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314 lines
12 KiB
314 lines
12 KiB
import serial
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import threading
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import time
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class Frame():
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def __init__(self, time, data):
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self.time = time
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self.data = data
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class GridEye():
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def __init__(self, serialPort, baudrate):
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self.port = serial.Serial(serialPort, baudrate)
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self.frame1 = None
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self.frame2 = None
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self.reading = True
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self.distance = -1
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self.thread = threading.Thread(target = self.reader)
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self.thread.setDaemon(True)
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self.lock = threading.Lock()
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def start(self):
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self.port.reset_input_buffer()
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self.thread.start()
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def stop(self):
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self.reading = False
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self.thread.join()
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def reader(self):
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while (self.reading):
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line = b''
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while (self.reading):
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c = self.port.read()
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if c == b'\n':
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break
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line += c
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#line = self.port.readline()#.decode('utf-8')
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# if line:
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# print (line)
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# time.sleep(0.01)
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# if self.port.in_waiting > 0:
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# print (self.port.in_waiting)
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if b':' in line:
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try:
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tag = line.decode('utf-8').split(':')[0]
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if 'Distance' in tag:
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dist = float(line.decode('utf-8').split(':')[1])
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if dist > 200.0:
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dist = 200.0
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self.lock.acquire()
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self.distance = dist
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self.lock.release()
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else:
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values = [int(x, 16)*0.25 for x in line.decode('utf-8').split(':')[1].split()]
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if len(values) == 64:
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#print (data)
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data = []
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for i in range(8):
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data.append(values[i*8:i*8+8])
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self.lock.acquire()
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if '104' in tag:
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self.frame1 = Frame(time.time(), data)
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else:
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self.frame2 = Frame(time.time(), data)
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self.lock.release()
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else:
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print ('something wrong', len(data))
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except Exception as e:
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print (e)
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class Distance():
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def __init__(self, serialPort, baudrate):
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self.port = serial.Serial(serialPort, baudrate)
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self.distance = 200
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self.reading = True
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self.thread = threading.Thread(target = self.reader)
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self.thread.setDaemon(True)
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self.lock = threading.Lock()
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def start(self):
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self.port.reset_input_buffer()
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self.thread.start()
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def stop(self):
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self.reading = False
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self.thread.join()
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def reader(self):
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while (self.reading):
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line = b''
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while (self.reading):
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c = self.port.read()
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if c == b'\r':
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c = self.port.read()
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break
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if c == b'\n':
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break
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line += c
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if b'Distance' in line:
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try:
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dist = float(line.decode('utf-8').split(':')[1])
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print (dist)
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if dist > 200.0:
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dist = 200.0
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self.lock.acquire()
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self.distance = dist
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self.lock.release()
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except ValueError as e:
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print ('error', e)
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if __name__ == '__main__':
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import cv2
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import numpy as np
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import math
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def exponential(img, value):
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tmp = cv2.pow(img.astype(np.double), value)*(255.0/(255.0**value))
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return tmp.astype(np.uint8)
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SIZE = 128
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AVERAGE_FRAME = 10
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distanceBetweenSensors_w = 2.6 #cm
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distanceBetweenSensors_h = 2.6 #cm
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distance2Object = 60.0 #cm
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ADJUST_BACK = 5
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EXPONENTAL_VALUE = 0.4
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grideye = GridEye('COM25', 115200)
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grideye.start()
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grideye2 = GridEye('COM24', 115200)
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grideye2.start()
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# distanceSensor = Distance('COM18', 9600)
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# distanceSensor.start()
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fourcc = cv2.VideoWriter_fourcc(*'XVID')
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videoWriter = cv2.VideoWriter('output.avi', fourcc, 10.0, (SIZE*4,SIZE*4))
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siftVideoWriter = cv2.VideoWriter('sift.avi', fourcc, 10.0, (SIZE*2,SIZE*1))
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cv2.imshow('sample', np.zeros((SIZE*3,SIZE*2), np.uint8))
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cnt = 0
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avers = []
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while True:
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if grideye.frame1 and grideye.frame2 and grideye2.frame1 and grideye2.frame2:
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grideye.lock.acquire()
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grideye2.lock.acquire()
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frames = [grideye.frame1, grideye.frame2, grideye2.frame1, grideye2.frame2]
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grideye.frame1 = None
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grideye.frame2 = None
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grideye2.frame1 = None
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grideye2.frame2 = None
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distance2Object = grideye.distance + grideye2.distance + 1
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print (distance2Object)
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if distance2Object <= 0:
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distance2Object = 200
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grideye2.lock.release()
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grideye.lock.release()
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imgs = []
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for frame in frames:
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img = (np.array(frame.data)-15)*10
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img = cv2.resize(img.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_LINEAR) # INTER_LINEAR, INTER_CUBIC
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imgs.append(img)
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avers.append(np.zeros((SIZE,SIZE), np.uint16))
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if cnt < AVERAGE_FRAME:
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cnt += 1
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for i in range(len(imgs)):
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avers[i] += imgs[i]
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if cnt == AVERAGE_FRAME:
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for i in range(len(avers)):
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avers[i] = avers[i]/AVERAGE_FRAME
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avers[i] = avers[i].astype(np.uint8)
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avers[i] += ADJUST_BACK
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continue
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for i in range(len(imgs)):
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imgs[i] = cv2.subtract(imgs[i], avers[i])
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print ('xdd')
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out = np.full((SIZE*4, SIZE*4), 255, dtype=np.uint16)
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out[:SIZE, :SIZE] = imgs[0]
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out[:SIZE, SIZE:SIZE*2] = imgs[1]
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out[SIZE:SIZE*2, :SIZE] = imgs[2]
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out[SIZE:SIZE*2, SIZE:SIZE*2] = imgs[3]
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try:
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overlap_w = int(SIZE - (distanceBetweenSensors_w / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
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except:
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overlap_w = 0
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if overlap_w < 0:
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overlap_w = 0
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try:
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overlap_h = int(SIZE - (distanceBetweenSensors_h / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
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except:
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overlap_h = 0
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if overlap_h < 0:
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overlap_h = 0
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tmp = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
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tmp[:, :SIZE] = imgs[0]
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tmp[:, -SIZE:] += imgs[1]
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tmp[:, (SIZE-overlap_w): SIZE] = tmp[:, (SIZE-overlap_w): SIZE]/2
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tmp2 = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
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tmp2[:, :SIZE] = imgs[2]
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tmp2[:, -SIZE:] += imgs[3]
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tmp2[:, (SIZE-overlap_w): SIZE] = tmp2[:, (SIZE-overlap_w): SIZE]/2
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merge = np.zeros((SIZE*2-overlap_h, SIZE*2-overlap_w), dtype=np.uint16)
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merge[:SIZE, :] = tmp
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merge[-SIZE:, :] += tmp2
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merge[(SIZE-overlap_h):SIZE, :] = merge[(SIZE-overlap_h):SIZE, :]/2
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# merge = exponential(merge, EXPONENTAL_VALUE)
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offset_w = int(overlap_w/2)
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offset_h = int(overlap_h/2)
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print (SIZE*2+offset_h, SIZE*4-overlap_h+offset_h, offset_w, SIZE*2-overlap_w+offset_w)
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out[SIZE*2+offset_h:SIZE*4-overlap_h+offset_h, offset_w: SIZE*2-overlap_w+offset_w] = merge
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maxProduct = 0
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overlap_w = 0
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for i in range(80, 128):
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product = sum(imgs[0][:,SIZE-i:].astype(np.uint32)*imgs[1][:,:i].astype(np.uint32))
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product += sum(imgs[2][:,SIZE-i:].astype(np.uint32)*imgs[3][:,:i].astype(np.uint32))
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product = sum(product) / len(product)
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if product > maxProduct:
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maxProduct = product
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overlap_w = i
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maxProduct = 0
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overlap_h = 0
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for i in range(80, 128):
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product = sum(imgs[0][SIZE-i:, :].astype(np.uint32)*imgs[2][:i,:].astype(np.uint32))
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product += sum(imgs[1][SIZE-i:, :].astype(np.uint32)*imgs[3][:i,:].astype(np.uint32))
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product = sum(product) / len(product)
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if product > maxProduct:
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maxProduct = product
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overlap_h = i
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tmp = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
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tmp[:, :SIZE] = imgs[0]
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tmp[:, -SIZE:] += imgs[1]
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tmp[:, (SIZE-overlap_w): SIZE] = tmp[:, (SIZE-overlap_w): SIZE]/2
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tmp2 = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
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tmp2[:, :SIZE] = imgs[2]
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tmp2[:, -SIZE:] += imgs[3]
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tmp2[:, (SIZE-overlap_w): SIZE] = tmp2[:, (SIZE-overlap_w): SIZE]/2
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merge = np.zeros((SIZE*2-overlap_h, SIZE*2-overlap_w), dtype=np.uint16)
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merge[:SIZE, :] = tmp
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merge[-SIZE:, :] += tmp2
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merge[(SIZE-overlap_h):SIZE, :] = merge[(SIZE-overlap_h):SIZE, :]/2
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offset_w = int(overlap_w/2)
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offset_h = int(overlap_h/2)
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out[SIZE*2+offset_h:SIZE*4-overlap_h+offset_h, SIZE*2+offset_w: SIZE*4-overlap_w+offset_w] = merge
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# offset = int(overlap2/2)
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# tmp = np.zeros((SIZE, SIZE*2-overlap2), dtype=np.uint16)
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# tmp[:, :SIZE] = img
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# tmp[:, -SIZE:] += img2
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# tmp[:, (SIZE-overlap2): SIZE] = tmp[:, (SIZE-overlap2): SIZE]/2
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# tmp = exponential(tmp, EXPONENTAL_VALUE)
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# out[SIZE*2:, offset: SIZE*2-overlap2+offset] = tmp
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out = out.astype(np.uint8)
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out = exponential(out, EXPONENTAL_VALUE)
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cv2.imshow('sample', out)
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videoWriter.write(cv2.cvtColor(out,cv2.COLOR_GRAY2BGR))
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try:
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sift = cv2.xfeatures2d.SIFT_create()
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img1 = exponential(imgs[0], EXPONENTAL_VALUE)
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img2 = exponential(imgs[1], EXPONENTAL_VALUE)
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kp_1, desc_1 = sift.detectAndCompute(img1, None)
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kp_2, desc_2 = sift.detectAndCompute(img2, None)
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index_params = dict(algorithm=0, trees=5)
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search_params = dict()
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flann = cv2.FlannBasedMatcher(index_params, search_params)
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matches = flann.knnMatch(desc_1, desc_2, k=2)
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good_points = []
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ratio = 0.8
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for m, n in matches:
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if m.distance < ratio*n.distance:
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good_points.append(m)
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result = cv2.drawMatches(img1, kp_1, img2, kp_2, good_points, None)
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cv2.imshow("result", result)
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print (result.shape)
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siftVideoWriter.write(result)
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except:
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pass
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key = cv2.waitKey(1)
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if key == ord('q'):
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break
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elif key == ord('c'):
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cv2.imwrite('out.jpg', out)
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time.sleep(0.001)
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grideye.stop()
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videoWriter.release()
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siftVideoWriter.release()
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cv2.destroyAllWindows()
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