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followme.py
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followme.py
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#! /usr/bin/env python
# -*- coding: utf-8 -*-
#
# FollowMe Butia - FollowMe
# Copyright (C) 2010-2013
# This program was created to use with the robot Butia.
# Butia is a project from Facultad de Ingenieria - Uruguay
# Facultad de Ingenieria web site: <http://www.fing.edu.uy/>
# Butia project web site: <http://www.fing.edu.uy/inco/proyectos/butia/>
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
#
# Contact information:
# Alan Aguiar <alanjas@gmail.com>
# Aylen Ricca <ar18_90@hotmail.com>
# Rodrigo Dearmas <piegrande46@hotmail.com>
import pygame
import pygame.camera
from gettext import gettext as _
class FollowMe(object):
def __init__(self, parent):
pygame.init()
pygame.camera.init()
if parent:
self.display = pygame.display.get_surface()
else:
self.display = pygame.display.set_mode((1200, 900))
self.use_threshold_view = True
self.use_outline_view = True
self.use_rects_view = True
self.tamanioc = (320, 240)
self.brightness = 128
self.cam = None
self.get_camera()
self.calc((960, 720))
self.show_grid = False
def get_camera(self, mode='RGB'):
self.stop_camera()
self.lcamaras = pygame.camera.list_cameras()
if self.lcamaras:
self.cam = pygame.camera.Camera(self.lcamaras[0], self.tamanioc, mode)
try:
self.cam.start()
self.set_camera_flags()
self.captura = pygame.surface.Surface(self.tamanioc, 0, self.display)
self.captura_aux = pygame.surface.Surface(self.tamanioc, 0, self.display)
self.captura_aux2 = pygame.surface.Surface(self.tamanioc, 0, self.display)
self.captura_to_show = pygame.surface.Surface(self.tamanioc, 0, self.display)
except:
print _('Error on initialization of the camera')
else:
print _('No cameras was found')
def stop_camera(self):
if self.cam:
try:
self.cam.stop()
self.cam = None
except:
print _('Error in stop camera')
def set_camera_flags(self):
self.cam.set_controls(True, False, self.brightness)
res = self.cam.get_controls()
self.flip = res[0]
self.tamanioc = self.cam.get_size()
def calc(self, tamanio):
self.show_size = tamanio
pantalla_x, pantalla_y = self.display.get_size()
self.c1 = (self.show_size[0] / self.tamanioc[0])
self.c2 = (self.show_size[1] / self.tamanioc[1])
self.xc = (self.tamanioc[0] - 50) / 2.0
self.yc = (self.tamanioc[1] - 50) / 2.0
self.xcm = (pantalla_x - 50) / 2.0
self.ycm = (pantalla_y - 50) / 2.0
self.xblit = (pantalla_x - self.show_size[0]) / 2
self.yblit = (pantalla_y - self.show_size[1]) / 2
self.txd = self.show_size[0] / 15.0
self.tyd = self.show_size[1] / 3.0
self.x_c_square = int(self.tamanioc[0] / 2)
self.y_c_square = int(self.tamanioc[1] / 2)
def calibrate(self):
self.captura = self.cam.get_image(self.captura)
if not(self.flip):
self.captura = pygame.transform.flip(self.captura,True,False)
# Obtiene un color un poco mas "oscuro" que lo que es
#color = pygame.transform.average_color(self.captura, (self.xc,self.yc,50,50))
# Obtengo el color del pixel ubicado en el centro
color = self.captura.get_at((self.x_c_square, self.y_c_square))
self.display.fill((84,185,72))
self.captura_to_show = pygame.transform.scale(self.captura, (int(self.show_size[0]), int(self.show_size[1])))
self.display.blit(self.captura_to_show, (self.xblit, self.yblit))
pygame.draw.rect(self.display, (255,0,0), (self.xcm,self.ycm,50,50), 4)
self.display.fill(color, (0,0,120,120))
pygame.draw.rect(self.display, (0,0,0), (0,0,120,120), 4)
return color
def get_position(self, color, threshold, pixels):
self.captura = self.cam.get_image(self.captura)
if not(self.flip):
self.captura = pygame.transform.flip(self.captura, True, False)
if self.use_threshold_view:
pygame.transform.threshold(self.captura_aux2, self.captura, color, (threshold[0],threshold[1], threshold[2]), (0,0,0))
pygame.transform.threshold(self.captura_aux, self.captura_aux2, (0, 0, 0), (10, 10, 10), (255, 255, 255))
mascara = pygame.mask.from_threshold(self.captura_aux, (255, 255, 255), (10, 10, 10))
else:
mascara = pygame.mask.from_threshold(self.captura, color, (10, 10, 10))
conexa = mascara.connected_component()
if (conexa.count() > pixels):
x, y = conexa.centroid()
else:
x, y = (-1, -1)
return conexa, (x, y)
def generate_capture_to_show(self):
if self.use_threshold_view:
self.captura_to_show = pygame.transform.scale(self.captura_aux, (int(self.show_size[0]), int(self.show_size[1])))
else:
self.captura_to_show = pygame.transform.scale(self.captura, (int(self.show_size[0]), int(self.show_size[1])))
def show_centroid_position(self, pos):
pygame.draw.rect(self.captura_to_show, (255,0,0), (pos[0]*self.c1, pos[1]*self.c2, 20, 20), 16)
def show_outline(self, mask):
points = mask.outline()
for p in points:
pygame.draw.rect(self.captura_to_show, (0,0,255), (p[0]*self.c1, p[1]*self.c2, 5, 5), 5)
def show_rects(self, mask):
rects = mask.get_bounding_rects()
for r in rects:
pygame.draw.rect(self.captura_to_show, (0,255,0), (r[0]*self.c1, r[1]*self.c2, r[2]*self.c1, r[3]*self.c2), 5)
def show_in_screen(self, color):
self.display.fill((84,185,72))
if (self.show_grid == True):
self.draw_grid()
self.display.blit(self.captura_to_show, (self.xblit, self.yblit))
pygame.draw.rect(self.display, (0,0,0), (0,0,120,120), 4)
def draw_grid(self):
# draw verticals
pygame.draw.line(self.captura_to_show, (250, 40, 40), (0, self.tyd), (self.show_size[0],self.tyd), 3)
pygame.draw.line(self.captura_to_show, (250, 40, 40), (0, 2*self.tyd), (self.show_size[0], 2*self.tyd), 3)
# draw horizontals
pygame.draw.line(self.captura_to_show, (250, 40, 40), (2*self.txd, 0), (2*self.txd, self.show_size[1]), 3)
pygame.draw.line(self.captura_to_show, (250, 40, 40), (4*self.txd, 0), (4*self.txd, self.show_size[1]), 3)
pygame.draw.line(self.captura_to_show, (250, 40, 40), (6*self.txd, 0), (6*self.txd, self.show_size[1]), 3)
pygame.draw.line(self.captura_to_show, (250, 40, 40), (9*self.txd, 0), (9*self.txd, self.show_size[1]), 3)
pygame.draw.line(self.captura_to_show, (250, 40, 40), (11*self.txd, 0), (11*self.txd, self.show_size[1]), 3)
pygame.draw.line(self.captura_to_show, (250, 40, 40), (13*self.txd, 0), (13*self.txd, self.show_size[1]), 3)
def clean(self):
self.display.fill((84, 185, 72))