def start_vision():
"""
Creates a video feed and shows the colored blobs detected
"""
global framebuffer, frame
cv.NamedWindow("video",cv.CV_WINDOW_AUTOSIZE)
if utils.PITCH == "side":
cam = MplayerCamera()
else:
cam = MplayerCamera()
#cam = s.Camera(0,{"width" : 720, "height": 576})
#Calibrate cam
chessboard_dim = (9,6)
cal = Calibrate(chessboard_dim)
#TODO: Separate calibration data folders for the two pitches
string = "utils/" + utils.PITCH + "/"
cal.calibrate_camera_from_mem(string)
img = cam.getImage().getBitmap()
#number of frames to construct bg
numFrames = 60
#Process previously saved background image
#TODO: Separate background images for the two pitches
bg = cv.LoadImage("00000006.jpg")
bgFixed = cal.calibrate_image(utils.PITCH, bg)
frame_dim = cv.GetSize(bgFixed)
ba = BackgroundAveraging(bgFixed)
# for calculating fps later on
start = time.mktime(datetime.datetime.now().timetuple())
while(True):
# counting frames
frame += 1
img = cam.getImage().getBitmap()
#Build BG model
if ( frame <= 2):
continue
if(frame < numFrames):
baseimg = cal.calibrate_image(utils.PITCH,img)
if utils.BG_CALC:
ba.accumulate_background(baseimg)
else:
#TODO: impelement working from a directory (based on the pitch...)
ba.accumulate_background(bgFixed)
elif(frame == numFrames):
ba.create_models_from_stats()
else:
#more arguments added, cal is a camera calibration object
# ba is background model
#If ba = None, pre-saved image is used as bg
#
#### THIS IS THE CORE OF THE PROGRAM ####
(im, centers) = detect_centers(img,cal,ba,bgFixed)
# OUTPUT THE DETECTION FOR THE STRATEGY TEAM
yellow, blue, ball = centers
framebuffer = "%d;%f,%f,%f;%f,%f,%f;%f,%f" % (frame,
yellow[0], yellow[1], yellow[2],
blue[0], blue[1], blue[2],
ball[0], ball[1])
end = time.mktime(datetime.datetime.now().timetuple()) # used in fps calculation
#output fps
cv.PutText(im,"FPS: "+str(int(float(frame)/(end-start))), (500,20),cv.InitFont(cv.CV_FONT_HERSHEY_SIMPLEX, 0.5, 0.5) , (255,255,255))
cv.ShowImage("video", im)
if(cv.WaitKey(5) in Q_KEYS): # Die on the q key
print "Exiting on keypress"
#done = True
if utils.PITCH == "side":
cam.kill_mplayer()
break
# Exit the server thread when the main thread terminates
cv.DestroyWindow("video");
def start_vision():
"""
Creates a video feed and shows the colored blobs detected
"""
frame = 0
cv.NamedWindow("video",cv.CV_WINDOW_AUTOSIZE)
#NOTE: BREAKS HERE
cam = s.Camera(0,{"width" : 720, "height": 576})
# im = cam.getImage()
# print type(im)
print "There"
#Calibrate cam
#TO DO:Create new calibration data
chessboard_dim = (9,6)
cal = Calibrate(chessboard_dim)
cal.calibrate_camera_from_mem("utils/calibration_data/")
img = cam.getImage().getBitmap()
#number of frames to construct bg
numFrames = 30
#Backg image, undistort it
bg = cv.LoadImage("00000006.jpg")
undist_im = cal.undist_fisheye(bg)
cropped = cal.crop_frame(undist_im)
bgFixed = cal.undist_perspective(cropped, corners_from_mem=False)
frame_dim = cv.GetSize(bgFixed)
ba = BackgroundAveraging(bgFixed)
while(True):
#This is frame count(?)
frame += 1
img = cam.getImage().getBitmap()
#Build BG model
if(frame < numFrames):
undist_im = cal.undist_fisheye(img)
cropped = cal.crop_frame(undist_im)
baseimg = cal.undist_perspective(cropped, corners_from_mem=False)
ba.accumulate_background(baseimg)
elif(frame == numFrames):
ba.create_models_from_stats()
else:
#ba.background_diff(img, mask1)
#more arguments added, cal is a camera calibration object
# ba is background model
#If ba = None, pre-saved image is used as bg
#
(im, centers) = detect_centers(img,cal,ba,bgFixed)
# OUTPUT THE LINE INTO THE FORMAT THE STRATEGY TEAM WANT
#--- only after bg is built-----
yellow, blue, ball = centers
framebuffer = "%d;%f,%f,%f;%f,%f,%f;%f,%f" % (frame,
yellow[0], yellow[1], yellow[2],
blue[0], blue[1], blue[2],
ball[0], ball[1])
cv.ShowImage("video", im)
# cv.WaitKey(0)
if(cv.WaitKey(10) != -1 ):
break
# Exit the server thread when the main thread terminates
cv.DestroyWindow("video");
def start_vision():
"""
Creates a video feed and shows the colored blobs detected
"""
frame = 0
cv.NamedWindow("video", cv.CV_WINDOW_AUTOSIZE)
#NOTE: BREAKS HERE
cam = s.Camera(0, {"width": 720, "height": 576})
# im = cam.getImage()
# print type(im)
print "There"
#Calibrate cam
#TO DO:Create new calibration data
chessboard_dim = (9, 6)
cal = Calibrate(chessboard_dim)
cal.calibrate_camera_from_mem("utils/calibration_data/")
img = cam.getImage().getBitmap()
#number of frames to construct bg
numFrames = 30
#Backg image, undistort it
bg = cv.LoadImage("00000006.jpg")
undist_im = cal.undist_fisheye(bg)
cropped = cal.crop_frame(undist_im)
bgFixed = cal.undist_perspective(cropped, corners_from_mem=False)
frame_dim = cv.GetSize(bgFixed)
ba = BackgroundAveraging(bgFixed)
while (True):
#This is frame count(?)
frame += 1
img = cam.getImage().getBitmap()
#Build BG model
if (frame < numFrames):
undist_im = cal.undist_fisheye(img)
cropped = cal.crop_frame(undist_im)
baseimg = cal.undist_perspective(cropped, corners_from_mem=False)
ba.accumulate_background(baseimg)
elif (frame == numFrames):
ba.create_models_from_stats()
else:
#ba.background_diff(img, mask1)
#more arguments added, cal is a camera calibration object
# ba is background model
#If ba = None, pre-saved image is used as bg
#
(im, centers) = detect_centers(img, cal, ba, bgFixed)
# OUTPUT THE LINE INTO THE FORMAT THE STRATEGY TEAM WANT
#--- only after bg is built-----
yellow, blue, ball = centers
framebuffer = "%d;%f,%f,%f;%f,%f,%f;%f,%f" % (
frame, yellow[0], yellow[1], yellow[2], blue[0], blue[1],
blue[2], ball[0], ball[1])
cv.ShowImage("video", im)
# cv.WaitKey(0)
if (cv.WaitKey(10) != -1):
break
# Exit the server thread when the main thread terminates
cv.DestroyWindow("video")
