#!/usr/bin/env python # MIT License # Copyright (c) 2017-18 Jetsonhacks # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # The above copyright notice and this permission notice shall be included in all # copies or substantial portions of the Software. # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE # SOFTWARE. import sys import argparse import cv2 import numpy as np def parse_cli_args(): parser = argparse.ArgumentParser() parser.add_argument("--video_device", dest="video_device", help="Video device # of USB webcam (/dev/video?) [0]", default=0, type=int) arguments = parser.parse_args() return arguments # On versions of L4T previous to L4T 28.1, flip-method=2 # Use the Jetson onboard camera def open_onboard_camera(): return cv2.VideoCapture("nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)640, height=(int)480, format=(string)I420, framerate=(fraction)30/1 ! nvvidconv ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink") # Open an external usb camera /dev/videoX def open_camera_device(device_number): return cv2.VideoCapture(device_number) def read_cam(video_capture): if video_capture.isOpened(): windowName = "CannyDemo" cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) cv2.resizeWindow(windowName,1280,720) cv2.moveWindow(windowName,0,0) cv2.setWindowTitle(windowName,"Canny Edge Detection") showWindow=3 # Show all stages showHelp = True font = cv2.FONT_HERSHEY_PLAIN helpText="'Esc' to Quit, '1' for Camera Feed, '2' for Canny Detection, '3' for All Stages. '4' to hide help" edgeThreshold=40 showFullScreen = False while True: if cv2.getWindowProperty(windowName, 0) < 0: # Check to see if the user closed the window # This will fail if the user closed the window; Nasties get printed to the console break; ret_val, frame = video_capture.read(); hsv=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) blur=cv2.GaussianBlur(hsv,(7,7),1.5) edges=cv2.Canny(blur,0,edgeThreshold) if showWindow == 3: # Need to show the 4 stages # Composite the 2x2 window # Feed from the camera is RGB, the others gray # To composite, convert gray images to color. # All images must be of the same type to display in a window frameRs=cv2.resize(frame, (640,360)) hsvRs=cv2.resize(hsv,(640,360)) vidBuf = np.concatenate((frameRs, cv2.cvtColor(hsvRs,cv2.COLOR_GRAY2BGR)), axis=1) blurRs=cv2.resize(blur,(640,360)) edgesRs=cv2.resize(edges,(640,360)) vidBuf1 = np.concatenate( (cv2.cvtColor(blurRs,cv2.COLOR_GRAY2BGR),cv2.cvtColor(edgesRs,cv2.COLOR_GRAY2BGR)), axis=1) vidBuf = np.concatenate( (vidBuf, vidBuf1), axis=0) if showWindow==1: # Show Camera Frame displayBuf = frame elif showWindow == 2: # Show Canny Edge Detection displayBuf = edges elif showWindow == 3: # Show All Stages displayBuf = vidBuf if showHelp == True: cv2.putText(displayBuf, helpText, (11,20), font, 1.0, (32,32,32), 4, cv2.LINE_AA) cv2.putText(displayBuf, helpText, (10,20), font, 1.0, (240,240,240), 1, cv2.LINE_AA) cv2.imshow(windowName,displayBuf) key=cv2.waitKey(10) if key == 27: # Check for ESC key cv2.destroyAllWindows() break ; elif key==49: # 1 key, show frame cv2.setWindowTitle(windowName,"Camera Feed") showWindow=1 elif key==50: # 2 key, show Canny cv2.setWindowTitle(windowName,"Canny Edge Detection") showWindow=2 elif key==51: # 3 key, show Stages cv2.setWindowTitle(windowName,"Camera, Gray scale, Gaussian Blur, Canny Edge Detection") showWindow=3 elif key==52: # 4 key, toggle help showHelp = not showHelp elif key==44: # , lower canny edge threshold edgeThreshold=max(0,edgeThreshold-1) print ('Canny Edge Threshold Maximum: ',edgeThreshold) elif key==46: # , raise canny edge threshold edgeThreshold=edgeThreshold+1 print ('Canny Edge Threshold Maximum: ', edgeThreshold) elif key==74: # Toggle fullscreen; This is the F3 key on this particular keyboard # Toggle full screen mode if showFullScreen == False : cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN) else: cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_NORMAL) showFullScreen = not showFullScreen else: print ("camera open failed") if __name__ == '__main__': arguments = parse_cli_args() print("Called with args:") print(arguments) print("OpenCV version: {}".format(cv2.__version__)) print("Device Number:",arguments.video_device) if arguments.video_device==0: video_capture=open_onboard_camera() else: video_capture=open_camera_device(arguments.video_device) read_cam(video_capture) video_capture.release() cv2.destroyAllWindows()