def test_prosac(self):
"""
改进抽样一致
"""
Camera.reset()
self.__last_frame = None
print("PROSAC")
for i in range(1, 30):
start = time.clock()
_, frame = Camera.get_frame()
if self.__last_frame is None:
self.__last_frame = frame
continue
img = cv2.absdiff(frame, self.__last_frame)
self.__last_frame = frame
img = cv2.GaussianBlur(img, (5, 5), 2.5)
img = ImageUtils.morphology(img, cv2.MORPH_DILATE, 16)
_, img = ImageUtils.binary(img, threshold_type=cv2.THRESH_OTSU)
# 计算特征点
key_points, descriptors = ImageUtils.get_key_points(frame, img)
matches = ImageUtils.knn_match(self.__target_descriptors,
descriptors)
if len(matches) > 0:
# 匹配到合适的特征点
points = ImageUtils.get_matches_points(key_points, matches)
src_key_points = ImageUtils.get_matches_points(
self.__target_key_points, matches, 1)
# PROSAC去除错误点
_, mask = cv2.findHomography(src_key_points, points, cv2.RHO)
if mask is not None:
points_after = points[mask.ravel() == 1]
end = time.clock()
print("%d\t%d\t%d\t%f" %
(i, len(points), len(points_after), end - start))
async def _capture(self, websocket):
response_frame = response_pb2.FrameResponse()
response_frame.code = 1
response_frame.type = response_pb2.FrameResponse.VIDEO
ret, img = Camera.get_frame()
if ret:
response_frame.frame = ImageUtils.img2bytes(img)
await websocket.send(response_frame.SerializeToString())
self.__outline.add_frame(img)
async def _send_frame(self, websocket):
response = response_pb2.FrameResponse()
response.code = 1
response.type = response_pb2.FrameResponse.VIDEO
while self.__capture:
ret, img = Camera.get_frame()
if ret:
old_position, new_position, contour = self.__tracker.track(img)
print(old_position, new_position)
# 把轮廓绘制到帧上
if contour is not None:
cv2.drawContours(img, [contour], 0, (255, 0, 0), 2)
response.frame = ImageUtils.img2bytes(img)
try:
await websocket.send(response.SerializeToString())
except ConnectionClosed:
self.__capture = False
await asyncio.sleep(1 / 10)
