jens
a59fa57d9a
git-svn-id: http://moon:8086/svn/software/trunk/projects/opencv@332 b431acfa-c32f-4a4a-93f1-934dc6c82436
144 lines
4.2 KiB
Python
Executable File
144 lines
4.2 KiB
Python
Executable File
# import the necessary packages
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from __future__ import print_function
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from imutils.video import FPS
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import sys
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import numpy as np
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import argparse
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import time
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import cv2
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import pprint
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import math
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import struct
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import ev3.ev3 as ev3
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from threading import Thread
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from matplotlib import pyplot as plt
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from mpl_toolkits.mplot3d import Axes3D
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from picamera import PiCamera
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from piCameraPipeline import PiCameraPipeline
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from piCameraPipeline.PiCameraPipeline import RgbProcess
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from piCameraPipeline.PiCameraPipeline import RgbProcessorAdapter
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from piCameraPipeline.VideoSource import VideoSource
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width = 320
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height = 240
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# construct the argument parse and parse the arguments
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ap = argparse.ArgumentParser()
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ap.add_argument("-n", "--seconds", type=int, default=10,
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help="# of seconds to run")
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ap.add_argument("-r", "--framerate", type=int, default=30,
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help="Framerate in frame/s")
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ap.add_argument("-e", "--with-ev3", type=str, default='off',
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help="Framerate in frame/s")
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ap.add_argument("-f", "--filename", type=str, default='piCamera',
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help="Choose video source")
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args = vars(ap.parse_args())
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videoFile = args["filename"]
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framerate = args["framerate"]
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seconds = args["seconds"]
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with_ev3 = args["with_ev3"] == 'on'
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class MyRgbProcess(RgbProcess):
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def __init__(self, name, resolution=(320, 240, 3), numEntries=2, next=None, brick=None):
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super(MyRgbProcess, self).__init__(name, resolution, numEntries, next)
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self.brick = brick
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self.isVisible = False
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def onFirstFrame(self):
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self.sendBrick(0, 0)
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def onLastFrame(self):
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self.sendBrick(0, 0)
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def onProcess(self):
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data = self.read(1.0)
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if data is not None:
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gray = cv2.cvtColor(data,cv2.COLOR_BGR2GRAY)
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img1_objects = data.copy()
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if 1:
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# Min / max approach
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gray_blurred = cv2.medianBlur(gray,5)
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minVal, maxVal, minLoc, maxLoc = cv2.minMaxLoc(gray_blurred)
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x = maxLoc[0]
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y = maxLoc[1]
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if maxVal > 100*minVal:
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if not self.isVisible:
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print ("Visible")
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self.isVisible = True
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img1_objects = cv2.rectangle(img1_objects,(x-5,y-5),(x+5,y+5),(0,0,255),2)
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errorX = float(x)-160
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errorY = float(y)-120
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self.sendBrick(errorX/2, errorY/2)
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# print(maxLoc)
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else:
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if self.isVisible:
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print ("NOT Visible")
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self.sendBrick(0, 0)
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self.isVisible = False
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else:
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# Contour approach
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gray_blurred = cv2.GaussianBlur(gray,(5,5),0)
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ret,thresh = cv2.threshold(gray_blurred,0,255,cv2.THRESH_BINARY+cv2.THRESH_OTSU)
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# Contours
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(_, contours, hierachy) = cv2.findContours(thresh.copy(),cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
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img1_contours = np.zeros((height,width,3), np.uint8)
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img1_contours = cv2.drawContours(img1_contours, contours, -1, (0,255,0), 1)
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for contour in contours:
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x,y,w,h = cv2.boundingRect(contour)
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roi = gray[y:y+h, x:x+w]
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mean_color = cv2.mean(gray)
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mean_color_roi = cv2.mean(roi)
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if mean_color_roi[0] > 2*mean_color[0]:
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print (mean_color)
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print (mean_color_roi)
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img1_objects = cv2.rectangle(img1_objects,(x,y),(x+w,y+h),(0,0,255),2)
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cv2.imshow('Contours', img1_contours)
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cv2.imshow('Objects', img1_objects)
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cv2.waitKey(1)
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if self.next is not None:
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self.next.write(cv2.cvtColor(gray_blurred,cv2.COLOR_GRAY2BGR))
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def sendBrick(self, errorX, errorY):
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if self.brick is not None:
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data = struct.pack("f", errorX)
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ev3.system_command.write_mailbox(self.brick, 'ErrorX', data)
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data = struct.pack("f", errorY)
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ev3.system_command.write_mailbox(self.brick, 'ErrorY', data)
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if with_ev3:
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# Connect to brick
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with ev3.EV3() as brick:
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videoSource = VideoSource(videoFile, (width,height,3), framerate)
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proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4, brick=brick)
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videoSource.processorAdd(proc)
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videoSource.start()
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print("[INFO] sampling THREADED frames from `" + videoFile + "` at " + str(framerate) + " frame/s")
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time.sleep(seconds)
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videoSource.stop()
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proc.stop()
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else:
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videoSource = VideoSource(videoFile, (width,height,3), framerate)
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proc = MyRgbProcess('MyRgbProcess', (240, 320, 3), 4)
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videoSource.processorAdd(proc)
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videoSource.start()
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print("[INFO] sampling THREADED frames from `" + videoFile + "` at " + str(framerate) + " frame/s")
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time.sleep(seconds)
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videoSource.stop()
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# do a bit of cleanup
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cv2.destroyAllWindows()
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