- added cam calib

git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@319 b431acfa-c32f-4a4a-93f1-934dc6c82436

beadDetect.py

@@ -3,6 +3,7 @@ from __future__ import print_function
 
 from imutils.video import FPS
 
+import sys
 import numpy as np
 import argparse
 import time
@@ -83,7 +84,7 @@ class FindObjects():
 				perimeter = cv2.arcLength(contours[member['id']], True)
 				pi = 3.14159265359
 				Q = 0
-				if (perimeter > 0):
+				if (area > 10):
 					Q = 4*pi*area/(perimeter*perimeter)
 
 				if Q > 0.7:
@@ -124,6 +125,8 @@ ap.add_argument("-r", "--framerate", type=int, default=30,
 	help="# of frames to loop over for FPS test")
 ap.add_argument("-f", "--filename", type=str, default='piCamera',
 	help="Whether or not frames should be displayed")
+ap.add_argument("-c", "--calibrate", type=str, default='off',
+	help="Whether or not frames should be displayed")
 args = vars(ap.parse_args())
 
 videoFile = args["filename"]
@@ -135,7 +138,7 @@ if videoFile == "piCamera":
 	from PiVideoStream import PiVideoStream
 	from picamera.array import PiRGBArray
 	from picamera import PiCamera
-	vs = PiVideoStream(resolution=(width,height), framerate=framerate).start()
+	vs = PiVideoStream(resolution=(2*width,2*height), framerate=framerate).start()
 	time.sleep(5.0)
 else:
 	vs = cv2.VideoCapture(videoFile)
@@ -150,13 +153,62 @@ findObjects = FindObjects()
 beadColors = []
 numColorClasses = 0
 
-# loop over some frames...this time using the threaded stream
-while fps._numFrames < args["num_frames"]:
-	# grab the frame from the threaded video stream
+if args["calibrate"] == 'on':
+	lens_corr = np.ones((height, width, 3), np.float32)
 	if videoFile == "piCamera":
 		frame = vs.read()
 	else:
 		ret, frame = vs.read()
+	
+	Z = np.float32(frame)
+	print (frame.dtype)
+	print (frame.shape)
+	print (lens_corr.dtype)
+	print (lens_corr.shape)
+	print (Z.dtype)
+	print (Z.shape)
+	ref_color = Z[height/2, width/2, :]
+	print (ref_color)
+
+	for c in range (0, 3):
+		lens_corr[:,:,c] = cv2.divide(ref_color[c], Z[:,:,c])
+
+	params = list()
+	params.append(cv2.IMWRITE_PNG_COMPRESSION)
+	params.append(0)
+
+	for c in range (0, 3):
+		lens_corr[:,:,c] = cv2.multiply(128, lens_corr[:,:,c])
+	cv2.imwrite("lens_corr.png", np.uint8(lens_corr), params)
+
+	sys.exit()
+
+
+frame = np.ones((height, width, 3), np.float32)
+lens_corr = np.float32(cv2.imread("lens_corr.png"))
+
+# loop over some frames...this time using the threaded stream
+while fps._numFrames < args["num_frames"]:
+	# grab the frame from the threaded video stream
+
+	if videoFile == "piCamera":
+		frame8 = vs.read()[int(height/2):int(height/2+height), int(width/2):int(width/2)+width]
+	else:
+		ret, frame8 = vs.read()
+
+	if 0:
+		frame32 = np.float32(frame8)
+		print (frame.dtype)
+		print (frame.shape)
+		print (lens_corr.dtype)
+		print (lens_corr.shape)
+
+		for c in range (0, 3):
+			 frame32[:,:,c] = cv2.multiply(lens_corr[:,:,c], frame32[:,:,c], 1.0/255)
+
+		frame = np.uint8(frame32)
+	else:
+		frame = frame8
 
 	kernel = np.ones((3,3),np.uint8)
 	frame_dilated = cv2.dilate(frame,kernel,iterations = 1)
@@ -231,7 +283,9 @@ while fps._numFrames < args["num_frames"]:
 		numColorClasses  = len(colorClasses)
 		print("Found " + str(numColorClasses) + " color classes")
 	
-#	cv2.imshow('Thresholded',img1_thr)
+	
+	cv2.imshow('Raw',frame8)
+	cv2.imshow('Corrected', frame)
 	cv2.imshow('Contours', frame_dilated)
 	cv2.imshow('Colors', img1_colors)
 	cv2.imshow('Canny',img1_canny)
@@ -279,7 +333,7 @@ Z = np.float32(plotColors)
 
 # Define criteria = ( type, max_iter, epsilon )
 criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.1)
-ret,label,center=cv2.kmeans(Z,10,None,criteria,10,cv2.KMEANS_PP_CENTERS)
+ret,label,center=cv2.kmeans(Z,numColorClasses,None,criteria,10,cv2.KMEANS_PP_CENTERS)
 
 print (center)