Scanning from a laser line and usb cam
V Python fill up memory to 1.6G and crash the system
Smaller Scan works fine
is there a better plotting module or a way of getting past V Python
memory block?
The plot must happen in color xyz rgb.
import thread
import sys
import time
import CV
import visual as PLOT
from Geom_3D import *
from Laser_Dots import *
from Ply_Save import *
from PLOT import *
global linelist,linelist_2,PlotNumber,captureR
global image,Red,Picsize,LessData,Stepper
Stepper = 1
Cam = 1
Plot = 1
Liniar,Rotary = 0,1
Picsize = 320,240
Picsize = 640,480
LessData = 20
Picnum = 342
red,green,blue,Value = 1,1,1,1
PlotNumber,PicNum,dot = 1,1,1
CenterLine = 250
linelist = []
linelist_2 = []
Plot_Data = []
Red = red
deviceR = Cam
CamSizeX,CamSizeY = Picsize
LessData = (CamSizeX/(100/LessData))
Win_Name = 'Get_Laser_Dots'
cv.NamedWindow(Win_Name, 1)
cv.MoveWindow(Win_Name, 450, 10)
CamSizeX,CamSizeY = Picsize
deviceR = Cam
captureR = cv.CreateCameraCapture(deviceR)
cv.SetCaptureProperty (captureR,cv.CV_CAP_PROP_FRAME_HEIGHT,
CamSizeY)
cv.SetCaptureProperty (captureR,cv.CV_CAP_PROP_FRAME_WIDTH,
CamSizeX)
image = cv.QueryFrame(captureR)
cv.ShowImage(Win_Name, image)
time.sleep(3)
image = cv.QueryFrame(captureR)
cv.ShowImage(Win_Name, image)
Cam = captureR
def on_mouse(event,x, y, flags, param):
global image,Red,PlotNumber,Value
if event == cv.CV_EVENT_MOUSEMOVE:
pass
if event == cv.CV_EVENT_LBUTTONDOWN:
x,y = int(x) , int(y)
Pixel = cv.Get2D (image, y, x )
blue, green, red,N = Pixel
if cv.CV_EVENT_MBUTTONDOWN:
PicNum = 1
dotend = 1
dot = 1
PlotNumber = 1
Red = red
print Red
Value = (green + blue)/2
Value = red = Value
cv.SetMouseCallback('Get_Laser_Dots', on_mouse)
def main():
thread.start_new_thread(FimdRed,())
def FimdRed():
global linelist,linelist_2,PlotNumber,image
global dot
global image,Red,CenterLine,LessData
while PlotNumber < Picnum:
if Red > 50 and PlotNumber == 1:
Cam_Stepper()
if Red > 50:
image = cv.QueryFrame(captureR)
PlotNumber = PlotNumber + 1
linelist = []
linelist,image_Return,dot = Laser.FindDot(image,Picnum,linelist,\
Cam,Red,Value,Picsize)
N,linelist = geo.Get_Geometry(Picnum,linelist,Liniar,\
Rotary,Picsize,CenterLine)
if Plot == 1:
plot.Plot_3D(linelist,LessData)
cv.ShowImage(Win_Name, image_Return)
linelist_2 = linelist_2 + linelist
linelist = []
if __name__ == "__main__":
Laser = Get_Laser_Dots(image,Picnum,linelist,Cam,red,Value,Picsize)
file = Saving(dot,linelist)
geo = Calc_Geometry(Picnum,linelist_2,Liniar,Rotary,Picsize,CenterLine)
plot = Plot_Visual(linelist,LessData)
file.formatPLY()
main()
while True:
if PlotNumber >= Picnum:
if Red < 50 and PlotNumber == Picnum:
PlotNumber = 1
if Red > 50:
file.Set_PLY_Vertices(dot,linelist_2)
cv.DestroyWindow('Get_Laser_Dots')
sys.exit(-1)
if(cv.WaitKey(10) != -1):
breakimport cv
class Get_Laser_Dots:
def __init__(self,image,Picnum,linelist,Cam,Red,Value,Picsize):
global PlotNumber,xsize,ysize,xxcrop,yycrop,captureR
global dot
captureR = Cam
if not captureR:
print "Could not initialize capturing..."
sys.exit(-1)
PlotNumber = 1
dot = 1
CamSizeX,CamSizeY = Picsize
Center = CamSizeX/2
crop1 = (CamSizeX/5),6
crop2 = (CamSizeX/2),CamSizeY
xxcrop,yycrop = crop1
xsize,ysize = crop2
def FindDot(self,image,Picnum,linelist,Cam,Red,Value,Picsize):
global PlotNumber,xsize,ysize,xxcrop,yycrop,captureR
global on_mouse,dot
PlotNumber = PlotNumber + 1
if(image):
yy = (ysize-yycrop)
while yy >= 1:
yy = yy - 1
ycrop = yy + yycrop
xx = (xsize-xxcrop)
while xx >= 1:
xx = xx - 1
xcrop = xx + xxcrop
x,y = int(xcrop) , int(ycrop)
Pixel = cv.Get2D (image, y, x )
blue, green, red,N = Pixel
if (red>=Red) & (red>=((green+blue)/2)+Value):
rr = red
x,y = int(xcrop) , int(ycrop)
Pixel = cv.Get2D (image, y, x )
blue, green, red,N = Pixel
while red>=rr :
xx = xx - 1
xcrop = xx + xxcrop
x,y = int(xcrop) , int(ycrop)
Pixel = cv.Get2D (image, y, x )
x,y = int(xcrop) , int(ycrop)
Pixel = cv.Get2D (image, y, x )
red, green, blue,N = Pixel
else:
pt1 = int(xcrop) ,int(ycrop)
pt2 = int(xcrop+1),int(ycrop+1)
cv.Line(image,pt1,pt2, cv.Scalar(0,250,0), 1, 8, 0)
if ycrop > 0 and Red > 50:
xC,yC = int(xcrop+8) , int(ycrop)
PixelC = cv.Get2D (image, yC, xC )
blueC, greenC, redC,N = PixelC
linelist.append(xcrop)
linelist.append(ycrop)
linelist.append(int(redC))
linelist.append(int(greenC))
linelist.append(int(blueC))
linelist.append(int(PlotNumber))
dot = dot + 1
ycrop = 0
return linelist,image,dotfrom math import sin,cos,tan,atan,radians
class Calc_Geometry:
def __init__(self,Picnum,Datalist,Liniar,Rotary,Picsize,CenterLine):
global xsize,ysize,xxcrop,yycrop
CamSizeX,CamSizeY = Picsize
crop1 = (CamSizeX/5),6
crop2 = (CamSizeX/2),CamSizeY
xxcrop,yycrop = crop1
xsize,ysize = crop2
def Get_Geometry(self,Picnum,Datalist,Liniar,Rotary,Picsize,CenterLine):
global xsize,ysize,xxcrop,yycrop
if CenterLine < 10:
CamSizeX,CamSizeY = Picsize
CenterLine = CamSizeX/2
NUMBER = 1
Geom_list = []
xyzlist = Datalist
for points in range(2, len(xyzlist),6):
r,ycrop,xcrop,PlotNumber,b,g = xyzlist[points], xyzlist[points-1],\
xyzlist[points-2], xyzlist[points-3],\
xyzlist[points-4],xyzlist[points-5]
stepangle = float(360.0 / (Picnum-3))
if Liniar:
offset = float(0 * stepangle)
zc = (((xcrop-CenterLine) * sin(offset * (3.14159/180)))\
+PlotNumber)
yc = -(atan(((500*4.0/5.0)*(3.14159/180)/2.0))*2.0*.210*ycrop)
xc = -((xcrop-CenterLine) * cos( 0 * (3.14159/180)))
if Rotary:
offset = float(PlotNumber * stepangle)
zc = ((xcrop-CenterLine) * sin(radians(offset))* 2.4)
xc = -((xcrop-CenterLine) * cos(radians(offset))* 2.4)
yc = -ycrop
Geom_list.append(xc)
Geom_list.append(yc)
Geom_list.append(zc)
Geom_list.append(r)
Geom_list.append(g)
Geom_list.append(b)
NUMBER = NUMBER + 1
return NUMBER,Geom_listimport visual as PLOT
from math import *
class Plot_Visual:
def __init__(self,linelist,LessData):
global scene,BColor
scene = PLOT.display(title='GEOMETRY DISPLAY',center = (-2,-250,0),\
x=20,y=20,background=([0.0,0.0,0.0]))
BColor = ([0.60,0.60,0.60])
def Plot_3D(self,linelist,LessData):
global dot,scene,BColor
xyzlist = linelist
dot = 1
for points in range(2, len(xyzlist),6):
zc,yc,xc,g,b,r = xyzlist[points], xyzlist[points-1],\
xyzlist[points-2], xyzlist[points-3],\
xyzlist[points-4],xyzlist[points-5]
x_axis = float(xc) /2
y_axis = float(yc) /2
z_axis = float(zc) /2
fact = (1 / (140 * 1.0))
r = int(r) * fact
g = int(g) * fact
b = int(b) * fact
scene.background=BColor
step = ((dot) / LessData)
step1 = ((dot) - (step*LessData))
if step1 == 1:
if r < 80:
r = 250
PLOT.points(pos=(zc, yc, xc), size = 0.0015, color=[(r,g,b)],\
center=(x_axis,y_axis,z_axis))
dot = dot + 1
drag = 0
xyzlist = []import os
import win32file, win32api
import fileinput
class Saving:
def __init__(self,dot,Datalist):
print 'start'
def formatPLY(self):
outPLY = ""
Value = 1
plotPLY = "c:/Quick_3D_Scan.ply"
if os.path.exists(plotPLY):
os.remove(plotPLY)
PlyFile = "c:/Quick_3D_Scan.ply"
outputfile = open(PlyFile,"w")
str001 = "ply"+"\n"
outputfile.write(str001)
str003 = "format ascii 1.0"+"\n"
outputfile.write(str003)
str004 = "comment Awie Spengler generated"+"\n"
outputfile.write(str004)
str005 = "element vertex "+"\n"
outputfile.write(str005)
str006 = "property float x"+"\n"
outputfile.write(str006)
str007 = "property float y"+"\n"
outputfile.write(str007)
str008 = "property float z"+"\n"
outputfile.write(str008)
str009 = "property uchar red"+"\n"
outputfile.write(str009)
str010 = "property uchar green"+"\n"
outputfile.write(str010)
str011 = "property uchar blue"+"\n"
outputfile.write(str011)
str012 = "property uchar alpha"+"\n"
outputfile.write(str012)
str013 = "element face 0"+"\n"
outputfile.write(str013)
str014 = "property list uchar int vertex_indices"+"\n"
outputfile.write(str014)
str015 = "end_header"+"\n"
outputfile.write(str015)
def Set_PLY_Vertices(self,Number,Datalist):
plotdot = "c:/Quick_3D_Scan.ply"
plotdotBackup = "c:/Quick_3D_Scan.ply"
temp_dir=win32api.GetFullPathName('c:/')
outputfile = open(plotdot,"r")
outputfile.close()
LNum = str((Number-1))
A = 'element vertex '+LNum
for lines in fileinput.FileInput(plotdot,inplace=4):
lines = lines.replace('element vertex ',A)
print lines,
outputfile.close()
PlyFile = "c:/Quick_3D_Scan.ply"
outputfile = open(PlyFile,"a")
xyzlist = Datalist
outPLY = ""
for points in range(2, len(xyzlist),6):
cz,cy,cx,b,g,r = xyzlist[points], xyzlist[points-1],\
xyzlist[points-2], xyzlist[points-3],\
xyzlist[points-4], xyzlist[points-5]
#print cz,cy,cx,b,r,g
outPLY = outPLY + str(cz)
outPLY = outPLY + " "
outPLY = outPLY + str(cy)
outPLY = outPLY + " "
outPLY = outPLY + str(cx)
outPLY = outPLY + " "
outPLY = outPLY + str(r)
outPLY = outPLY + " "
outPLY = outPLY + str(g)
outPLY = outPLY + " "
outPLY = outPLY + str(b)
outPLY = outPLY + " "
outPLY = outPLY + str(255)
outPLY = outPLY +"\n"
outputfile.write(outPLY)
outPLY = ""
outputfile.close()