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- improved lasertrack

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- VideoSource supports image resizing if file resolution doesn't match requested resolution


git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@333 b431acfa-c32f-4a4a-93f1-934dc6c82436
This commit is contained in:
jens
2016-10-22 12:57:48 +00:00
parent a59fa57d9a
commit 176b58d9cc
3 changed files with 66 additions and 47 deletions
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lasertrack.py
+54 -46
View File
@@ -23,9 +23,6 @@ from piCameraPipeline.PiCameraPipeline import RgbProcess
from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
from piCameraPipeline.VideoSource import VideoSource
width = 320
height = 240
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("-n", "--seconds", type=int, default=10,
@@ -36,19 +33,26 @@ ap.add_argument("-e", "--with-ev3", type=str, default='off',
help="Framerate in frame/s")
ap.add_argument("-f", "--filename", type=str, default='piCamera',
help="Choose video source")
ap.add_argument("-x", "--width", type=int, default=320,
help="width")
ap.add_argument("-y", "--height", type=int, default=240,
help="height")
args = vars(ap.parse_args())
videoFile = args["filename"]
framerate = args["framerate"]
seconds = args["seconds"]
with_ev3 = args["with_ev3"] == 'on'
width = args["width"]
height = args["height"]
class MyRgbProcess(RgbProcess):
def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None, brick=None):
super(MyRgbProcess, self).__init__(name, resolution, numEntries, next)
self.brick = brick
self.isVisible = False
self.frameSkip = 3
self.frameSkipCounter = 0
def onFirstFrame(self):
self.sendBrick(0, 0)
@@ -61,48 +65,52 @@ class MyRgbProcess(RgbProcess):
gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
img1_objects = data.copy()
if 1:
# Min / max approach
gray_blurred = cv2.medianBlur(gray,5)
minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(gray_blurred)
x = maxLoc[0]
y = maxLoc[1]
if maxVal > 100*minVal:
if not self.isVisible:
print ("Visible")
self.isVisible = True
img1_objects = cv2.rectangle(img1_objects,(x-5,y-5),(x+5,y+5),(0,0,255),2)
errorX = float(x)-160
errorY = float(y)-120
self.sendBrick(errorX/2, errorY/2)
# print(maxLoc)
else:
if self.isVisible:
print ("NOT Visible")
self.sendBrick(0, 0)
self.isVisible = False
# Min / max approach
gray_blurred = cv2.medianBlur(gray,3)
minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(gray_blurred)
x = maxLoc[0]
y = maxLoc[1]
rect = None
state = 0
ref_color = 1
for roi_size in range(1,15):
roi = gray[y-roi_size:y+roi_size, x-roi_size:x+roi_size]
mean_color = cv2.mean(roi)
if state == 0:
ref_color = mean_color[0]
if ref_color < 128:
break
state = 1
elif state == 1:
km = mean_color[0]/ref_color
if km < 0.7:
rect = [(x-roi_size, y-roi_size),(x+roi_size, y+roi_size)]
break
if rect is not None:
if not self.isVisible:
print ("Visible")
self.isVisible = True
img1_objects = cv2.rectangle(img1_objects,rect[0],rect[1],(255,0,0),1)
errorX = float(x)-self.res[0]/2
errorY = float(y)-self.res[1]/2
self.sendBrick(errorX/2, errorY/2)
else:
# Contour approach
gray_blurred = cv2.GaussianBlur(gray,(5,5),0)
ret,thresh = cv2.threshold(gray_blurred,0,255,cv2.THRESH_BINARY+cv2.THRESH_OTSU)
# Contours
(_, contours, hierachy) = cv2.findContours(thresh.copy(),cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
img1_contours = np.zeros((height,width,3), np.uint8)
img1_contours = cv2.drawContours(img1_contours, contours, -1, (0,255,0), 1)
for contour in contours:
x,y,w,h = cv2.boundingRect(contour)
roi = gray[y:y+h, x:x+w]
mean_color = cv2.mean(gray)
mean_color_roi = cv2.mean(roi)
if mean_color_roi[0] > 2*mean_color[0]:
print (mean_color)
print (mean_color_roi)
img1_objects = cv2.rectangle(img1_objects,(x,y),(x+w,y+h),(0,0,255),2)
if self.isVisible:
print ("NOT Visible")
self.sendBrick(0, 0)
self.isVisible = False
showFrame = False
if self.frameSkipCounter > 0:
self.frameSkipCounter -= 1
else:
self.frameSkipCounter = self.frameSkip-1
showFrame = True
cv2.imshow('Contours', img1_contours)
cv2.imshow('Objects', img1_objects)
cv2.waitKey(1)
if showFrame:
cv2.imshow('Objects', img1_objects)
cv2.waitKey(1)
if self.next is not None:
self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
@@ -119,7 +127,7 @@ if with_ev3:
with ev3.EV3() as brick:
videoSource = VideoSource(videoFile, (width,height,3), framerate)
proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4, brick=brick)
proc = MyRgbProcess('MyRgbProcess', (height, width, 3), 4, brick=brick)
videoSource.processorAdd(proc)
videoSource.start()
@@ -129,7 +137,7 @@ if with_ev3:
proc.stop()
else:
videoSource = VideoSource(videoFile, (width,height,3), framerate)
proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4)
proc = MyRgbProcess('MyRgbProcess', (height, width, 3), 4)
videoSource.processorAdd(proc)
videoSource.start()
piCameraPipeline/PiCameraPipeline.py
+1
View File
@@ -63,6 +63,7 @@ class RgbProcess(Fifo):
def __init__(self, name='RgbProcess', resolution=(320, 240, 3), numEntries=2, next=None):
super(RgbProcess, self).__init__((numEntries, ) + resolution)
self.name = name
self.res = resolution
self.next = next
self.thread = Thread(target=self.run)
self.cancel = False
piCameraPipeline/VideoSource.py
+11 -1
View File
@@ -1,5 +1,6 @@
import time
import cv2
import imutils
from threading import Thread
from picamera import PiCamera
from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
@@ -41,10 +42,19 @@ class VideoSource(RgbProcessorAdapter):
def fileReadThread(self):
cap = cv2.VideoCapture(self.fileName)
cap_w = cap.get(cv2.CAP_PROP_FRAME_WIDTH)
cap_h = cap.get(cv2.CAP_PROP_FRAME_HEIGHT)
needResize = False
if self.resolution[0] != cap_w or self.resolution[1] != cap_h:
needResize = True
while not self.cancel:
ret, frame = cap.read()
if ret:
self.write(frame)
if needResize:
self.write(imutils.resize(frame, width=self.resolution[0], height=self.resolution[1]))
else:
self.write(frame)
else:
break
time.sleep(1.0/self.framerate)