- added PiCameraPipeline

- added Lasertrack
- picam_test uses PiCameraPipeline



git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@324 b431acfa-c32f-4a4a-93f1-934dc6c82436

lasertrack.py

@@ -0,0 +1,141 @@
+# import the necessary packages
+from __future__ import print_function
+
+from imutils.video import FPS
+
+import sys
+import numpy as np
+import argparse
+import time
+import cv2
+import pprint
+import math
+import struct
+import ev3.ev3 as ev3
+from threading import Thread
+
+from matplotlib import pyplot as plt
+from mpl_toolkits.mplot3d import Axes3D
+
+from picamera import PiCamera
+from piCameraPipeline import PiCameraPipeline
+from piCameraPipeline.PiCameraPipeline import RgbProcess
+from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
+
+width = 320
+height = 240
+
+# construct the argument parse and parse the arguments
+ap = argparse.ArgumentParser()
+ap.add_argument("-n", "--seconds", type=int, default=10,
+	help="# of seconds to run")
+ap.add_argument("-r", "--framerate", type=int, default=30,
+	help="Framerate in frame/s")
+ap.add_argument("-f", "--filename", type=str, default='piCamera',
+	help="Whether or not frames should be displayed")
+args = vars(ap.parse_args())
+
+videoFile = args["filename"]
+framerate = args["framerate"]
+seconds = args["seconds"]
+
+class VideoSource(RgbProcessorAdapter):
+	def __init__(self, fileName, resolution, framerate):
+		super(VideoSource, self).__init__(resolution)
+		self.fileName = fileName
+		self.resolution = resolution
+		self.framerate = framerate
+		self.thread = None
+		self.camera = None
+		self.cancel = False
+		if fileName == 'piCamera':
+			self.camera = PiCamera()
+			self.camera.resolution = (self.resolution[0], self.resolution[1])
+			self.camera.framerate = self.framerate
+		else:
+			self.needRgbConversion = False
+			self.thread = Thread(target=self.fileReadThread)
+
+	def fileReadThread(self):
+		pass
+
+	def start(self):
+		if self.thread is not None:
+			self.thread.start()
+			pass
+		else:
+			self.camera.start_recording(self, format="bgr")
+		
+	def stop(self):
+		if self.thread is not None:
+			self.cancel = True
+			self.thread.join()
+		else:
+			self.camera.stop_recording()
+
+	def fileReadThread(self):
+		cap = cv2.VideoCapture(self.fileName)
+		while not self.cancel:
+			ret, frame = cap.read()
+			self.write(frame)
+			time.sleep(1.0/self.framerate)
+
+
+class MyRgbProcess(RgbProcess):
+	def __init__(self, resolution=(320, 240, 3), numEntries=2, next=None):
+		super(MyRgbProcess, self).__init__(resolution, numEntries, next)
+
+	def process(self):
+		data = self.read(1.0)
+		if data is not None:
+			gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
+#			gray_blurred = cv2.medianBlur(gray,5)
+			gray_blurred = cv2.GaussianBlur(gray,(5,5),0)
+			ret,thresh = cv2.threshold(gray_blurred,0,255,cv2.THRESH_BINARY+cv2.THRESH_OTSU)
+		#	thresh = cv2.adaptiveThreshold(gray_blurred,255,cv2.ADAPTIVE_THRESH_MEAN_C, cv2.THRESH_BINARY,11,2)
+		#	thresh = cv2.adaptiveThreshold(gray_blurred,255,cv2.ADAPTIVE_THRESH_GAUSSIAN_C, cv2.THRESH_BINARY,11,2)
+
+			# 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)
+
+			img1_objects = data.copy()
+			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)
+				pass
+
+			cv2.imshow('Contours', img1_contours)
+			cv2.imshow('Objects', img1_objects)
+			cv2.waitKey(1)
+
+			if self.next is not None:
+				self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
+
+# Connect to brick
+#with ev3.EV3() as brick:
+
+# created a *threaded *video stream, allow the camera sensor to warmup,
+# and start the FPS counter
+
+videoSource = VideoSource(videoFile, (width,height,3), framerate)
+proc = MyRgbProcess((240, 320, 3), 4)
+videoSource.processorAdd(proc)
+videoSource.start()
+
+print("[INFO] sampling THREADED frames from `" + videoFile + "` at " + str(framerate) + " frame/s")
+time.sleep(seconds)
+videoSource.stop()
+proc.stop()
+
+# do a bit of cleanup
+cv2.destroyAllWindows()
+
+