature_params)
"""
for pt in prev_pts:
x, y = pt.ravel()
cv2.circle(frame, (x, y), 5, (0,255,0), -1)
cv2.imshow('features', frame)
cv2.waitKey(0)
"""
#Mask för att rita linjer
mask = np.zeros_like(frame)
#Create a mask for the speed
mask_text = np.zeros_like(frame)
#UI loop
while True:
def image_callback(self, msg):
self.image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8')
self.ROI = self.image[226:256, 0:876]
left_frame = self.image[160:305, 101:328]
right_frame = self.image[160:305, 548:775]
''' ********** Optical Flow 初始帧 *********** '''
if self.initialize_flag == False:
# 左画面
self.prev_gray_left = cv2.cvtColor(left_frame, cv2.COLOR_BGR2GRAY)
self.prev_left = cv2.goodFeaturesToTrack(self.prev_gray_left,
mask=None,
**self.feature_params)
# 右画面
self.prev_gray_right = cv2.cvtColor(right_frame,
cv2.COLOR_BGR2GRAY)
self.prev_right = cv2.goodFeaturesToTrack(self.prev_gray_right,
mask=None,
**self.feature_params)
# 长条画面
self.prev_gray_ROI = cv2.cvtColor(self.ROI, cv2.COLOR_BGR2GRAY)
self.prev_point = cv2.goodFeaturesToTrack(self.prev_gray_ROI,
mask=None,
**self.feature_params)
self.initialize_flag = True
''' *********** Optical Flow 追踪帧 ************ '''
else:
# 左画面
self.prev_gray_left, self.prev_left, self.LY, self.LX = ml.direction_detect(left_frame, \
self.prev_gray_left, self.prev_left, self.feature_params, self.lk_params, self.color)
# 右画面
self.prev_gray_right, self.prev_right, self.RY, self.RX = ml.direction_detect(right_frame, \
self.prev_gray_right, self.prev_right, self.feature_params, self.lk_params, self.color)
# 长条画面
self.prev_gray_ROI, self.prev_point, temp = ml.GetLength(self.ROI, self.prev_gray_ROI, \
self.prev_point, self.feature_params, self.lk_params, self.color)
# 计算光流夹角
if self.LY != 0 and self.LX != 0 and self.RY != 0 and self.RX != 0:
Lx = np.dot(self.H, self.Left_kf_x.predict())[0]
self.Left_kf_x.update(self.LX)
Ly = np.dot(self.H, self.Left_kf_y.predict())[0]
self.Left_kf_y.update(self.LY)
Rx = np.dot(self.H, self.Right_kf_x.predict())[0]
self.Right_kf_x.update(self.RX)
Ry = np.dot(self.H, self.Right_kf_y.predict())[0]
self.Right_kf_y.update(self.RY)
self.Left_Angle = ml.angular([Ly, Lx])
self.Right_Angle = ml.angular([Ry, Rx])
# 获得前进方向 self.RotateFlag (1:右, 2:左, 3:前, 4:后)
self.RotateFlag = ml.GetDirectionOfTravel(self.Left_Angle,
self.Right_Angle)
'''******************** 跳过转弯检测的初始5帧 ******************** '''
if self.dir_flag <= 5:
self.now_d, self.pre_d, self.pre_d_sub = self.RotateFlag, self.RotateFlag, self.RotateFlag
self.dir_flag += 1
else:
# 当前判断和上一阶段不同
if self.pre_d != self.RotateFlag:
# 当前判断和上一帧不同
if self.pre_d_sub != self.RotateFlag:
self.count = 0
# 当前判断和上一帧相同
else:
self.count += 1
self.pre_d_sub = self.RotateFlag
# 当前判断和上一阶段相同
else:
self.count = 0
if self.now_d == 1 or self.now_d == 2:
self.TempOfImg[self.OfImgNum] = self.image
self.OfImgNum += 1
'''******************** 再次滤波 连续出现5次相同的变化 ********************'''
if self.count >= 5:
# 计算和前一节点的时间间隔
if self.now_d != 3:
self.UnionTimeStart = rospy.get_time()
self.UnionTimeInterval = self.UnionTimeStart - self.UnionTimeEnd
self.UnionTimeEnd = rospy.get_time()
self.now_d = self.RotateFlag
if self.now_d == 3:
self.cornor_direction = self.pre_d
self.SaveFlagOf = 1
self.count = 0
# 把这一阶段的结果赋值
self.pre_d = self.now_d
# 计算角度 + 整合方向 返回的 self.angle 即相机旋转的角度
self.OF_sum, self.DirectionNow, self.Direction, self.__angle_flag, self.angle = ml.GetRotateAng(self.now_d, \
self.OF_sum, temp, self.__angle_flag, self.angle)
text = str(self.DirectionNow)
cv2.putText(self.image, text, (40, 50), cv2.FONT_HERSHEY_PLAIN,
2.0, (0, 0, 255), 2)
cv2.imshow('a', self.image)
cv2.waitKey(1)
YELLOW_BUOY_MIN = np.array([25, 250, 250])
YELLOW_BUOY_MAX = np.array([27, 255, 255])
MIN_LENGTH = 15.00
arrows = []
#process map
map_image = cv2.imread(MAP, 1)
hsv_img = cv2.cvtColor(map_image, cv2.COLOR_BGR2HSV)
map_threshed = cv2.cvtColor(map_image, cv2.COLOR_BGR2HSV)
#map_mask = cv2.inRange(map_threshed, TRAFFIC_MIN1, TRAFFIC_MAX1)
map_mask = cv2.inRange(map_threshed, TRAFFIC_MIN1, TRAFFIC_MAX1)
corners = cv2.goodFeaturesToTrack(map_mask, 500, 0.02, 10)
corners = np.int0(corners)
np.sort(corners, axis=1)
def distance(point1, point2):
d = m.sqrt((point1.x - point2.x)**2 + (point1.y - point2.y)**2)
return d
#pairs items in an array based on their closest neighbor match closest neighbor then kick out if another is closers. for ones without pairs
def midpoint(x1, x2, y1, y2):
x = (x1 - x2) / 2
y = (y1 - y2) / 2
return x, y
def optical_flow_from_camera():
cap = cv2.VideoCapture(0)
# 设置 ShiTomasi 角点检测的参数
feature_params = dict(maxCorners=100,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
# 设置 lucas kanade 光流场的参数
# maxLevel 为使用图像金字塔的层数
lk_params = dict(winSize=(15, 15),
maxLevel=2,
criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT,
10, 0.03))
# 产生随机的颜色值
color = np.random.randint(0, 255, (100, 3))
# 获取第一帧，并寻找其中的角点
_, old_frame = cap.read()
old_frame = cv2.flip(old_frame, 1)
old_gray = cv2.cvtColor(old_frame, cv2.COLOR_BGR2GRAY)
p0 = cv2.goodFeaturesToTrack(old_gray, mask=None, **feature_params)
# 创建一个掩膜为了后面绘制角点的光流轨迹
mask = np.zeros_like(old_frame)
while True:
ret, frame = cap.read()
frame = cv2.flip(frame, 1)
if ret:
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# 计算能够获取的角点的新位置
p1, st, err = cv2.calcOpticalFlowPyrLK(old_gray, frame_gray, p0,
None, **lk_params)
# Select good points
good_new = p1[st == 1]
good_old = p0[st == 1]
# 绘制角点的轨迹
for i, (new, old) in enumerate(zip(good_new, good_old)):
a, b = new.ravel()
c, d = old.ravel()
mask = cv2.line(mask, (a, b), (c, d), color[i].tolist(), 2)
frame = cv2.circle(frame, (a, b), 5, color[i].tolist(), -1)
img = cv2.add(frame, mask)
cv2.imshow('frame', img)
if cv2.waitKey(30) & 0xff == ord("q"):
break
# 更新当前帧和当前角点的位置
old_gray = frame_gray.copy()
p0 = good_new.reshape(-1, 1, 2)
else:
break
pass
cv2.destroyAllWindows()
cap.release()
pass
import numpy as np
import cv2
img = cv2.imread('opencv-template-matching-python-tutorial.jpg')
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
gray = np.float32(gray)
corners = cv2.goodFeaturesToTrack(gray, 10000, 0.01, 10)
corners = np.int0(corners)
for corner in corners:
x, y = corner.ravel()
cv2.circle(img, (x, y), 3, 255, -1)
cv2.imshow('Corner', img)
cv2.waitKey(0)
cv2.destroyAllWindows()
t += 1
print('t=', t)
imgC = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
imgC = cv2.GaussianBlur(imgC, (5, 5), 0.5)
#3-1
if mouse_status == 2:
x1, y1, x2, y2 = roi
cv2.rectangle(frame, (x1, y1), (x2, y2), (0, 0, 255), 2)
#3-2
if mouse_status == 3:
print('initialize....')
mouse_status = 0
x1, y1, x2, y2 = roi
roi_mask[:, :] = 0
roi_mask[y1:y2, x1:x2] = 1
p1 = cv2.goodFeaturesToTrack(imgC, mask=roi_mask, **params)
if len(p1) >= 4:
p1 = cv2.cornerSubPix(imgC, p1, (5, 5), (-1, -1), term_crit)
rect = cv2.minAreaRect(p1)
box_pts = cv2.boxPoints(rect).reshape(-1, 1, 2)
tracking_start = True
#3-3
if tracking_start:
p2, st, err = cv2.calcOpticalFlowPyrLK(imgP, imgC, p1, None, **params2)
p1r, st, err = cv2.calcOpticalFlowPyrLK(imgC, imgP, p2, None,
**params2)
d = abs(p1 - p1r).reshape(-1, 2).max(-1)
stat = d < 1.0 # 1.0 is distance threshold
good_p2 = p2[stat == 1].copy()
good_p1 = p1[stat == 1].copy()
for x, y in good_p2.reshape(-1, 2):
def todo(path):
import numpy as np
import cv2
from pythonFile import click_pct
import os
padding = 10 # 特徴点検出領域の半径
# 読み込む動画の設定
videoName = path[path.rfind('/') + 1:]
cap = cv2.VideoCapture(path)
print(videoName)
# 動画の設定
width = int(cap.get(cv2.CAP_PROP_FRAME_WIDTH))
height = int(cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
fps = cap.get(cv2.CAP_PROP_FPS)
rot = 0
if width > height:
rot = 1
tmp = width
width = height
height = tmp
print(videoName[:-4])
# Shi-Tomashiのコーナー検出パラメータ
feature_params = dict(
maxCorners=255, # 保持するコーナー数,int
qualityLevel=0.2, # 最良値(最大個数値の割合),double
minDistance=7, # この距離内のコーナーを棄却,double
blockSize=7, # 使用する近傍領域のサイズ,int
useHarrisDetector=False, # FalseならShi-Tomashi法
# k=0.04, # Harris法の測度に使用
)
# 最初のフレームを読み込む
ret, first_frame = cap.read()
if rot == 1:
first_frame = np.rot90(first_frame, -1)
#グレースケール変換
first_gray = cv2.cvtColor(first_frame, cv2.COLOR_BGR2GRAY)
# 読み込んだフレームの特徴点を探す
prev_points = cv2.goodFeaturesToTrack(
image=first_gray, # 入力画像
mask=None, # mask=0のコーナーを無視
**feature_params)
flow_layer = np.zeros_like(first_frame)
# 一度すべての点をノイズとする
noise = [0] * len(prev_points)
hozon = noise
for i in prev_points:
flow_layer = cv2.circle(
flow_layer, # 描く画像
(int(i[0][0]), int(i[0][1])), # 線を引く始点
2, # 線を引く終点
color=(0, 0, 255), # 描く色
thickness=3 # 線の太さ
)
frame = cv2.add(first_frame, flow_layer)
flow_layer2 = np.zeros_like(first_frame)
#######################################
# クリックした特徴点を正常な特徴点とする
#######################################
while True:
# クリックした座標を保存
points = np.array(click_pct.give_coorList(frame), dtype='int')
# クリックした座標の周囲の点を正常な特徴点とする
for p in points:
area = [
p[0] - padding, p[0] + padding, p[1] - padding, p[1] + padding
]
for index, prev in enumerate(prev_points):
if (noise[index] == 0) and (area[0] <= int(prev[0][0])) and (
area[1] >= int(prev[0][0])) and (area[2] <= int(
prev[0][1])) and (area[3] >= int(prev[0][1])):
noise[index] = 1
print(10)
break
for index, prev in enumerate(prev_points):
if noise[index] == 0:
flow_layer2 = cv2.circle(
flow_layer2, # 描く画像
(int(prev[0][0]), int(prev[0][1])), # 線を引く始点
5, # 線を引く終点
color=(0, 0, 255), # 描く色
thickness=3 # 線の太さ
)
elif noise[index] == 1:
flow_layer2 = cv2.circle(
flow_layer2, # 描く画像
(int(prev[0][0]), int(prev[0][1])), # 線を引く始点
5, # 線を引く終点
color=(0, 0, 255), # 描く色
thickness=3 # 線の太さ
)
frame = cv2.add(first_frame, flow_layer2)
if noise == hozon:
break
hozon = noise
# 結果画像の表示
cv2.namedWindow("frame", cv2.WINDOW_NORMAL)
cv2.imshow("frame", frame)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv2.imwrite(
'D:/opticalflow/evaluation/result/' + str(videoName[:-4]) +
'_Original.jpg', frame)
return noise
def start_imag_proc():
global finalScore
global curr_player
finalScore = 0
count = 0
breaker = 0
success = 1
## threshold important -> make accessible
x = 1000
#check which player
if curr_player == 1:
print e1.get()
score = int(e1.get())
else:
print e2.get()
score = int(e2.get())
# save score if score is below 1...
old_score = score
# Read first image twice (issue somewhere) to start loop:
success, image = cam.read()
t = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
# wait for camera
time.sleep(0.1)
success, image = cam.read()
t = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
while success:
# wait for camera
success, image = cam.read()
t_plus = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)
dimg = cv2.absdiff(t, t_plus)
time.sleep(0.1)
# cv2.imshow(winName, edges(t_minus, t, t_plus))
blur = cv2.GaussianBlur(dimg, (5, 5), 0)
blur = cv2.bilateralFilter(blur, 9, 75, 75)
ret, thresh = cv2.threshold(blur, 60, 255, 0)
if cv2.countNonZero(thresh) > x and cv2.countNonZero(
thresh) < 8000: ## threshold important -> make accessible
# wait for camera vibrations
time.sleep(0.2)
t_plus = cv2.cvtColor(cam.read()[1], cv2.COLOR_RGB2GRAY)
dimg = cv2.absdiff(t, t_plus)
## kernel size important -> make accessible
# filter noise from image distortions
kernel = np.ones((8, 8), np.float32) / 40
blur = cv2.filter2D(dimg, -1, kernel)
# dilate and erode?
# number of features to track is a distinctive feature
# edges = cv2.goodFeaturesToTrack(blur,200,0.01,0,mask=None, blockSize=2, useHarrisDetector=1, k=0.001)
## FeaturesToTrack important -> make accessible
edges = cv2.goodFeaturesToTrack(blur,
640,
0.0008,
1,
mask=None,
blockSize=3,
useHarrisDetector=1,
k=0.06) # k=0.08
corners = np.int0(edges)
testimg = blur.copy()
# dart outside?
if corners.size < 40:
print "### dart not detected"
continue
# filter corners
cornerdata = []
tt = 0
mean_corners = np.mean(corners, axis=0)
for i in corners:
xl, yl = i.ravel()
# filter noise to only get dart arrow
## threshold important -> make accessible
if abs(mean_corners[0][0] - xl) > 280:
cornerdata.append(tt)
if abs(mean_corners[0][1] - yl) > 220:
cornerdata.append(tt)
tt += 1
corners_new = np.delete(corners, [cornerdata],
axis=0) # delete corners to form new array
# dart outside?
if corners_new.size < 30:
print "### dart not detected"
continue
# find left and rightmost corners
rows, cols = dimg.shape[:2]
[vx, vy, x, y] = cv2.fitLine(corners_new, cv.CV_DIST_HUBER, 0, 0.1,
0.1)
lefty = int((-x * vy / vx) + y)
righty = int(((cols - x) * vy / vx) + y)
cornerdata = []
tt = 0
for i in corners_new:
xl, yl = i.ravel()
# check distance to fitted line, only draw corners within certain range
distance = dist(0, lefty, cols - 1, righty, xl, yl)
if distance < 40: ## threshold important -> make accessible
cv2.circle(testimg, (xl, yl), 3, 255, -1)
else: # save corners out of range to delete afterwards
cornerdata.append(tt)
tt += 1
corners_final = np.delete(
corners_new, [cornerdata],
axis=0) # delete corners to form new array
t_plus_new = cv2.cvtColor(cam.read()[1], cv2.COLOR_RGB2GRAY)
dimg_new = cv2.absdiff(t_plus, t_plus_new)
# filter noise from image distortions
kernel = np.ones((8, 8), np.float32) / 40
blur_new = cv2.filter2D(dimg_new, -1, kernel)
ret, thresh_new = cv2.threshold(blur_new, 60, 255, 0)
## threshold important -> make accessible
### check for bouncer????????
if cv2.countNonZero(thresh_new) > 400:
continue
x, y, w, h = cv2.boundingRect(corners_final)
cv2.rectangle(testimg, (x, y), (x + w, y + h), (255, 255, 255), 1)
breaker += 1
###########################
# find maximum x distance to dart tip, if camera is mounted on top
maxloc = np.argmax(
corners_final,
axis=0) # check max pos!!!, write image with circle??!!!
###########################
locationofdart = corners_final[maxloc]
try:
# check if dart location has neighbouring corners (if not -> continue)
cornerdata = []
tt = 0
for i in corners_final:
xl, yl = i.ravel()
distance = abs(locationofdart.item(0) -
xl) + abs(locationofdart.item(1) - yl)
if distance < 40: ## threshold important -> make accessible
tt += 1
else:
cornerdata.append(tt)
if tt < 3:
corners_temp = cornerdata
maxloc = np.argmax(corners_temp, axis=0)
locationofdart = corners_temp[maxloc]
print "### used different location due to noise!"
cv2.circle(testimg,
(locationofdart.item(0), locationofdart.item(1)),
10, (255, 255, 255), 2, 8)
cv2.circle(testimg,
(locationofdart.item(0), locationofdart.item(1)), 2,
(0, 255, 0), 2, 8)
# check for the location of the dart with the calibration
dartloc = DartLocation(locationofdart.item(0),
locationofdart.item(1))
dartInfo = DartRegion(dartloc) #cal_image
except:
print "Something went wrong in finding the darts location!"
breaker -= 1
continue
print dartInfo.base, dartInfo.multiplier
if breaker == 1:
dart1entry.insert(10, str(dartInfo.base * dartInfo.multiplier))
dart = int(dart1entry.get())
cv2.imwrite("frame2.jpg", testimg) # save dart1 frame
elif breaker == 2:
dart2entry.insert(10, str(dartInfo.base * dartInfo.multiplier))
dart = int(dart2entry.get())
cv2.imwrite("frame3.jpg", testimg) # save dart2 frame
elif breaker == 3:
dart3entry.insert(10, str(dartInfo.base * dartInfo.multiplier))
dart = int(dart3entry.get())
cv2.imwrite("frame4.jpg", testimg) # save dart3 frame
score -= dart
if score == 0 and dartInfo.multiplier == 2:
score = 0
breaker = 3
elif score <= 1:
score = old_score
breaker = 3
# save new diff img for next dart
t = t_plus
if curr_player == 1:
e1.delete(0, 'end')
e1.insert(10, score)
else:
e2.delete(0, 'end')
e2.insert(10, score)
finalScore += (dartInfo.base * dartInfo.multiplier)
if breaker == 3:
break
#cv2.imshow(winName, tnow)
# missed dart
elif cv2.countNonZero(thresh) < 35000:
continue
# if player enters zone - break loop
elif cv2.countNonZero(thresh) > 35000:
break
key = cv2.waitKey(10)
if key == 27:
cv2.destroyWindow(winName)
break
count += 1
finalentry.insert(10, finalScore)
print finalScore
'''
Shi-Tomasi Corner Detector & Good Features to Track
N strongest corners in the image by Shi-Tomasi method (or Harris Corner Detection, if you specify it)
'''
import numpy as np
import cv2
from matplotlib import pyplot as plt
img = cv2.imread('Lena.tiff') # read the image as gray-scale
print(img.shape)
gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
print(gray.shape)
# How many points you want to detect?
NoOfPoints = 25
corners = cv2.goodFeaturesToTrack(gray, NoOfPoints, 0.01, 10)
corners = np.int0(corners)
for i in corners:
x, y = i.ravel()
cv2.circle(img, (x, y), 3, 255, -1)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
plt.imshow(img)
plt.show()
# 코너 검출
import cv2
image_color = cv2.imread("IMAGE/stair.jpg", cv2.IMREAD_COLOR)
image_gray = cv2.cvtColor(image_color, cv2.COLOR_RGB2GRAY) # 회색조로 변경
corners = cv2.goodFeaturesToTrack(image_gray,
100,
0.01,
5,
blockSize=3,
useHarrisDetector=True,
k=0.03) # 코너 검출
for i in corners:
cv2.circle(image_color, tuple(i[0]), 3, (0, 0, 255), 2) # 원으로 지점 표시
cv2.imshow("image", image_color)
cv2.waitKey(0)
cv2.destroyAllWindows()
# Get fingers from projectIM2021_q1:
points = find_circles(q1_canny(img))
if len(points) != 5:
continue
# Get average of fingers thickness:
avg_finger_thickness = 2 * np.mean(points[:, 2])
coordinates_thumb_to_little_finger = points[
points[:, 1].argsort()] # Sort points by row
coordinates_thumb_to_little_finger = np.delete(
coordinates_thumb_to_little_finger, 2, 1) # delete third column
# Get significant points:
corners = cv2.goodFeaturesToTrack(canny_img, 1000, 0.01, 8)
corners = np.int0(corners)
# Draw significant points
# for i in corners[0:]:
# x, y = i.ravel()
# cv2.circle(cimg, (x, y), radius=3, color=(255, 0, 0), thickness=4)
# Find points:
final_coordinates, approximate_points = find_all_points(
corners[0:], coordinates_thumb_to_little_finger,
avg_finger_thickness, sheet)
# Draw points:
for c in final_coordinates:
cv2.circle(cimg, (c[0], c[1]),
def Shi_tomasi_anchor(image):
image_np = np.asarray(image)
gray = cv2.cvtColor(image_np, cv2.COLOR_BGR2GRAY)
corners = cv2.goodFeaturesToTrack(gray, 1, 0.01, 10)
corners = np.int0(corners)
return corners.ravel()
import cv2
import numpy as np
img = cv2.imread('../images/input_harris_GFTT_box.jpg')
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
corners = cv2.goodFeaturesToTrack(gray, 7, 0.05, 25)
corners = np.float32(corners)
for item in corners:
x, y = item[0]
cv2.circle(img, (x, y), 5, 255, -1)
cv2.imshow("Top 'k' features", img)
cv2.waitKey()
# params for ShiTomasi corner detection
feature_params = dict(maxCorners=100,
qualityLevel=0.3,
minDistance=7,
blockSize=7)
# Parameters for lucas kanade optical flow
lk_params = dict(winSize=(15, 15),
maxLevel=2,
criteria=(cv.TERM_CRITERIA_EPS | cv.TERM_CRITERIA_COUNT, 10,
0.03))
# Create some random colors
color = np.random.randint(0, 255, (100, 3))
# Take first frame and find corners in it
ret, old_frame = cap.read()
old_gray = cv.cvtColor(old_frame, cv.COLOR_BGR2GRAY)
p0 = cv.goodFeaturesToTrack(old_gray, mask=None, **feature_params)
# Create a mask image for drawing purposes
mask = np.zeros_like(old_frame)
while True:
ret, frame = cap.read()
frame_gray = cv.cvtColor(frame, cv.COLOR_BGR2GRAY)
# calculate optical flow
p1, st, err = cv.calcOpticalFlowPyrLK(old_gray, frame_gray, p0, None,
**lk_params)
# Select good points
good_new = p1[st == 1]
good_old = p0[st == 1]
# draw the tracks
for i, (new, old) in enumerate(zip(good_new, good_old)):
a, b = new.ravel()
c, d = old.ravel()
def detect_player(self, frame):
#cvimg = pil2cv(frame)
#cvimg = cv2.cvtColor(cvimg,cv2.COLOR_BGR2GRAY)
#cvimg = cvimg - cv2.erode(cvimg,None)
#match = cv2.matchTemplate(cvimg,self.template,cv2.TM_CCOEFF_NORMED)
#mn,mx,mnLoc,mxLoc = cv2.minMaxLoc(match)
#MaxPx,MaxPy = mxLoc
#trows,tcols = (32,32)
#return [(MaxPx,MaxPy,tcols,trows)]
bb = self.bb
f = frame.crop((bb[0], bb[1], bb[0] + bb[2], bb[1] + bb[3]))
#ff.show()
#sys.exit()
img1 = pil2cv(
f
) #cv2pil(rcv1).crop((mxLoc[0]-32,mxLoc[1]-32,mxLoc[0]+32,mxLoc[1]+32)))
g = cv2.cvtColor(img1, cv2.cv.CV_BGR2GRAY) # get grayscale image
g = g - cv2.erode(g, None)
pt = cv2.goodFeaturesToTrack(g, **self.feature_params)
# pt is for cropped image. add x, y in each point.
try:
len(pt)
except:
self.prev_frame = frame
self.bb = self.predictBB(bb, self.old_pts, self.new_pts, frame)
self.old_pts = self.new_pts
return None
for i in xrange(len(pt)):
pt[i][0][0] = pt[i][0][0] + bb[0]
pt[i][0][1] = pt[i][0][1] + bb[1]
self.p0 = np.float32(pt).reshape(-1, 1, 2)
cf = frame
if self.prev_frame:
pf = self.prev_frame
else:
pf = cf
newg = pil2cv(cf)
oldg = pil2cv(pf)
newg = cv2.cvtColor(newg, cv2.cv.CV_BGR2GRAY)
oldg = cv2.cvtColor(oldg, cv2.cv.CV_BGR2GRAY)
newg = newg - cv2.erode(newg, None)
oldg = oldg - cv2.erode(oldg, None)
#p0 = np.float32(pt).reshape(-1, 1, 2)
# For Forward-Backward Error method
# using calcOpticalFlowPyrLK on both image frames
# with corresponding tracking points
p1, st, err = cv2.calcOpticalFlowPyrLK(oldg, newg, self.p0, None,
**self.lk_params)
p0r, st, err = cv2.calcOpticalFlowPyrLK(newg, oldg, p1, None,
**self.lk_params)
d = abs(self.p0 - p0r).reshape(-1, 2).max(-1)
good = d
self.new_pts = []
#self.old_pts = self.def_pts
#print self.old_pts
for pts, val in itertools.izip(p1, good):
if val:
# points using forward-backward error
self.new_pts.append([pts[0][0], pts[0][1]])
self.prev_frame = frame
self.bb = self.predictBB(bb, self.old_pts, self.new_pts, frame)
self.old_pts = self.new_pts
return (self.bb[0], self.bb[1], self.bb[2], self.bb[3])
def locate_fridge(img):
max_area = 0.6
min_area = 0.01
object_num = 0
# absolute dimensions
ref_length = 0.297 # [Meters]
ref_width = 0.210 # [Meters]
ref_area= ref_length*ref_width # [M**2]
# Dimensions of the image file
img_h, img_w, channels = img.shape
img_area = float(img_h*img_w)
f_height = 0
f_width = 0
indx_1 = 0
top_freezer = True
bottom_freezer = False
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
picName = 'step1_fridge.png'
cv2.imwrite(os.path.join('media/images/',picName) ,gray)
edged = cv2.Canny(gray, 50, 100)
picName = 'step2_fridge.png'
cv2.imwrite(os.path.join('media/images/',picName) ,edged)
kernel = np.ones((5,5),np.uint8)
edged = cv2.morphologyEx(edged, cv2.MORPH_CLOSE, kernel)
picName = 'step3_fridge.png'
cv2.imwrite(os.path.join('media/images/',picName) ,edged)
# We sort the picture
corners = cv2.goodFeaturesToTrack(gray,25,0.01,10)
corners = np.int0(corners)
contours,h = cv2.findContours(edged, cv2.RETR_TREE, cv2.CHAIN_APPROX_NONE)
contours = sorted(contours, key = cv2.contourArea , reverse = True)[:4]
# We Loop over the Contours
for cnt in contours:
peri = cv2.arcLength(cnt, True)
approx = cv2.approxPolyDP(cnt, 0.04 * peri, True)
ratio,corners,x,y,w,h = determine_shape(cnt)
box_area = float(w)*float(h)
area_ratio = (box_area/img_area)
indx_1 = indx_1+1
if corners>=4 and area_ratio<= max_area and area_ratio>= min_area:
# Increase the number of found objects
object_num=object_num+1
# print 'h:',h
if(object_num==1):
indx=indx_1
y1=y
if(object_num <=2):
f_height = f_height+h
if y>y1 and object_num==2:
# print 'Bottom Freezer'
bottom_freezer = True
top_freezer = False
elif y<y1 and object_num==2:
# print 'Top Freezer'
top_freezer = True
bottom_freezer = False
# Take the max width
if w > f_width:
f_width = w
if(object_num==3):
fh0 = h
fw0 = w
actual_area = cv2.contourArea(cnt)
cv2.rectangle(img,(x,y),(x+w,y+h),(0,255,0),2)
# print (box_area/img_area)*100.0
# Compute the area of the little paper
diff_ratio = min(abs((ref_width/ref_length)- (float(fw0)/float(fh0))),abs((ref_width/ref_length)- (float(fh0)/float(fw0))))
# print 'Difference: ', diff_ratio
object_area = float(fh0*fw0)
# print 'Height and Width of Fridge: ', f_height, f_width
# print 'Height and Width of Sheet: ', fh0, fw0
unit_coversion = np.sqrt(ref_area/object_area)
fridge_height_m = unit_coversion*float(f_height)
fridge_width_m = unit_coversion*float(f_width)
# Top freezer
if(top_freezer==True):
#standard_height = range(1.638,1.740,0.001)
if(1.638 <= fridge_height_m <= 1.740):
print 'true'
else:
quench_factor = float(1.638)/float(fridge_height_m)
fridge_height_m = fridge_height_m*quench_factor
fridge_width_m = fridge_width_m #*quench_factor
#print 'FAlSE!'
# In case we have a bottom Freezer
elif(bottom_freezer==True):
if(1.690 <= fridge_height_m <= 1.740):
print 'true'
else:
quench_factor = float(1.638)/float(fridge_height_m)
fridge_height_m = fridge_height_m*quench_factor
fridge_width_m = fridge_width_m #*quench_factor
#print 'FAlSE!'
# print '=================================================='
# if(top_freezer==True):
# print 'The Fridge is a Top Freezer'
# if(bottom_freezer==True):
# print 'The Fridge is a Bottom Freezer'
# print 'Fridge Height: [m] ', fridge_height_m*(1.0+diff_ratio)
# print 'Fridge Width: [m] ', fridge_width_m*(1.0+diff_ratio)
# print '=================================================='
ratio,corners,x0,y0,w0,h0 = determine_shape(contours[indx])
#cv2.rectangle(img,(x0,y0),(x0+f_width,y0+f_height),(255,0,0),2)
cv2.imshow('image',img)
cv2.waitKey(0)
cv2.putText(img, 'HxW: '+"{:.2f} x {:.2f} [m]".format( fridge_height_m ,fridge_width_m),
(int(10), int(20)), cv2.FONT_HERSHEY_SIMPLEX,
0.45, (0, 0, 255), 1)
picName = 'FRIDGE_ID.png'
cv2.imwrite(os.path.join('media/images/',picName) , img)
def detect_features(self, gray_image, previous_gray_image):
"""
- This function detects features with the openCV's goodFeaturesToTrack. Then these features are tracked from one
frame to the next with the openCV's Lucas Kanade optical flow method.
- Then features are detected again using the goodFeaturesToTrack method, but this time only where there are no
features already. This is done using a mask.
:param gray_image: the pre-processed gray image of the arena
:param previous_gray_image: the pre-processed gray image of the previous frame
:return: the newest added point from each track
"""
# Make sure there are features to track
if len(self.tracks) > 0:
p0 = np.float32([tr[-1] for tr in self.tracks]) # .reshape(-1, 1, 2)
# Track all features forward
p1, st, err = cv2.calcOpticalFlowPyrLK(previous_gray_image, gray_image, p0, None, **self.lk_settings)
# Track all features from the previous algorithm backwards.
p0r, st, err = cv2.calcOpticalFlowPyrLK(gray_image, previous_gray_image, p1, None, **self.lk_settings)
# Now we can use the forward-backward error to eliminate the bad matches
d = np.abs(np.subtract(p0, p0r)).reshape(-1, 2).max(-1)
good = d < 1.0
# Create a new array of tracks
new_tracks = []
# Add tracks to new array if the match is good
for tr, (x, y), good_flag in zip(self.tracks, p1.reshape(-1, 2), good):
# Means that forward-backwards error is high, so not a good match, let's skip it
if not good_flag:
continue
# Else we add the new point
tr.append((x, y))
# Prevent the tracks from growing to long
if len(tr) > self.track_len:
del tr[0]
# Finally we want to collect the good tracks
new_tracks.append(tr)
# Let's overwrite the old set of tracks with the new set of tracks
self.tracks = new_tracks
cv2.putText(self.visual_image, "Features:%d" % len(self.tracks), (20, 20), cv2.FONT_HERSHEY_SIMPLEX,
0.5, (0, 0, 0))
# Creating a mask to prevent the goodFeaturesToTrack algorithm to detect features that have already been
# detected.
mask = np.zeros_like(gray_image)
mask[:] = 255
# Fill the mask with black(0) at the features positions, so that it doesn't find any features there.
for x, y in [np.int32(tr[-1]) for tr in self.tracks]:
cv2.circle(mask, (x, y), 10, 0, -1)
if self.detector["ShiTomasi"] == True:
# Track features with the goodFeaturesToTrack algorithm
p = cv2.goodFeaturesToTrack(gray_image, mask=mask, **self.ShiTom_settings)
elif self.detector["FAST"] == True:
# Track features with the FAST feature detector
p = self.fast.detect(gray_image, mask=mask)
# We only need the coordinates(pt)
p = np.array([point.pt for point in p])
else:
print "No feature detector is selected"
p = None
# Append new features to the tracks array
if p is not None:
for xy in p.reshape(-1, 2):
self.tracks.append([tuple(xy)])
# We return only points that have a track history of > 5, this to have stable features.
return [tuple(list(tr[-1])) for tr in self.tracks if len(tr) > 5], gray_image
def getCorners(I):
corns = cv2.goodFeaturesToTrack(I, 4, 0.50, 50, None, None, 20)
return corns
import numpy as np
import cv2 as cv
from matplotlib import pyplot as plt
img = cv.imread('blox.jpg')
gray = cv.cvtColor(img, cv.COLOR_BGR2GRAY)
corners = cv.goodFeaturesToTrack(gray, 25, 0.01, 10)
corners = np.int0(corners)
for i in corners:
x, y = i.ravel()
cv.circle(img, (x, y), 3, 255, -1)
plt.imshow(img), plt.show()
img2 = cv2.resize(img2, (800, 600))
myAligned = alignImages(img, img2)
height, width, channels = img.shape
print(height)
print(width)
#This time we would add the corners to a white blank image
blank = np.zeros([height, width, 3], dtype=np.uint8)
blank.fill(255)
blank2 = np.zeros([height, width, 3], dtype=np.uint8)
blank2.fill(255)
gray = cv2.cvtColor(img2, cv2.COLOR_BGR2GRAY)
corners = cv2.goodFeaturesToTrack(gray, 225, 0.01, 10)
print(corners)
corners = np.int0(corners)
# print(corners)
# gray2 = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
corners2 = cv2.goodFeaturesToTrack(myAligned, 225, 0.01, 10)
corners2 = np.int0(corners2)
for i in corners:
x, y = i.ravel()
cv2.circle(blank, (x, y), 3, 255, -1)
for i in corners2:
import numpy as np
import cv2
img = cv2.imread('cornerR.png')
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
gray = np.float32(gray)
corners = cv2.goodFeaturesToTrack(gray, 800, 0.01, 0.5)
corners = np.int0(corners)
for corner in corners:
x, y = corner.ravel()
cv2.circle(img, (x, y), 3, (0, 0, 255), -1)
cv2.imshow('CornerUgao', img)
def searchkeypoints(self, skip_keypoints=False):
vidcap = cv2.VideoCapture(self.mp4)
success, frame = vidcap.read()
prev_frame = [[[0]]]
previous_timestamp = 0
frameCount = 0
keypoints = list()
self.frameWidth = frame.shape[1]
self.frameHeight = frame.shape[0]
# if video is ok ,start this loop
while success:
current_timestamp = vidcap.get(0) * 1000 * 1000
print("Processing frame#%d (%f ns)" % (frameCount, current_timestamp))
# first frame break this loop
if prev_frame[0][0][0] == 0:
self.frameInfo.append(
{"keypoints": None, "timestamp": current_timestamp}
)
prev_frame = frame
previous_timestamp = current_timestamp
continue
# if skip_keypoints == true
# it'll just store the timestamps of each frame.
# use this parameter to read a video after you've already
# calibrated your device and already have
# the values of the various unknowns.
if skip_keypoints:
self.frameInfo.append(
{"keypoints": None, "timestamp": current_timestamp}
)
continue
old_gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY)
# plt.imshow(old_gray, cmap='gray')
# plt.figure()
# plt.show()
new_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# plt.figure()
# plt.imshow(new_gray, cmap='gray')
# plt.show()
# extract some good features to track
old_corners = cv2.goodFeaturesToTrack(old_gray, 1000, 0.3, 30)
if old_corners is not None and len(old_corners) > 0:
for x, y in np.float32(old_corners).reshape(-1, 2):
keypoints.append((x, y))
if keypoints is not None and len(keypoints) > 0:
for x, y in keypoints:
cv2.circle(prev_frame, (int(x + 200), y), 3, (255, 255, 0))
# plt.imshow(prev_frame, cmap='gray')
# plt.show()
if old_corners.any() == None:
self.frameInfo.append(
{"keypoints": None, "timestamp": current_timestamp}
)
frameCount += 1
previous_timestamp = current_timestamp
prev_frame = frame
success, frame = vidcap.read()
continue
# If we did find keypoints to track, we use optical flow
# to identify where they are in the new frame:
# there may be the big defect!!
new_corners, status, err = cv2.calcOpticalFlowPyrLK(
old_gray,
new_gray,
old_corners,
None,
winSize=(15, 15),
maxLevel=2,
criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10, 0.03),
)
if new_corners is not None and len(new_corners) > 0:
for x, y in np.float32(new_corners).reshape(-1, 2):
keypoints.append((x, y))
if keypoints is not None and len(keypoints) > 0:
for x, y in keypoints:
cv2.circle(frame, (int(x + 200), y), 3, (255, 255, 0))
# plt.imshow(frame, cmap='gray')
# plt.show()
if len(old_corners) > 4:
homography, mask = cv2.findHomography(
old_corners, new_corners, cv2.RANSAC, 5.0
)
# convert to one dimension
mask = mask.ravel()
new_corners_homography = np.asarray(
[new_corners[i] for i in range(len(mask)) if mask[i] == 1]
)
old_corners_homography = np.asarray(
[old_corners[i] for i in range(len(mask)) if mask[i] == 1]
)
else:
new_corners_homography = new_corners
old_corners_homography = old_corners
self.frameInfo.append(
{
"keypoints": (old_corners_homography, new_corners_homography),
"timestamp": current_timestamp,
}
)
frameCount += 1
previous_timestamp = current_timestamp
prev_frame = frame
success, frame = vidcap.read()
self.numFrames = frameCount
self.duration = current_timestamp
return
#! usr/bin/env python
# importing the Libraries
import numpy as np
import cv2
# Read the image and convert to Grayscale
img = cv2.imread('IMAGE')
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# goodFeaturesToTrack is based on HarrisCorner detector with difference in the calculation of R
# This function takes 4 inputs the first being the grayscale image, second being max number of corners, third min quality level and the last min distances between the corners.
shi_corner = cv2.goodFeaturesToTrack(gray, 30, 0.01, 10)
# The detected corners then are converted to integers
shi_corner = np.int0(shi_corner)
# The corners are then marked.
for c in shi_corner:
x, y = c.ravel()
cv2.circle(img, (x,y), 3, 255, -1)
# Display the image
cv2.imshow('Corners', img)
if cv2.waitKey(0) & 0xff == 27:
cv2.destroyAllWindows()
# EPS epsilon is an upper bound on the error of a floating point numbers = 0.03 (SPEED)
lk_params = dict(winSize=(200, 200),
maxLevel=2,
criteria=(cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 10,
0.03))
cap = cv2.VideoCapture(0)
ret, prev_frame = cap.read()
prev_gray = cv2.cvtColor(prev_frame, cv2.COLOR_BGR2GRAY)
#PTS TP TRACK
prevPts = cv2.goodFeaturesToTrack(prev_gray, mask=None, **corner_track_params)
mask = np.zeros_like(prev_frame)
while True:
ret, frame = cap.read()
frame_gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
nextPts, status, err = cv2.calcOpticalFlowPyrLK(prev_gray, frame_gray,
prevPts, None, **lk_params)
good_new = nextPts[status == 1]
good_prev = prevPts[status == 1]
for i, (new, prev) in enumerate(zip(good_new, good_prev)):