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implementing direction in tracker

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mwinter 2 years ago
parent b10c99d25c
commit 05e64cdefa
1 changed files with 100 additions and 80 deletions
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python/vernier_tracker.py
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@ -7,119 +7,138 @@ import cv2
from picamera2 import MappedArray, Picamera2, Preview
from picamera2.previews.qt import QGlPicamera2
import numpy as np
from pythonosc import udp_client
def rectFromPoint(center, len, width, axis):
rect = ((0, 0), (0, 0))
l = int(len/2)
w = int(width/2)
if(axis == 'x'):
rect = ((center[0] - l, center[1] - w), (center[0] + l, center[1] + w))
elif(axis == 'y'):
rect = ((center[0] - w, center[1] - l), (center[0] + w, center[1] + l))
return rect
rect = ((0, 0), (0, 0))
l = int(len/2)
w = int(width/2)
if(axis == 'x'):
rect = ((center[0] - l, center[1] - w), (center[0] + l, center[1] + w))
elif(axis == 'y'):
rect = ((center[0] - w, center[1] - l), (center[0] + w, center[1] + l))
return rect
def rectsFromPoint(center, l1, l2, l3, w, axis):
centerFine = center
fineInner = rectFromPoint(centerFine, l1, w, axis)
fineOuter = rectFromPoint(centerFine, l2, w, axis)
centerCoarse = center
if(axis == 'x'):
centerCoarse = (center[0], center[1] + w)
elif(axis == 'y'):
centerCoarse = (center[0] + w, center[1])
coarse = rectFromPoint(centerCoarse, l3, w, axis)
return [fineInner, fineOuter, coarse, center]
centerFine = center
fineInner = rectFromPoint(centerFine, l1, w, axis)
if(axis == 'x'):
fineInnerNeg = rectFromPoint((centerFine[0] - int(l1 / 4), centerFine[1]), int(l1 / 2), w, axis)
fineInnerPos = rectFromPoint((centerFine[0] + int(l1 / 4), centerFine[1]), int(l1 / 2), w, axis)
elif(axis == 'y'):
fineInnerNeg = rectFromPoint((centerFine[0], centerFine[1] - int(l1 / 4)), int(l1 / 2), w, axis)
fineInnerPos = rectFromPoint((centerFine[0], centerFine[1] + int(l1 / 4)), int(l1 / 2), w, axis)
fineOuter = rectFromPoint(centerFine, l2, w, axis)
centerCoarse = center
if(axis == 'x'):
centerCoarse = (center[0], center[1] + w)
elif(axis == 'y'):
centerCoarse = (center[0] + w, center[1])
coarse = rectFromPoint(centerCoarse, l3, w, axis)
return [fineInnerNeg, fineInnerPos, fineInner, fineOuter, coarse, center]
def moveROI(event, x, y, flags, params):
global roiX, roiY, moving, l1, l2, l3, w, selectedAxis
if event == cv2.EVENT_LBUTTONDOWN:
moving = True
global roiX, roiY, moving, l1, l2, l3, w, selectedAxis
if event == cv2.EVENT_LBUTTONDOWN:
moving = True
elif event==cv2.EVENT_MOUSEMOVE:
if moving==True:
if(selectedAxis == 'x'):
roiX = rectsFromPoint((x, y), l1, l2, l3, w, selectedAxis)
elif(selectedAxis == 'y'):
roiY = rectsFromPoint((x, y), l1, l2, l3, w, selectedAxis)
elif event==cv2.EVENT_MOUSEMOVE:
if moving==True:
if(selectedAxis == 'x'):
roiX = rectsFromPoint((x, y), l1, l2, l3, w, selectedAxis)
elif(selectedAxis == 'y'):
roiY = rectsFromPoint((x, y), l1, l2, l3, w, selectedAxis)
elif event == cv2.EVENT_LBUTTONUP:
moving = False
elif event == cv2.EVENT_LBUTTONUP:
moving = False
def crop(frame, rect):
return frame[rect[0][1]:rect[1][1], rect[0][0]:rect[1][0]]
return frame[rect[0][1]:rect[1][1], rect[0][0]:rect[1][0]]
def replaceCrop(frame, rect, crop):
frame[rect[0][1]:rect[1][1], rect[0][0]:rect[1][0]] = crop
frame[rect[0][1]:rect[1][1], rect[0][0]:rect[1][0]] = crop
def genDKernel(dVal):
return np.ones((dVal, dVal), np.uint8)
return np.ones((dVal, dVal), np.uint8)
def track(frame, roi, dKernel):
exp = 2
roiFineInner, roiFineOuter, roiCourse, roiCenter = roi
cropFineOuter = crop(frame, roiFineOuter)
cropCoarse = crop(frame, roiCourse)
#gray = cv2.cvtColor(crop, cv2.COLOR_BGR2GRAY)
dilation = cv2.dilate(cropFineOuter, dKernel, iterations=1)
ret,thresh = cv2.threshold(dilation,100,255,cv2.THRESH_BINARY)
replaceCrop(frame, roiFineOuter, thresh)
# this could potentially be made more efficient by cropping from cropFineOuter
cropFineInner = crop(frame, roiFineInner)
meanFine = pow(cropFineInner.mean(), exp)
meanCourse = pow(cropCoarse.mean(), 1)
mean = 0
if(meanCourse > 10):
mean = meanFine
distance = pow(255, exp) - mean
exp = 2
roiFineInnerNeg, roiFineInnerPos, roiFineInner, roiFineOuter, roiCourse, roiCenter = roi
cropFineOuter = crop(frame, roiFineOuter)
cropCoarse = crop(frame, roiCourse)
#gray = cv2.cvtColor(crop, cv2.COLOR_BGR2GRAY)
dilation = cv2.dilate(cropFineOuter, dKernel, iterations=1)
ret,thresh = cv2.threshold(dilation,100,255,cv2.THRESH_BINARY)
return distance
replaceCrop(frame, roiFineOuter, thresh)
meanCourse = pow(cropCoarse.mean(), 1)
mean = 0
direction = 1
if(meanCourse > 10):
# this could potentially be made more efficient by cropping from cropFineOuter
cropFineInner = crop(frame, roiFineInner)
# this could potentially be made more efficient by cropping from cropFineInner
cropFineInnerNeg = crop(frame, roiFineInnerNeg)
cropFineInnerPos = crop(frame, roiFineInnerPos)
meanFine = pow(cropFineInner.mean(), exp)
direction = np.sign(cropFineInnerPos.mean() - cropFineInnerNeg.mean())
mean = meanFine
distance = direction * (pow(255, exp) - mean)
return distance
def drawRect(frame, points):
cv2.rectangle(frame, points[0], points[1], (0, 255, 0))
cv2.rectangle(frame, points[0], points[1], (0, 255, 0))
def drawRoi(frame, roi):
for rect in roi[:3]:
drawRect(frame, rect)
center = roi[3]
cv2.line(frame, (center[0] - 5, center[1]), (center[0] + 5, center[1]), (0, 255, 0), 1)
cv2.line(frame, (center[0], center[1] - 5), (center[0], center[1] + 5), (0, 255, 0), 1)
for rect in roi[2:5]:
drawRect(frame, rect)
center = roi[5]
cv2.line(frame, (center[0] - 5, center[1]), (center[0] + 5, center[1]), (0, 255, 0), 1)
cv2.line(frame, (center[0], center[1] - 5), (center[0], center[1] + 5), (0, 255, 0), 1)
def picameraToCVTrack():
global roiX, roiY, moving, l1, l2, l3, w, selectedAxis, dilationKernel, calibrate
global roiX, roiY, moving, l1, l2, l3, w, selectedAxis, dilationKernel, calibrate, oscClient
while True:
frame = picam2.capture_buffer("lores")
frame = frame[:s1 * h1].reshape((h1, s1))
#frame = picam2.capture_array("lores")
#frame = cv2.cvtColor(frame, cv2.COLOR_GRAY2RGB)
distanceX = track(frame, roiX, dilationKernel)
distanceY = track(frame, roiY, dilationKernel)
oscClient.send_message("/distanceX", distanceX)
drawRoi(frame, roiX)
drawRoi(frame, roiY)
cv2.putText(frame, "{}: {:.2f}".format("distance x", distanceX), (10, 100), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255), 3)
cv2.putText(frame, "{}: {:.2f}".format("distance y", distanceY), (10, 200), cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 0, 255), 3)
if calibrate:
cv2.imshow("Frame", frame)
#cv2.imshow("Process", tresh)
# Press Q on keyboard to exit
key = cv2.waitKey(20)
#if key == 32:
@ -140,22 +159,21 @@ def picameraToCVTrack():
calibrate = False
cv2.destroyAllWindows()
else:
print("hello")
calibrate = True
cv2.startWindowThread()
#elif key == ord('q'):
# break
class TrackerThread(QThread):
def __init__(self, target=None):
super().__init__()
self.target = target
def run(self):
if self.target:
self.target()
def __init__(self, target=None):
super().__init__()
self.target = target
def run(self):
if self.target:
self.target()
class MainWindow(QGlPicamera2):
def __init__(self, *args, **kwargs):
@ -166,15 +184,15 @@ class MainWindow(QGlPicamera2):
self.shortcut_close_window.activated.connect(self.goFullscreen)
self.setWindowFlags(Qt.FramelessWindowHint)
self.move(0, 0)
def mousePressEvent(self, event):
self.oldPos = event.globalPos()
def mouseMoveEvent(self, event):
delta = QPoint (event.globalPos() - self.oldPos)
self.move(self.x() + delta.x(), self.y() + delta.y())
self.oldPos = event.globalPos()
def goFullscreen(self):
if self.isFullScreen():
#self.setWindowFlags(self._flags)
@ -189,7 +207,7 @@ picam2 = Picamera2()
#max resolution is (4056, 3040) which is more like 10 fps
config = picam2.create_preview_configuration(main={"size": (2028, 1520)}, lores={"size": (1920, 1440), "format": "YUV420"})
picam2.configure(config)
app = QApplication([])
qpicamera2 = MainWindow(picam2, width=1920, height=1440, keep_ar=False)
qpicamera2.setWindowTitle("Qt Picamera2 App")
@ -208,6 +226,8 @@ dilationVal = 75
dilationKernel = genDKernel(dilationVal)
calibrate = True
oscClient = udp_client.SimpleUDPClient("127.0.0.1", 57120)
cv2.startWindowThread()
cv2.namedWindow("Frame")
cv2.setMouseCallback("Frame", moveROI)

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