I would like to present two videos at the same time. The following code is working, but somehow it has an error occurs when the videos are finished. If I only play one video, the error does not occur. Any help?
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
using namespace cv;
using namespace std;
int main()
{
string filename1 = "C:/test_videos/toy_plane_liftoff.avi";
string filename2 = "C:/test_videos/toy_plane_liftoff_stab.avi";
VideoCapture capture1(filename1);
VideoCapture capture2(filename2);
Mat frame1, frame2;
if (!capture1.isOpened())
throw "Error1";
if (!capture2.isOpened())
throw "Error2";
for (int i = 0; i <= min(capture1.get(CV_CAP_PROP_FRAME_COUNT), capture2.get(CV_CAP_PROP_FRAME_COUNT)); i++)
{
capture1 >> frame1;
capture2 >> frame2;
imshow("1", frame1);
imshow("2", frame2);
if (waitKey(30) >= 0)
break;
}
return 0;
}
You get rid of the error in the following way
if( !frame1.empty())
imshow("1", frame1);
if( !frame2.empty())
imshow("2", frame2);
Related
When i set the position and velocities of the joints in the trajectory msgs i got an error: \
[state_publisher-2] process has died [pid 13362, exit code -11, cmd /home/rob/catkin_ws/devel/lib/r2d2/state_publisher __name:=state_publisher __log:=/home/rob/.ros/log/9980f352-cf74-11e6-8644-d4c9efe8bd37/state_publisher-2.log].
log file: /home/rob/.ros/log/9980f352-cf74-11e6-8644-d4c9efe8bd37/state_publisher-2*.log
My ros node to send geometry_msgs is:
#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <vector>
int main(int argc, char** argv) {
ros::init(argc, argv, "state_publisher");
ros::NodeHandle n;
ros::Publisher joint_pub = n.advertise<trajectory_ms
gs::JointTrajectory>("set_joint_trajectory", 1);
ros::Rate loop_rate(30);
const double degree = M_PI/180;
// robot state
double tilt = 0, tinc = degree, swivel=0, angle=0, height=0, hinc=0.005;
// message declarations
trajectory_msgs::JointTrajectory joint_state;
std::vector<trajectory_msgs::JointTrajectoryPoint> points_n(3);
points_n[0].positions[0] = 1; points_n[0].velocities[0]=10;
while (ros::ok()) {
//update joint_state
joint_state.header.stamp = ros::Time::now();
joint_state.joint_names.resize(3);
joint_state.points.resize(3);
joint_state.joint_names[0] ="swivel";
joint_state.points[0] = points_n[0];
joint_state.joint_names[1] ="tilt";
joint_state.points[1] = points_n[1];
joint_state.joint_names[2] ="periscope";
joint_state.points[2] = points_n[2];
joint_pub.publish(joint_state);
// This will adjust as needed per iteration
loop_rate.sleep();
}
return 0;
}
Here when i donot set the position and velocity value it runs without error and when i run rostopic echo /set_joint_trajectory i can clearly see the outputs as all the parameters of points is 0. I also tried below program but it published nothing:
#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <vector>
int main(int argc, char** argv) {
ros::init(argc, argv, "state_publisher");
ros::NodeHandle n;
ros::Publisher joint_pub = n.advertise<trajectory_msgs::JointTrajectory>("set_joint_trajectory", 1);
trajectory_msgs::JointTrajectory joint_state;
joint_state.header.stamp = ros::Time::now();
joint_state.header.frame_id = "camera_link";
joint_state.joint_names.resize(3);
joint_state.points.resize(3);
joint_state.joint_names[0] ="swivel";
joint_state.joint_names[1] ="tilt";
joint_state.joint_names[2] ="periscope";
size_t size = 2;
for(size_t i=0;i<=size;i++) {
trajectory_msgs::JointTrajectoryPoint points_n;
int j = i%3;
points_n.positions.push_back(j);
points_n.positions.push_back(j+1);
points_n.positions.push_back(j*2);
joint_state.points.push_back(points_n);
joint_state.points[i].time_from_start = ros::Duration(0.01);
}
joint_pub.publish(joint_state);
ros::spinOnce();
return 0;
}
You are accessing points_n[0].positions[0] and points_n[0].velocities[0] without allocating the memory for positions and velocities. Use
...
// message declarations
trajectory_msgs::JointTrajectory joint_state;
std::vector<trajectory_msgs::JointTrajectoryPoint> points_n(3);
points_n[0].positions.resize(1);
points_n[0].velocities.resize(1);
...
then set the values or use points_n[0].positions.push_back(...) instead. The same applies to points_n[1] and points_n[2].
In your second example it looks like your program terminates before anything is sent. Try to publish repeatedly in a while-loop with
while(ros::ok()){
...
ros::spinOnce();
}
I would like to use the external PS eye cam to save 30 frames a second if that is possible.
I don't know where to find guides or the code it self since I'm pretty sure it should be somewhere online.
Anyhelp would be appreciated. Thanks in advance!
So, getting the ps3eye up and running differs depending on which OS you're running. If you're running any flavor of Debian, the drivers are already there and the code I've got below should work fine.
If you're on Windows, you'll have to find a driver for it. CodeLibrary has a driver already made, but you'll have to pay $3 for it. Link's here.
I don't know for Mac, but a bit of digging found this, which might work.
Once you've got the drivers installed, you should be able to access it like any other camera.
Simple bit of code for that is below:
#include "stdafx.h"
#include <opencv/cxcore.h>
#include <opencv2\core\mat.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <iostream>
#include <opencv/cxcore.h>
#include <opencv/highgui.h>
#include <opencv/cv.h>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/videoio/videoio.hpp>
using namespace cv;
using namespace std;
int main() {
Mat image;
bool escnotpressed = true;
VideoCapture cap(0); // open the default camera
if(!cap.isOpened()) // check if we succeeded
return -1;
cap.set(CV_CAP_PROP_FPS, 30); //sets framerate
String capturePath = "C:/this/is/a/path.avi";
Size frameSize = Size(cap.get(CV_CAP_PROP_FRAME_WIDTH), cap.get(CV_CAP_PROP_FRAME_HEIGHT));
VideoWriter savedCapture;
savedCapture.open(capturePath, VideoWriter::fourcc('M','J','P','G'), 30.0, frameSize, true);
if (!savedCapture.isOpened()) {
return -2;
}
while(escnotpressed) { //loops
cap >> image;
if (image.empty()) {
cout << "camera feed got interrupted" << endl;
return 5; //dies if camera feed is interrupted for some reason
}
imshow("Image", image);
savedCapture << image;
int c = waitKey(10);
if( (char)c == 27 ) { escnotpressed = false;}
}
savedCapture.release();
cout << "Done!" << endl;
}
EDIT: If you've got multiple webcams on your computer, you might need to change that VideoCapture cap(0) to VideoCapture cap(x), where x gives you the right camera.
I am trying frame difference in this opencv code (C API).
It gives me an error:
Assertion failed (src1.size() == dst.size() && src1.type() == dst. type()) in unknown function, file ........\ocv\opencv\src\cxcore\cxarithm.cpp , line 1563.
The code is as follow. (When I try to run a video file, this program seems to run without any error, but when I am trying to capture from laptop camera, it gives this error. How do I fix this?
#include "stdafx.h"
#include <cv.h>
#include <highgui.h>
#include <iostream>
using namespace cv;
using namespace std;
int main(int argc, char* argv[])
{
int key=0;
//CvCapture *capture=cvCreateCameraCapture(0);
CvCapture *capture=cvCaptureFromAVI("cmake.avi");
IplImage *frame=cvQueryFrame(capture);
IplImage *currframe=cvCreateImage(cvGetSize(frame),IPL_DEPTH_8U,3);
IplImage *dstframe=cvCreateImage(cvGetSize(frame),IPL_DEPTH_8U,3);
int fps = ( int )cvGetCaptureProperty( capture, CV_CAP_PROP_FPS );
cvNamedWindow("output",CV_WINDOW_NORMAL);
while(key!='x'){
currframe=cvCloneImage(frame);
frame=cvQueryFrame(capture);
//cvCopy(frame,currframe,0);
frame=cvQueryFrame(capture);
cvSub(frame,currframe,dstframe);
if(key==27) break;
cvShowImage("output",dstframe);
key = cvWaitKey( 1000 / fps );
}
cvReleaseCapture(&capture);
cvDestroyWindow("output");
return 0;
}
The error is saying that you are trying to do an operation that needs images of the same size and type. If you run your code in a debugger you can see which line this occurs on.
It is probably one of the destination images you are creating. A t least in the C++ api it is best not to create destination images but just declare them and let the function allocate what it needs
Newbie question and yes I have spent a lot of time sifting through similar questions and Answers with no luck.
What I am trying to do is save frames from a video file in a sequential order. I have managed to save one image using c and I cannot seem to save images after that. I have started using c++ in opencv instead of c and all I can do is view the video and not save any jpg's from it.
I am using opencv2.4.4a on mac if that helps.
below is my c example
#include <stdio.h>
#include <stdlib.h>
#include <opencv/cv.h>
#include <opencv/highgui.h>
#include <iostream>
using namespace cv;
using namespace std;
int main (int argc, char** argv)
{
//initializing capture from file
CvCapture * capture = cvCaptureFromAVI ("/example/example.mov");
//Capturing a frame
IplImage* img = 0;
if(!cvGrabFrame(capture)) //capture a frame
{
printf)Could not grab a fram\n\7");
exit(0);
}
img=cvRerieveFrame(capture); //retrieve the captured frame
//writing an image to a file
if (!cvSaveImage("/frames/test.jpg", img))
printf("Could not save: %s\n","test.jpg");
//free resources
cvReleaseCapture(&capture);
}
Thank you in advance
edit to the above.
I have added to the above code which results in an image to be saved with the test.jpg and then gets rewritten with the next frame. How do I tell opencv to not copy over the last image and rename the next frame to test_2.jpg eg, test_1.jpg, test_2.jpg and so on?
double num_frames = cvGetCaptureProperty (capture, CV_CAP_PROP_FRAME_COUNT);
for (int i = 0; i < (int)num_frames; i++)
{
img = cvQueryFrame(capture);
cvSaveImage("frames/test.jpg", img);
}
cvReleaseCapture(&capture);
}
This is my code... I tryed a lot and finally made it
this is c++ using opencv 3... hope it works
#include "opencv2/opencv.hpp"
#include <sstream>
#include <iostream>
using namespace cv;
using namespace std;
Mat frame,img;
int counter;
int main(int,char**)
{
VideoCapture vid("video3.avi");
while (!vid.isOpened())
{
VideoCapture vid("video2.MOV");
cout << "charging" << endl;
waitKey(1000);
}
cout << "Video opened!" << endl;
while(1)
{
stringstream file;
vid.read(frame);
if(frame.empty()) break;
file << "/home/pedro/workspace/videoFrame/Debug/frames/image" << counter << ".jpg";
counter++;
imwrite(file.str(),frame);
char key = waitKey(10);
if ( key == 27)
{break;}
}
}
Use an index that will keep track of the number part in the filename. In the image capturing loop, add the index with the filename and build the final filename.
here is an example :
while(1)
{
cap.read ( frame);
if( frame.empty()) break;
imshow("video", frame);
char filename[80];
sprintf(filename,"C:/Users/cssc/Desktop/testFolder/test_%d.png",i);
imwrite(filename, frame);
i++;
char key = waitKey(10);
if ( key == 27) break;
}
This is my way to do in Python3.0. Have to have CV2 3+ version for it to work.
This function saves images with frequency given.
import cv2
import os
print(cv2.__version__)
# Function to extract frames
def FrameCapture(path,frame_freq):
# Path to video file
video = cv2.VideoCapture(path)
success, image = video.read()
# Number of frames in video
fps = int(video.get(cv2.CAP_PROP_FPS))
length = int(video.get(cv2.CAP_PROP_FRAME_COUNT))
print('FPS:', fps)
print('Extracting every {} frames'.format(frame_freq))
print('Total Frames:', length)
print('Number of Frames Saved:', (length // frame_freq) + 1)
# Directory for saved frames
try:
frame_dir = path.split('.')[0]
os.mkdir(frame_dir)
except FileExistsError:
print('Directory ({}) already exists'.format(frame_dir))
# Used as counter variable
count = 0
# checks whether frames were extracted
success = 1
# vidObj object calls read
# function extract frames
while count < length :
video.set(cv2.CAP_PROP_POS_FRAMES , count)
success, image = video.read()
# Saves the frames with frame-count
cv2.imwrite(frame_dir + "/frame%d.jpg" % count, image)
count = count + frame_freq
i am still new on opencv, i make simple program based on sample to access webcam but always fails. i change variable id to 0,1,2...100 but i got same result. this is my program:
#include "cv.h"
#include "highgui.h"
#include "stdio.h"
#include "iostream"
// A Simple Camera Capture Framework
int main()
{
IplImage* img = NULL;
CvCapture* cap = NULL;
int id=0;
cap = cvCaptureFromCAM(id);
cvNamedWindow("Images",CV_WINDOW_AUTOSIZE);
if ( !cap )
printf("ERROR\n\n");
else
for(;;)
{
img = cvQueryFrame(cap);
cvShowImage("Imagenes", img);
cvWaitKey(10);
}
cvReleaseImage(&img);
cvReleaseCapture(&cap);
return 0;
}
thank you for your help
Do yourself a favor and check the return of the functions. Maybe some of them are failing and you'll never know why.
Another tip: try with id = -1.
#include <iostream>
#include <sstream>
#include <string>
#include <cv.h>
#include <highgui.h>
int main()
{
CvCapture* capture = NULL;
if ((capture = cvCaptureFromCAM(-1)) == NULL)
{
fprintf(stderr, "ERROR: capture is NULL \n");
return -1;
}
cvNamedWindow("mywindow", CV_WINDOW_AUTOSIZE);
cvQueryFrame(capture); // Sometimes needed to get correct data
IplImage* frame = NULL;
while (1)
{
if ((frame = cvQueryFrame(capture)) == NULL)
{
fprintf( stderr, "ERROR: cvQueryFrame failed\n");
break;
}
if (frame == NULL)
{
usleep(100000);
continue;
}
cvShowImage("mywindow", frame); // Do not release the frame!
int key = cvWaitKey(10);
if (key == 27) // ESC was pressed
break;
}
cvReleaseCapture(&capture);
cvDestroyWindow("mywindow");
return 0;
}