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- added cam calib

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git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@319 b431acfa-c32f-4a4a-93f1-934dc6c82436
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jens
2016-09-20 16:39:34 +00:00
parent 92082e5e5e
commit 3f284cdefd
2 changed files with 84 additions and 24 deletions
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PiVideoStream.py
+23 -17
View File
@@ -12,25 +12,31 @@ class PiVideoStream:
self.camera.resolution = resolution self.camera.resolution = resolution
self.camera.framerate = framerate self.camera.framerate = framerate
self.camera.exposure_mode = 'auto' self.camera.exposure_mode = 'auto'
# self.camera.image_effect = 'colorbalance'
# self.camera.image_effect_params = (0,1,1,1,0,0)
awb_gains = self.camera.awb_gains awb_gains = self.camera.awb_gains
print ("sensor_mode : " + str(self.camera.sensor_mode)) print ("sensor_mode : " + str(self.camera.sensor_mode))
print ("resolution : " + str(self.camera.resolution)) print ("resolution : " + str(self.camera.resolution))
print ("framerate : " + str(self.camera.framerate)) print ("framerate : " + str(self.camera.framerate))
print ("awb_mode : " + str(self.camera.awb_mode)) print ("awb_mode : " + str(self.camera.awb_mode))
print ("awb_gains : " + str((float(awb_gains[0]), float(awb_gains[1])))) print ("awb_gains : " + str((float(awb_gains[0]), float(awb_gains[1]))))
print ("analog_gain : " + str(float(self.camera.analog_gain))) print ("analog_gain : " + str(float(self.camera.analog_gain)))
print ("digital_gain : " + str(float(self.camera.digital_gain))) print ("digital_gain : " + str(float(self.camera.digital_gain)))
print ("iso : " + str(self.camera.iso)) print ("iso : " + str(self.camera.iso))
print ("brightness : " + str(self.camera.brightness)) print ("brightness : " + str(self.camera.brightness))
print ("contrast : " + str(self.camera.contrast)) print ("contrast : " + str(self.camera.contrast))
print ("saturation : " + str(self.camera.saturation)) print ("saturation : " + str(self.camera.saturation))
print ("exposure_mode : " + str(self.camera.exposure_mode)) print ("exposure_mode : " + str(self.camera.exposure_mode))
print ("exposure_speed: " + str(self.camera.exposure_speed)) print ("exposure_speed : " + str(self.camera.exposure_speed))
print ("shutter_speed : " + str(self.camera.shutter_speed)) print ("exposure_compensation: " + str(self.camera.exposure_compensation))
print ("meter_mode : " + str(self.camera.meter_mode)) print ("shutter_speed : " + str(self.camera.shutter_speed))
print ("image_effect : " + str(self.camera.image_effect)) print ("meter_mode : " + str(self.camera.meter_mode))
print ("sharpness : " + str(self.camera.sharpness)) print ("color_effects : " + str(self.camera.color_effects))
print ("image_effect : " + str(self.camera.image_effect))
print ("image_effect_params : " + str(self.camera.image_effect_params))
print ("sharpness : " + str(self.camera.sharpness))
self.rawCapture = PiRGBArray(self.camera, size=resolution) self.rawCapture = PiRGBArray(self.camera, size=resolution)
self.stream = self.camera.capture_continuous(self.rawCapture, self.stream = self.camera.capture_continuous(self.rawCapture,
beadDetect.py
+61 -7
View File
@@ -3,6 +3,7 @@ from __future__ import print_function
from imutils.video import FPS from imutils.video import FPS
import sys
import numpy as np import numpy as np
import argparse import argparse
import time import time
@@ -83,7 +84,7 @@ class FindObjects():
perimeter = cv2.arcLength(contours[member['id']], True) perimeter = cv2.arcLength(contours[member['id']], True)
pi = 3.14159265359 pi = 3.14159265359
Q = 0 Q = 0
if (perimeter > 0): if (area > 10):
Q = 4*pi*area/(perimeter*perimeter) Q = 4*pi*area/(perimeter*perimeter)
if Q > 0.7: 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") help="# of frames to loop over for FPS test")
ap.add_argument("-f", "--filename", type=str, default='piCamera', ap.add_argument("-f", "--filename", type=str, default='piCamera',
help="Whether or not frames should be displayed") 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()) args = vars(ap.parse_args())
videoFile = args["filename"] videoFile = args["filename"]
@@ -135,7 +138,7 @@ if videoFile == "piCamera":
from PiVideoStream import PiVideoStream from PiVideoStream import PiVideoStream
from picamera.array import PiRGBArray from picamera.array import PiRGBArray
from picamera import PiCamera 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) time.sleep(5.0)
else: else:
vs = cv2.VideoCapture(videoFile) vs = cv2.VideoCapture(videoFile)
@@ -150,14 +153,63 @@ findObjects = FindObjects()
beadColors = [] beadColors = []
numColorClasses = 0 numColorClasses = 0
# loop over some frames...this time using the threaded stream if args["calibrate"] == 'on':
while fps._numFrames < args["num_frames"]: lens_corr = np.ones((height, width, 3), np.float32)
# grab the frame from the threaded video stream
if videoFile == "piCamera": if videoFile == "piCamera":
frame = vs.read() frame = vs.read()
else: else:
ret, frame = vs.read() 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) kernel = np.ones((3,3),np.uint8)
frame_dilated = cv2.dilate(frame,kernel,iterations = 1) frame_dilated = cv2.dilate(frame,kernel,iterations = 1)
gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY) gray = cv2.cvtColor(frame,cv2.COLOR_BGR2GRAY)
@@ -231,7 +283,9 @@ while fps._numFrames < args["num_frames"]:
numColorClasses = len(colorClasses) numColorClasses = len(colorClasses)
print("Found " + str(numColorClasses) + " color classes") 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('Contours', frame_dilated)
cv2.imshow('Colors', img1_colors) cv2.imshow('Colors', img1_colors)
cv2.imshow('Canny',img1_canny) cv2.imshow('Canny',img1_canny)
@@ -279,7 +333,7 @@ Z = np.float32(plotColors)
# Define criteria = ( type, max_iter, epsilon ) # Define criteria = ( type, max_iter, epsilon )
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 100, 0.1) 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) print (center)