temp_img = jsg.preprocess(source)
potential_glyphs = jsg.find_potential_glyphs(temp_img, 100.0)
for glyph in potential_glyphs:
glyph.compute_glyph(source)
if jsg.compare_glyphs(glyph.glyph_matrix,target_list):
cv2.drawContours(source,[glyph.approx_poly],0,(0,255,0),1)
cv2.circle(source,(glyph.cx,glyph.cy),2,(255,0,255),-1)
#cv2.putText(source,str(glyph.nr), (glyph.cx,glyph.cy), cv2.FONT_HERSHEY_PLAIN, 2, (255,255,0), 2)
delta_array = jsg.delta_to_center(source, glyph)
#print delta_array
for item in delta_array:
if abs(delta_array[0]) > 0.1 and (cv2.getTickCount()-ptz_last_command_tick > ptz_gracetime_ticks):
print "pan",item
ptz.relative_pan(P_GAIN_PAN*delta_array[0])
command_this_frame = 1
if abs(delta_array[1]) > 0.5 and (cv2.getTickCount()-ptz_last_command_tick > ptz_gracetime_ticks):
print "tilt",-0.01*delta_array[0]
ptz.tilt(P_GAIN_TILT*delta_array[1])
command_this_frame = 1
if command_this_frame:
ptz_last_command_tick = cv2.getTickCount()
command_this_frame = 0
#cv2.imshow('Roi',glyph.img_roi)
#cv2.imshow('Otsu',glyph.img_roi_otsu)
cv2.namedWindow('Source')
CAM_AUTH = requests.auth.HTTPDigestAuth("root", "mhwirth")
GAIN = 10
# payload = { 'rpan':'10' }
# response = requests.post(CAMERA_URL, data=payload, auth=CAM_AUTH)
window = np.zeros((1, 1, 3), np.uint8)
while True:
cv2.namedWindow("Joystick")
cv2.imshow("Joystick", window)
key = cv2.waitKey(1)
if key == 27:
exit(0)
elif key == 115:
print "Up"
ptz.tilt(-GAIN)
elif key == 119:
print "Down"
ptz.tilt(GAIN)
elif key == 97:
print "Right"
ptz.relative_pan(-GAIN)
elif key == 100:
print "Left"
ptz.relative_pan(GAIN)
else:
print key
CAM_AUTH = requests.auth.HTTPDigestAuth('root', 'mhwirth')
GAIN = 10
#payload = { 'rpan':'10' }
#response = requests.post(CAMERA_URL, data=payload, auth=CAM_AUTH)
window = np.zeros((1,1,3), np.uint8)
while True:
cv2.namedWindow('Joystick')
cv2.imshow('Joystick',window)
key = cv2.waitKey(1)
if key == 27:
exit(0)
elif key == 115:
print "Up"
ptz.tilt(-GAIN)
elif key == 119:
print "Down"
ptz.tilt(GAIN)
elif key == 97:
print "Right"
ptz.relative_pan(-GAIN)
elif key == 100:
print "Left"
ptz.relative_pan(GAIN)
else:
print key
