def video_test(input_video_path=None, output_video_path=None):
cx = 595
cy = 303
roi_width = 25
roi_length = 90
cap = cv2.VideoCapture(
input_video_path \
if input_video_path is not None \
else input('enter video path: '))
original_frames = []
ret, frame = cap.read()
for i in range(15):
original_frames.append(frame)
img, pts1 = inv_persp_new(
frame, (cx, cy), (roi_width, roi_length), spline_dist, 200)
ret, frame = cap.read()
cy, cy = find_center_point(original_frames, (400, 100, 800, 719))
while(ret):
ret, frame = cap.read()
img, pts1 = inv_persp_new(
frame, (cx, cy), (roi_width, roi_length), spline_dist, 200)
img = gabor_filter(img)
canny = cv2.Canny(img, 50, 200)
cv2.imshow('original image', img)
cv2.imshow('after canny', canny)
k = cv2.waitKey(1) & 0xff
if k == 27:
break
cap.release()
cv2.destroyAllWindows()
def video_test(input_video_path=None, output_video_path=None):
cx = 595
cy = 303
roi_width = 25
roi_length = 90
cap = cv2.VideoCapture(
input_video_path \
if input_video_path is not None \
else input('enter video path: '))
transformed_frames = Frame_queue()
original_frames = deque()
ret, frame = cap.read()
for i in range(15):
original_frames.append(frame)
img, pts1 = inv_persp_new(frame, (cx, cy), (roi_width, roi_length),
spline_dist, transformed_img_width)
transformed_frames.append(img)
ret, frame = cap.read()
cy, cy = find_center_point(original_frames, (400, 100, 800, 719))
past_img = transformed_frames[-5].frame[300:, 20:-20]
coord_y = 1
while (ret):
ret, frame = cap.read()
img, pts1 = inv_persp_new(frame, (cx, cy), (roi_width, roi_length),
spline_dist, transformed_img_width)
#img_gray, old_img_gray, match, absdiff = tm.find_obstacles(transformed_frames, (0, 50, 200, 400), method='sparse')
transformed_frames.popleft()
transformed_frames.append(img)
# transformed_frames.append(gabor_filter(img))
slam_height, slam_width = past_img.shape[:2]
y_to = slam_height - coord_y - 200
y_from = slam_height - coord_y - 300
print('position', y_from, y_to)
# cv2.imshow('current', transformed_frames[-1].frame)
cv2.imshow('frame position',
transformed_frames[-1].frame[-300:-200, :])
cv2.imshow('slam position', past_img[y_from:y_to, :])
cv2.imshow(
'diff',
cv2.absdiff(transformed_frames[-1].frame[-300:-200, 20:-20],
past_img[y_from:y_to, :]))
past_img, shift_x, shift_y = stich_two_images(
past_img, transformed_frames[-9].frame[300:, :],
transformed_frames[-1].frame[300:, :])
coord_y -= shift_y
print('y is', coord_y)
cv2.imshow('slam', past_img)
k = cv2.waitKey(1) & 0xff
if k == 27:
break
cv2.imwrite('slam.jpg', past_img)
cap.release()
cv2.destroyAllWindows()
def video_test(input_video_path=None, output_video_path=None):
cx = 595
cy = 303
roi_width = 25
roi_length = 90
cap = cv2.VideoCapture(
input_video_path \
if input_video_path is not None \
else input('enter video path: '))
old_images = deque()
original_frames = deque()
ret, frame = cap.read()
for i in range(15):
original_frames.append(frame)
img, pts1 = inv_persp_new(frame, (cx, cy), (roi_width, roi_length),
spline_dist, 200)
img = cv2.blur(img, (7, 7))
old_images.append(img)
ret, frame = cap.read()
cy, cy = find_center_point(original_frames, (400, 100, 800, 719))
height, width, _ = frame.shape
out_height, out_width, _ = img.shape
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(
output_video_path \
if output_video_path is not None \
else 'output.avi',
fourcc, 15.0, (out_width * 4, out_height))
frame_number = 0
shift = 23
while (ret):
ret, frame = cap.read()
img, pts1 = inv_persp_new(frame, (cx, cy), (roi_width, roi_length),
spline_dist, 200)
old_images.popleft()
img = cv2.blur(img, (7, 7))
old_images.append(img)
new, old, sub_img = back_sub.calc_diff(old_images,
shift_per_frame=shift)
cv2.imshow('img', np.concatenate((img, new, old, sub_img), axis=1))
dst = regress_perspecive(sub_img, pts1, (height, width))
dst = cv2.addWeighted(frame, 0.3, dst, 0.7, 0)
cv2.imshow('inv', dst)
out.write(np.concatenate((img, new, old, sub_img), axis=1))
k = cv2.waitKey(1) & 0xff
if k == 27:
break
elif k == ord('m'):
shift += 1
print(shift)
elif k == ord('l'):
shift -= 1
print(shift)
elif k == ord('s'):
cv2.imwrite('screen.png', img)
cap.release()
out.release()
cv2.destroyAllWindows()