vision_camera · Camera and images

Takes pictures with the camera and edits images.

Class: Camera

class openpibo.vision_camera.Camera(cam=0, width=None, height=None)

Bases: object

Functions: imread() read() create_matte() imshow_to_ide() resize() rotate() imwrite() draw_bitmap() rectangle() circle() line() putTextPIL() putText() stylization() detailEnhance() pencilSketch() edgePreservingFilter() flip()

Controls piBo’s camera.

• Provides basic camera functions such as taking, reading and writing pictures.

• Adds shapes/text to images.

• Transforms images.

example:

from openpibo.vision_camera import Camera

camera = Camera()
# 아래의 모든 예제 이전에 위 코드를 먼저 사용합니다.

release()

imread(filename)

Reads an image file.

Parameters:

filename (str) – Image file to use

Returns:

Image object of type numpy.ndarray

read()

Captures an image with the camera. Changing the resolution may corrupt the image, so the default resolution is recommended.

Returns:

Image object of type numpy.ndarray

create_matte(colors=(255, 255, 255))

imshow(img, ratio=1.0)

Shows an image file in the Web IDE.

Parameters:

• img (numpy.ndarray) – Image object

• ratio (float) – Image resize ratio (network load when many are used at once)

imshow_to_ide(img, ratio=0.25)

Shows an image file in the Web IDE.

Parameters:

• img (numpy.ndarray) – Image object

• ratio (float) – Image resize ratio (network load when many are used at once)

resize(img, w, h)

Resizes an OpenCV image.

Parameters:

• img (numpy.ndarray) – Image object

• w (int) – Width of the resized image (in pixels).

• h (int) – Height of the resized image (in pixels).

Returns:

Resized numpy.ndarray image object

rotate(img, degree=10, ratio=0.9)

Rotates an image.

Parameters:

• img (numpy.ndarray) – Image object

• degree (int) – Rotation angle

• ratio (float) – Scale factor for shrinking or enlarging

Returns:

Rotated numpy.ndarray image object

imwrite(filename, img)

Saves an image to a file.

Parameters:

• filename (str) – Path of the file to save (jpg, png)

• img (numpy.ndarray) – Image object to save

draw_bitmap(w, h, val, background=(255, 255, 255), pixel=(0, 0, 0))

Creates an image from bitmap (dot picture) data, enlarged to the camera image size.

Parameters:

• w (int) – Bitmap width

• h (int) – Bitmap height

• background (tuple) – Background color

• pixel (tuple) – Bit color

Returns:

numpy.ndarray image object

rectangle(img, p1, p2, colors=(255, 255, 255), tickness=1)

Draws a rectangle on an image.

Parameters:

• img (numpy.ndarray) – Image object

• p1 (tuple(int, int)) – Top-left coordinates (x, y)

• p2 (tuple(int, int)) – Bottom-right coordinates (x, y)

• colors (tuple(int, int, int)) – BGR value (b, g, r) or hex value ‘#rrggbb’

• tickness (int) – Thickness of the rectangle border (in pixels); -1 fills it

circle(img, p, r, colors=(255, 255, 255), tickness=1)

Draws a circle on an image.

Parameters:

• img (numpy.ndarray) – Image object

• p (tuple(int, int)) – Top-left coordinates (x, y)

• r (int) – Radius

• colors (tuple(int, int, int)) – BGR value (b, g, r) or hex value ‘#rrggbb’

• tickness (int) – Thickness of the circle outline (in pixels); -1 fills it

line(img, p1, p2, colors=(255, 255, 255), tickness=1)

Draws a straight line on an image.

Parameters:

• img (numpy.ndarray) – Image object

• p1 (tuple(int, int)) – Start coordinates (x, y)

• p2 (tuple(int, int)) – End coordinates (x, y)

• colors (tuple(int, int, int)) – BGR value (b, g, r) or hex value ‘#rrggbb’

• tickness (int) – Line thickness (in pixels)

putTextPIL(img, text, points, size=30, colors=(255, 255, 255))

Writes text on an image. (Korean/English supported - uses pillow)

Parameters:

• img (numpy.ndarray) – Image object

• text (str) – Text to display

• points (tuple(int, int)) – Top-left coordinates of the text block (x, y)

• size (int) – Font size of the text

• colors (tuple(int, int, int)) – Text color BGR value (b, g, r) or hex value ‘#rrggbb’

putText(img, text, points, size=1, colors=(255, 255, 255), tickness=1)

Writes text on an image. (English only)

Parameters:

• img (numpy.ndarray) – Image object

• text (str) – Text to display

• points (tuple(int, int)) – Bottom-left coordinates of the text block (x, y)

• size (int) – Font size of the text

• colors (tuple(int, int, int)) – Text color BGR value (b, g, r) or hex value ‘#rrggbb’

• tickness (int) – Text thickness

stylization(img, sigma_s=100, sigma_r=0.5)

Converts to a cartoon image. (opencv api) low speed

Parameters:

• img (numpy.ndarray) – Image object

• sigma_s (float) – Degree of blur preservation of the image (1-200)

• sigma_r (float) – Degree of edge application of the image (0-1)

Returns:

numpy.ndarray image object

detailEnhance(img, sigma_s=100, sigma_r=0.05)

Converts to a cartoon image. (opencv api)

Parameters:

• img (numpy.ndarray) – Image object

• sigma_s (float) – Degree of blur preservation of the image (1-200)

• sigma_r (float) – Degree of edge application of the image (0-1)

Returns:

numpy.ndarray image object

pencilSketch(img, sigma_s=100, sigma_r=0.2, shade_factor=0.018)

Converts to a sketch image.

example:

img = camera.read()
camera.sketchize(img)

Parameters:

• img (numpy.ndarray) – Image object

• sigma_s (float) – Degree of blur preservation of the image (1-200)

• sigma_r (float) – Degree of edge application of the image (0-1)

• shade_factor (float) – Brightness level of the image (0-0.1)

Returns:

numpy.ndarray image object / grayscale, bgr

edgePreservingFilter(img, flags=1, sigma_s=60, sigma_r=0.4)

Converts to a blurred image.

Parameters:

• img (numpy.ndarray) – Image object

• flags (int) – Filter type 1 (RECURS_FILTER) or 2 (NORMCONV_FILTER)

• sigma_s (float) – Degree of blur preservation of the image (1-200)

• sigma_r (float) – Degree of edge application of the image (0-1)

Returns:

numpy.ndarray image object

flip(img, flags=1)

Converts to a vertically/horizontally flipped image

Parameters:

• img (numpy.ndarray) – Image object

• flags (int) – 0: vertical flip, 1: horizontal flip, -1: vertical and horizontal flip

Returns:

numpy.ndarray image object