pr2_playpen: background_avg_model_success

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00001 import roslib
00002 roslib.load_manifest('opencv2')
00003 import cv
00004 
00005 a = cv.LoadImage('/home/mkillpack/hrl_file_server/playpen_data_sets/2011-06-30_19-01-02/object000_try011_before_pr2.png', 0)
00006 b = cv.LoadImage('/home/mkillpack/hrl_file_server/playpen_data_sets/2011-06-30_19-01-02/object000_try011_after_pr2.png', 0)
00007 foreground = cv.CreateImage((640,480), 8, 1)
00008 size = cv.GetSize(a)
00009 IavgF = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00010 IdiffF = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00011 IprevF = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00012 IhiF = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00013 IlowF = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00014 Ilow1 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00015 Ilow2 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00016 Ilow3 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00017 Ihi1 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00018 Ihi2 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00019 Ihi3 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00020 cv.Zero(IavgF)
00021 cv.Zero(IdiffF)
00022 cv.Zero(IprevF)
00023 cv.Zero(IhiF)
00024 cv.Zero(IlowF)
00025 
00026 Icount = 0.00001
00027 
00028 Iscratch = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00029 Iscratch2 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 3)
00030 Igray1 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00031 Igray2 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00032 Igray3 = cv.CreateImage(size, cv.IPL_DEPTH_32F, 1)
00033 Imaskt = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
00034 cv.Zero(Iscratch)
00035 cv.Zero(Iscratch2)
00036 first = 1
00037 
00038 
00039 def accumulateBackground(img):
00040     global first, Icount
00041     cv.CvtScale(img, Iscratch, 1, 0)
00042     if (not first):
00043         cv.Acc(Iscratch, IavgF)
00044         cv.AbsDiff(Iscratch, IprevF, Iscratch2)
00045         cv.Acc(Iscratch2, IdiffF)
00046         Icount += 1.0
00047     first = 0
00048     cv.Copy(Iscratch, IprevF)
00049 
00050 def setHighThresh(thresh):
00051     cv.ConvertScale(IdiffF, Iscratch, thresh)
00052     cv.Add(Iscratch, IavgF, IhiF)
00053     cv.Split(IhiF, Ihi1, Ihi2, Ihi3, None)
00054     
00055 def setLowThresh(thresh):
00056     cv.ConvertScale(IdiffF, Iscratch, thresh)
00057     cv.Sub(IavgF, Iscratch, IlowF)
00058     cv.Split(IlowF, Ilow1, Ilow2, Ilow3, None)
00059 
00060 
00061 def createModelsfromStats():
00062     cv.ConvertScale(IavgF, IavgF, float(1.0/Icount))
00063     cv.ConvertScale(IdiffF, IdiffF, float(1.0/Icount))
00064 
00065     cv.AddS(IdiffF, cv.Scalar(1.0, 1.0, 1.0), IdiffF)
00066     setHighThresh(10.0)
00067     setLowThresh(10.0)
00068 
00069 def backgroundDiff(img, Imask):
00070     cv.CvtScale(img, Iscratch, 1, 0)
00071     cv.Split(Iscratch, Igray1, Igray2, Igray3, None)
00072     cv.InRange(Igray1, Ilow1, Ihi1, Imask)
00073 
00074     cv.InRange(Igray2, Ilow2, Ihi2, Imaskt)
00075     cv.Or(Imask, Imaskt, Imask)
00076 
00077     cv.InRange(Igray3, Ilow3, Ihi3, Imaskt)
00078     cv.Or(Imask, Imaskt, Imask)
00079 
00080     cv.SubRS(Imask, 255, Imask)
00081     cv.SaveImage('/home/mkillpack/Desktop/mask.png', Imask)
00082     #cv.Erode(Imask, Imask)
00083     print "here is the sum of the non-zero pixels", cv.Sum(Imask)
00084     return Imask
00085 
00086 
00087 if __name__ == '__main__':
00088     folder = '/home/mkillpack/hrl_file_server/playpen_data_sets/2011-06-30_19-01-02/'
00089 
00090     for j in [3]:  #[0, 3, 4, 5, 6]
00091         for i in xrange(200):
00092             try:
00093                 file_name = folder+'object'+str(j).zfill(3)+'_try'+str(i).zfill(3)+'_after_pr2.png'
00094                 img = cv.LoadImage(file_name, 1)
00095                 print "reading ", file_name, '...'
00096             except:
00097                 print file_name, " doesn't exist"
00098             if not img == None:
00099                 accumulateBackground(img)
00100 
00101             #c = cv.LoadImage('/home/mkillpack/hrl_file_server/playpen_data_sets/2011-06-30_19-01-02/object000_try012_after_pr2.png', 1)
00102     createModelsfromStats()
00103     file_name = folder+'object006_try'+str(0).zfill(3)+'_before_pr2.png'
00104     img = cv.LoadImage(file_name, 3)    
00105     Imask = cv.CreateImage(size, cv.IPL_DEPTH_8U, 1)
00106     cv.Zero(Imask)
00107     cv.Zero(Imaskt)
00108     Imask = backgroundDiff(img, Imask)