martinsik/circle_detection.py

## circle_detection.py
import cv2
import time
import math
import numpy as np

capture = cv2.VideoCapture(0)
print capture.get(cv2.CAP_PROP_FPS)

t = 100
w = 640.0

last = 0
while True:
    ret, image = capture.read()

    img_height, img_width, depth = image.shape
    scale = w / img_width
    h = img_height * scale
    image = cv2.resize(image, (0,0), fx=scale, fy=scale)

    # Apply filters
    grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    blured = cv2.medianBlur(grey, 15)

    # Compose 2x2 grid with all previews
    grid = np.zeros([2*h, 2*w, 3], np.uint8)
    grid[0:h, 0:w] = image

    # We need to convert each of them to RGB from grescaled 8 bit format
    grid[h:2*h, 0:w] = np.dstack([cv2.Canny(grey, t / 2, t)] * 3)
    grid[0:h, w:2*w] = np.dstack([blured] * 3)
    grid[h:2*h, w:2*w] = np.dstack([cv2.Canny(blured, t / 2, t)] * 3)

    cv2.imshow('Image previews', grid)

    sc = 1
    md = 30
    at = 40
    circles = cv2.HoughCircles(blured, cv2.HOUGH_GRADIENT, sc, md, t, at)

    if circles is not None:
        # We care only about the first circle found.
        circle = circles[0][0]
        x, y, radius = int(circle[0]), int(circle[1]), int(circle[2])
        print(x, y, radius)

        # Highlight the circle
        cv2.circle(image, (x, y), radius, (0, 0, 255), 1)
        # Draw dot in the center
        cv2.circle(image, (x, y), 1, (0, 0, 255), 1)

    cv2.imshow('Image with detected circle', image)


    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

## circle_detection_with_websocket_server.py
import cv2
import numpy as np
import threading
import json
from SimpleWebSocketServer import SimpleWebSocketServer, WebSocket


server = None
clients = []


class SimpleWSServer(WebSocket):
    def handleConnected(self):
        clients.append(self)

    def handleClose(self):
        clients.remove(self)


def run_server():
    global server
    server = SimpleWebSocketServer('', 9000, SimpleWSServer,
                                   selectInterval=(1000.0 / 15) / 1000)
    server.serveforever()


t = threading.Thread(target=run_server)
t.start()


capture = cv2.VideoCapture(0)

t = 100
w = 640.0

last = 0
while True:
    ret, image = capture.read()

    img_height, img_width, depth = image.shape
    scale = w / img_width
    h = img_height * scale
    image = cv2.resize(image, (0,0), fx=scale, fy=scale)

    # Apply filters
    grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
    blured = cv2.medianBlur(grey, 9)

    # Compose 2x2 grid with all previews
    grid = np.zeros([2*h, 2*w, 3], np.uint8)
    grid[0:h, 0:w] = image
    # We need to convert each of them to RGB from grescaled 8 bit format
    grid[h:2*h, 0:w] = np.dstack([cv2.Canny(grey, t / 2, t)] * 3)
    grid[0:h, w:2*w] = np.dstack([blured] * 3)
    grid[h:2*h, w:2*w] = np.dstack([cv2.Canny(blured, t / 2, t)] * 3)

    cv2.imshow('Image previews', grid)

    sc = 1
    md = 30
    at = 40
    circles = cv2.HoughCircles(blured, cv2.HOUGH_GRADIENT, sc, md, t, at)

    if circles is not None:
        # We care only about the first circle found.
        circle = circles[0][0]
        x, y, radius = int(circle[0]), int(circle[1]), int(circle[2])
        print(x / w, y / h, radius / w)

        # Highlight the circle
        cv2.circle(image, (x, y), radius, (0, 0, 255), 1)
        # Draw dot in the center
        cv2.circle(image, (x, y), 1, (0, 0, 255), 1)

        for client in clients:
            client.sendMessage(unicode(json.dumps({'x': x / w, 'y': y / h, 'radius': radius / w})))

    cv2.imshow('Image with detected circle', image)

    if cv2.waitKey(1) & 0xFF == ord('q'):
        break


server.close()

## index.html
<html>
<body>
    <style>
        body { margin: 0; }
        canvas { width: 100%; position: absolute; top: 0; }
        video { width: 100%; }
    </style>
    <video autoplay></video>

    <script src="http://cdnjs.cloudflare.com/ajax/libs/mathjs/2.4.0/math.min.js"></script>
    <script src="lib/three.72.min.js"></script>
    <script src="main.js"></script>
</body>
</html>

## threejs_with_websockets.js
var scene, camera, renderer, light;
var earthRotY = 0, moonRotY = 0;
var radY = 0, radZ = -0.3;
var moonDist = 70;
var earthRadius = 25;
var earthMesh, tmpMesh;
var moonMesh;
var positionHistory = [];
var lastPos, diffMove, lastEarthScale;
var ping = 0;


function init(width, height) {
    scene = new THREE.Scene();
    // Setup cameta with 45 deg field of view and same aspect ratio
    var aspect = width / height;
    camera = new THREE.PerspectiveCamera(45, aspect, 0.1, 1000);
    // Set the camera to 400 units along `z` axis
    camera.position.set(0, 0, 400);

    renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
    renderer.setSize(width, height);
    renderer.shadowMap.enabled = true;
    document.body.appendChild(renderer.domElement);
}

function initLight() {
    light = new THREE.SpotLight(0xffffff);
    // Position the light slightly to a side to make
    // shadows look better.
    light.position.set(400, 100, 1000);
    light.castShadow = true;
    scene.add(light);
}

function initEarth() {
    // Load Earth texture and create material from it
    var earthTexture = THREE.ImageUtils.loadTexture("/images/earthmap1k.jpg");
    earthTexture.minFilter = THREE.NearestFilter;
    var earthMaterial = new THREE.MeshLambertMaterial({
        map: earthTexture,
    });
    // Create a sphere 25 units in radius and 16 segments
    // both horizontally and vertically.
    var earthGeometry = new THREE.SphereGeometry(earthRadius, 16, 16);
    earthMesh = new THREE.Mesh(earthGeometry, earthMaterial);
    earthMesh.receiveShadow = true;
    earthMesh.castShadow = true;
    // Add Earth to the scene
    scene.add(earthMesh);
}

function initMoon() {
    var moonTexture = THREE.ImageUtils.loadTexture("/images/moonmap1k-lowres.jpg");
    moonTexture.minFilter = THREE.NearestFilter;
    var moonMaterial = new THREE.MeshLambertMaterial({
        map: moonTexture,
    });
    var moonGeometry =  new THREE.SphereGeometry(earthRadius * 0.273, 10, 10);
    moonMesh = new THREE.Mesh(moonGeometry, moonMaterial);
    moonMesh.receiveShadow = true;
    moonMesh.castShadow = true;
    scene.add(moonMesh);
}

function initPlane() {
    // The plane needs to be large to be sure it'll always intersect
    var tmpGeometry = new THREE.PlaneGeometry(1000, 1000, 1, 1);
    tmpGeometry.position = new THREE.Vector3(0, 0, 0);
    tmpMesh = new THREE.Mesh(tmpGeometry);
}

// Update position of objects in the scene
function update() {
    if (positionHistory.length === 0) {
        return;
    }

    earthRotY += 0.007;

    ping++;
    if (ping < 10) {
        lastPos[0] += diffMove[0];
        lastPos[1] += diffMove[1];
        lastPos[2] += diffMove[2];
    }

    var vector = new THREE.Vector3(lastPos[0], lastPos[1], 0.5);
    var intersect = checkIntersect(vector);

    earthMesh.rotation.y = earthRotY;

    // With position from OpenCV I could possibly move the Earth outside of the window
    if (intersects.length === 1) {
        var point = intersects[0].point;
        earthMesh.position.x = point.x;
        earthMesh.position.y = point.y;

        // X pos + radius
        var vector = new THREE.Vector3(lastPos[0] + lastPos[2], lastPos[1], 0.5);
        var intersect = checkIntersect(vector);

        var newEarthRadius = Math.abs(intersect.x - earthMesh.position.x);
        var earthScale = newEarthRadius / earthRadius;

        earthMesh.scale.set(earthScale, earthScale, earthScale);
        moonMesh.scale.set(earthScale, earthScale, earthScale);

        lastEarthScale = earthScale;
    }

    moonRotY += 0.005;
    radY += 0.03;
    radZ += 0.0005;

    // Update Moon position
    x = lastEarthScale * moonDist * Math.cos(radZ) * Math.sin(radY);
    y = lastEarthScale * moonDist * Math.sin(radZ) * Math.sin(radY);
    z = lastEarthScale * moonDist * Math.cos(radY);

    moonMesh.position.set(x + earthMesh.position.x, y + earthMesh.position.y, z);
    moonMesh.rotation.y = moonRotY;
}

function checkIntersect(vector) {
    // Unproject camera distortion (fov, aspect ratio)
    vector.unproject(camera);
    var norm = vector.sub(camera.position).normalize();
    var ray = new THREE.Raycaster(camera.position, norm);
    // Cast a line from our camera to the tmpMesh and see where these
    // two intersect. That's our 2D position in 3D coordinates.
    var intersects = ray.intersectObject(tmpMesh);

    return intersects[0].point;
}

// Redraw entire scene
function render() {
    update();

    renderer.setClearColor(0x000000, 0);
    renderer.render(scene, camera);
    // Schedule another frame
    requestAnimationFrame(render);
}

//function onDocumentMouseMove(event) {
//    // Current mouse position with [0,0] in the center of the document
//    // and ranging from -1.0 to +1.0 with `y` axis inverted.
//    mouse.x = (event.clientX / window.innerWidth) * 2 - 1;
//    mouse.y = - (event.clientY / window.innerHeight) * 2 + 1;
//}

document.addEventListener('DOMContentLoaded', function(event) {
    // Initialize everything and start rendering

    navigator.getUserMedia  = navigator.getUserMedia ||
                          navigator.webkitGetUserMedia ||
                          navigator.mozGetUserMedia ||
                          navigator.msGetUserMedia;

    var video = document.querySelector('video');

    var constrains = {
        video: {
            mandatory: {
                minWidth: window.innerWidth,
            }
        }
    };

    if (navigator.getUserMedia) {
        navigator.getUserMedia(constrains, function(stream) {
            video.src = window.URL.createObjectURL(stream);

            video.oncanplay = function() {
                init(video.clientWidth, video.clientHeight);
                initEarth();
                initMoon();
                initLight();
                initPlane();

                requestAnimationFrame(render);
            }

        }, function() {});
    }
});


var ws = new WebSocket('ws://localhost:9000');
ws.onopen = function() {
    console.log('onopen');
};
ws.onmessage = function (event) {
    var msg = JSON.parse(event.data);

    positionHistory.push({
        x:  msg.x * 2 - 1,
        y: - msg.y * 2 + 1,
        radius: msg.radius
    });

    if (positionHistory.length > 10) {
        positionHistory.shift();
    }

    var xCoords = [], yCoords = [], radiuses = [];
    for (var i = math.max(positionHistory.length - 2, 0); i < positionHistory.length; i++) {
        xCoords.push(positionHistory[i].x);
        yCoords.push(positionHistory[i].y);
    }

    for (var i = 0; i < positionHistory.length; i++) {
        radiuses.push(positionHistory[i].radius);
    }

    var posX = math.mean(xCoords);
    var posY = math.mean(yCoords);
    var radius = math.mean(radiuses);

    var targetPos = [posX, posY, radius];
    if (!lastPos) {
        lastPos = targetPos;
    }
    diffMove = [(targetPos[0] - lastPos[0]) / 4, (targetPos[1] - lastPos[1]) / 4, (targetPos[2] - lastPos[2]) / 4]

    ping = 0;
};
	import cv2
	import time
	import math
	import numpy as np

	capture = cv2.VideoCapture(0)
	print capture.get(cv2.CAP_PROP_FPS)

	t = 100
	w = 640.0

	last = 0
	while True:
	ret, image = capture.read()

	img_height, img_width, depth = image.shape
	scale = w / img_width
	h = img_height * scale
	image = cv2.resize(image, (0,0), fx=scale, fy=scale)

	# Apply filters
	grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
	blured = cv2.medianBlur(grey, 15)

	# Compose 2x2 grid with all previews
	grid = np.zeros([2h, 2w, 3], np.uint8)
	grid[0:h, 0:w] = image

	# We need to convert each of them to RGB from grescaled 8 bit format
	grid[h:2h, 0:w] = np.dstack([cv2.Canny(grey, t / 2, t)] 3)
	grid[0:h, w:2w] = np.dstack([blured] 3)
	grid[h:2h, w:2w] = np.dstack([cv2.Canny(blured, t / 2, t)] * 3)

	cv2.imshow('Image previews', grid)

	sc = 1
	md = 30
	at = 40
	circles = cv2.HoughCircles(blured, cv2.HOUGH_GRADIENT, sc, md, t, at)

	if circles is not None:
	# We care only about the first circle found.
	circle = circles[0][0]
	x, y, radius = int(circle[0]), int(circle[1]), int(circle[2])
	print(x, y, radius)

	# Highlight the circle
	cv2.circle(image, (x, y), radius, (0, 0, 255), 1)
	# Draw dot in the center
	cv2.circle(image, (x, y), 1, (0, 0, 255), 1)

	cv2.imshow('Image with detected circle', image)


	if cv2.waitKey(1) & 0xFF == ord('q'):
	break
	import cv2
	import numpy as np
	import threading
	import json
	from SimpleWebSocketServer import SimpleWebSocketServer, WebSocket


	server = None
	clients = []


	class SimpleWSServer(WebSocket):
	def handleConnected(self):
	clients.append(self)

	def handleClose(self):
	clients.remove(self)


	def run_server():
	global server
	server = SimpleWebSocketServer('', 9000, SimpleWSServer,
	selectInterval=(1000.0 / 15) / 1000)
	server.serveforever()


	t = threading.Thread(target=run_server)
	t.start()


	capture = cv2.VideoCapture(0)

	t = 100
	w = 640.0

	last = 0
	while True:
	ret, image = capture.read()

	img_height, img_width, depth = image.shape
	scale = w / img_width
	h = img_height * scale
	image = cv2.resize(image, (0,0), fx=scale, fy=scale)

	# Apply filters
	grey = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
	blured = cv2.medianBlur(grey, 9)

	# Compose 2x2 grid with all previews
	grid = np.zeros([2h, 2w, 3], np.uint8)
	grid[0:h, 0:w] = image
	# We need to convert each of them to RGB from grescaled 8 bit format
	grid[h:2h, 0:w] = np.dstack([cv2.Canny(grey, t / 2, t)] 3)
	grid[0:h, w:2w] = np.dstack([blured] 3)
	grid[h:2h, w:2w] = np.dstack([cv2.Canny(blured, t / 2, t)] * 3)

	cv2.imshow('Image previews', grid)

	sc = 1
	md = 30
	at = 40
	circles = cv2.HoughCircles(blured, cv2.HOUGH_GRADIENT, sc, md, t, at)

	if circles is not None:
	# We care only about the first circle found.
	circle = circles[0][0]
	x, y, radius = int(circle[0]), int(circle[1]), int(circle[2])
	print(x / w, y / h, radius / w)

	# Highlight the circle
	cv2.circle(image, (x, y), radius, (0, 0, 255), 1)
	# Draw dot in the center
	cv2.circle(image, (x, y), 1, (0, 0, 255), 1)

	for client in clients:
	client.sendMessage(unicode(json.dumps({'x': x / w, 'y': y / h, 'radius': radius / w})))

	cv2.imshow('Image with detected circle', image)

	if cv2.waitKey(1) & 0xFF == ord('q'):
	break


	server.close()
	<html>
	<body>
	<style>
	body { margin: 0; }
	canvas { width: 100%; position: absolute; top: 0; }
	video { width: 100%; }
	</style>
	<video autoplay></video>

	<script src="http://cdnjs.cloudflare.com/ajax/libs/mathjs/2.4.0/math.min.js"></script>
	<script src="lib/three.72.min.js"></script>
	<script src="main.js"></script>
	</body>
	</html>
	var scene, camera, renderer, light;
	var earthRotY = 0, moonRotY = 0;
	var radY = 0, radZ = -0.3;
	var moonDist = 70;
	var earthRadius = 25;
	var earthMesh, tmpMesh;
	var moonMesh;
	var positionHistory = [];
	var lastPos, diffMove, lastEarthScale;
	var ping = 0;


	function init(width, height) {
	scene = new THREE.Scene();
	// Setup cameta with 45 deg field of view and same aspect ratio
	var aspect = width / height;
	camera = new THREE.PerspectiveCamera(45, aspect, 0.1, 1000);
	// Set the camera to 400 units along `z` axis
	camera.position.set(0, 0, 400);

	renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
	renderer.setSize(width, height);
	renderer.shadowMap.enabled = true;
	document.body.appendChild(renderer.domElement);
	}

	function initLight() {
	light = new THREE.SpotLight(0xffffff);
	// Position the light slightly to a side to make
	// shadows look better.
	light.position.set(400, 100, 1000);
	light.castShadow = true;
	scene.add(light);
	}

	function initEarth() {
	// Load Earth texture and create material from it
	var earthTexture = THREE.ImageUtils.loadTexture("/images/earthmap1k.jpg");
	earthTexture.minFilter = THREE.NearestFilter;
	var earthMaterial = new THREE.MeshLambertMaterial({
	map: earthTexture,
	});
	// Create a sphere 25 units in radius and 16 segments
	// both horizontally and vertically.
	var earthGeometry = new THREE.SphereGeometry(earthRadius, 16, 16);
	earthMesh = new THREE.Mesh(earthGeometry, earthMaterial);
	earthMesh.receiveShadow = true;
	earthMesh.castShadow = true;
	// Add Earth to the scene
	scene.add(earthMesh);
	}

	function initMoon() {
	var moonTexture = THREE.ImageUtils.loadTexture("/images/moonmap1k-lowres.jpg");
	moonTexture.minFilter = THREE.NearestFilter;
	var moonMaterial = new THREE.MeshLambertMaterial({
	map: moonTexture,
	});
	var moonGeometry = new THREE.SphereGeometry(earthRadius * 0.273, 10, 10);
	moonMesh = new THREE.Mesh(moonGeometry, moonMaterial);
	moonMesh.receiveShadow = true;
	moonMesh.castShadow = true;
	scene.add(moonMesh);
	}

	function initPlane() {
	// The plane needs to be large to be sure it'll always intersect
	var tmpGeometry = new THREE.PlaneGeometry(1000, 1000, 1, 1);
	tmpGeometry.position = new THREE.Vector3(0, 0, 0);
	tmpMesh = new THREE.Mesh(tmpGeometry);
	}

	// Update position of objects in the scene
	function update() {
	if (positionHistory.length === 0) {
	return;
	}

	earthRotY += 0.007;

	ping++;
	if (ping < 10) {
	lastPos[0] += diffMove[0];
	lastPos[1] += diffMove[1];
	lastPos[2] += diffMove[2];
	}

	var vector = new THREE.Vector3(lastPos[0], lastPos[1], 0.5);
	var intersect = checkIntersect(vector);

	earthMesh.rotation.y = earthRotY;

	// With position from OpenCV I could possibly move the Earth outside of the window
	if (intersects.length === 1) {
	var point = intersects[0].point;
	earthMesh.position.x = point.x;
	earthMesh.position.y = point.y;

	// X pos + radius
	var vector = new THREE.Vector3(lastPos[0] + lastPos[2], lastPos[1], 0.5);
	var intersect = checkIntersect(vector);

	var newEarthRadius = Math.abs(intersect.x - earthMesh.position.x);
	var earthScale = newEarthRadius / earthRadius;

	earthMesh.scale.set(earthScale, earthScale, earthScale);
	moonMesh.scale.set(earthScale, earthScale, earthScale);

	lastEarthScale = earthScale;
	}

	moonRotY += 0.005;
	radY += 0.03;
	radZ += 0.0005;

	// Update Moon position
	x = lastEarthScale * moonDist * Math.cos(radZ) * Math.sin(radY);
	y = lastEarthScale * moonDist * Math.sin(radZ) * Math.sin(radY);
	z = lastEarthScale * moonDist * Math.cos(radY);

	moonMesh.position.set(x + earthMesh.position.x, y + earthMesh.position.y, z);
	moonMesh.rotation.y = moonRotY;
	}

	function checkIntersect(vector) {
	// Unproject camera distortion (fov, aspect ratio)
	vector.unproject(camera);
	var norm = vector.sub(camera.position).normalize();
	var ray = new THREE.Raycaster(camera.position, norm);
	// Cast a line from our camera to the tmpMesh and see where these
	// two intersect. That's our 2D position in 3D coordinates.
	var intersects = ray.intersectObject(tmpMesh);

	return intersects[0].point;
	}

	// Redraw entire scene
	function render() {
	update();

	renderer.setClearColor(0x000000, 0);
	renderer.render(scene, camera);
	// Schedule another frame
	requestAnimationFrame(render);
	}

	//function onDocumentMouseMove(event) {
	// // Current mouse position with [0,0] in the center of the document
	// // and ranging from -1.0 to +1.0 with `y` axis inverted.
	// mouse.x = (event.clientX / window.innerWidth) * 2 - 1;
	// mouse.y = - (event.clientY / window.innerHeight) * 2 + 1;
	//}

	document.addEventListener('DOMContentLoaded', function(event) {
	// Initialize everything and start rendering

	navigator.getUserMedia = navigator.getUserMedia \|\|
	navigator.webkitGetUserMedia \|\|
	navigator.mozGetUserMedia \|\|
	navigator.msGetUserMedia;

	var video = document.querySelector('video');

	var constrains = {
	video: {
	mandatory: {
	minWidth: window.innerWidth,
	}
	}
	};

	if (navigator.getUserMedia) {
	navigator.getUserMedia(constrains, function(stream) {
	video.src = window.URL.createObjectURL(stream);

	video.oncanplay = function() {
	init(video.clientWidth, video.clientHeight);
	initEarth();
	initMoon();
	initLight();
	initPlane();

	requestAnimationFrame(render);
	}

	}, function() {});
	}
	});


	var ws = new WebSocket('ws://localhost:9000');
	ws.onopen = function() {
	console.log('onopen');
	};
	ws.onmessage = function (event) {
	var msg = JSON.parse(event.data);

	positionHistory.push({
	x: msg.x * 2 - 1,
	y: - msg.y * 2 + 1,
	radius: msg.radius
	});

	if (positionHistory.length > 10) {
	positionHistory.shift();
	}

	var xCoords = [], yCoords = [], radiuses = [];
	for (var i = math.max(positionHistory.length - 2, 0); i < positionHistory.length; i++) {
	xCoords.push(positionHistory[i].x);
	yCoords.push(positionHistory[i].y);
	}

	for (var i = 0; i < positionHistory.length; i++) {
	radiuses.push(positionHistory[i].radius);
	}

	var posX = math.mean(xCoords);
	var posY = math.mean(yCoords);
	var radius = math.mean(radiuses);

	var targetPos = [posX, posY, radius];
	if (!lastPos) {
	lastPos = targetPos;
	}
	diffMove = [(targetPos[0] - lastPos[0]) / 4, (targetPos[1] - lastPos[1]) / 4, (targetPos[2] - lastPos[2]) / 4]

	ping = 0;
	};