git_ws/rbx1/rbx1_vision/scripts/script_video.py

#!/usr/bin/env python 

import numpy as np
import cv2
from time import clock
from numpy import pi, sin, cos
import common

class VideoSynthBase(object):
    def __init__(self, size=None, noise=0.0, bg = None, **params):
        self.bg = None
        self.frame_size = (640, 480)
        if bg is not None:
            self.bg = cv2.imread(bg, 1)
            h, w = self.bg.shape[:2]
            self.frame_size = (w, h)
            
        if size is not None:
            w, h = map(int, size.split('x'))
            self.frame_size = (w, h)
            self.bg = cv2.resize(self.bg, self.frame_size)

        self.noise = float(noise)

    def render(self, dst):
        pass
        
    def read(self, dst=None):
        w, h = self.frame_size

        if self.bg is None:
            buf = np.zeros((h, w, 3), np.uint8)
        else:
            buf = self.bg.copy()

        self.render(buf)

        if self.noise > 0.0:
            noise = np.zeros((h, w, 3), np.int8)
            cv2.randn(noise, np.zeros(3), np.ones(3)*255*self.noise)
            buf = cv2.add(buf, noise, dtype=cv2.CV_8UC3)
        return True, buf

class Chess(VideoSynthBase):
    def __init__(self, **kw):
        super(Chess, self).__init__(**kw)

        w, h = self.frame_size

        self.grid_size = sx, sy = 10, 7
        white_quads = []
        black_quads = []
        for i, j in np.ndindex(sy, sx):
            q = [[j, i, 0], [j+1, i, 0], [j+1, i+1, 0], [j, i+1, 0]]
            [white_quads, black_quads][(i + j) % 2].append(q)
        self.white_quads = np.float32(white_quads)
        self.black_quads = np.float32(black_quads)

        fx = 0.9
        self.K = np.float64([[fx*w, 0, 0.5*(w-1)],
                        [0, fx*w, 0.5*(h-1)],
                        [0.0,0.0,      1.0]])

        self.dist_coef = np.float64([-0.2, 0.1, 0, 0])
        self.t = 0

    def draw_quads(self, img, quads, color = (0, 255, 0)):
        img_quads = cv2.projectPoints(quads.reshape(-1, 3), self.rvec, self.tvec, self.K, self.dist_coef) [0]
        img_quads.shape = quads.shape[:2] + (2,) 
        for q in img_quads:
            cv2.fillConvexPoly(img, np.int32(q*4), color, cv2.CV_AA, shift=2)

    def render(self, dst):
        t = self.t
        self.t += 1.0/30.0
        
        sx, sy = self.grid_size
        center = np.array([0.5*sx, 0.5*sy, 0.0])
        phi = pi/3 + sin(t*3)*pi/8
        c, s = cos(phi), sin(phi)
        ofs = np.array([sin(1.2*t), cos(1.8*t), 0]) * sx * 0.2
        eye_pos = center + np.array([cos(t)*c, sin(t)*c, s]) * 15.0 + ofs
        target_pos = center + ofs

        R, self.tvec = common.lookat(eye_pos, target_pos)
        self.rvec = common.mtx2rvec(R)

        self.draw_quads(dst, self.white_quads, (245, 245, 245))
        self.draw_quads(dst, self.black_quads, (10, 10, 10))



classes = dict(chess=Chess)

def create_capture(source):
    '''
      source: <int> or '<int>' or '<filename>' or 'synth:<params>'
    '''
    try: source = int(source)
    except ValueError: pass
    else:
        return cv2.VideoCapture(source)
    source = str(source).strip()
    if source.startswith('synth'):
        ss = filter(None, source.split(':'))
        params = dict( s.split('=') for s in ss[1:] )
        try: Class = classes[params['class']]
        except: Class = VideoSynthBase

        return Class(**params)
    return cv2.VideoCapture(source)


presets = dict(
    empty = 'synth:',
    lena = 'synth:bg=../cpp/lena.jpg:noise=0.1',
    chess = 'synth:class=chess:bg=../cpp/lena.jpg:noise=0.1:size=640x480'
)

if __name__ == '__main__':
    import sys
    import getopt

    print 'USAGE: video.py [--shotdir <dir>] [source0] [source1] ...'
    print "source: '<int>' or '<filename>' or 'synth:<params>'"
    print

    args, sources = getopt.getopt(sys.argv[1:], '', 'shotdir=')
    args = dict(args)
    shotdir = args.get('--shotdir', '.')
    if len(sources) == 0:
        sources = [ presets['chess'] ]
        
            
    print 'Press SPACE to save current frame'

    caps = map(create_capture, sources)
    shot_idx = 0
    while True:
        imgs = []
        for i, cap in enumerate(caps):
            ret, img = cap.read()
            imgs.append(img)
            cv2.imshow('capture %d' % i, img)
        ch = cv2.waitKey(5)
        if ch == 27:
            break
        if ch == ord(' '):
            for i, img in enumerate(imgs):
                fn = '%s/shot_%d_%03d.bmp' % (shotdir, i, shot_idx)
                cv2.imwrite(fn, img)
                print fn, 'saved'
            shot_idx += 1