def show_image(self, image, robots_coordinates):
image_panel = self.parent.image_panel
CV.draw_robots(robots_coordinates, image)
CV.convert_to_RGB(image)
bitmap = wx.BitmapFromBuffer(image.width, image.height, image.tostring())
image_panel.webcam_image.SetBitmap(bitmap)
image_panel.Refresh()
def get_robots_coordinates(self, image):
'''Gets the robots position and rotation list.'''
image_channels = CV.split_into_channels(image)
left_points = CV.find_color_blobs(self.left_color, image_channels)
right_points = CV.find_color_blobs(self.right_color, image_channels)
pairs = self.combine_points(left_points, right_points)
return self.calculate_coordinates(pairs)
def detect_robots(self, event):
image = CV.grab_frame(self.parent.capture)
coordinates = self.parent.detector.get_robots_coordinates(image)
self.show_image(image, coordinates)
self.send_message(coordinates)
self.log(coordinates)
def setUp(self):
self.num_timestamps = 10
self.fov = math.pi / 2
self.image_width = 1000
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.camera = Camera()
self.camera.set_actual_position((1,1)).\
set_fov_rad(self.fov).\
set_num_timestamps(self.num_timestamps).\
set_range(50000)
for timestamp in range(self.camera.get_num_timestamps()):
self.camera.set_state_of_pan_motor_angle_at_timestamp_rad(
math.pi / 4, timestamp)
self.cv = ComputerVision()
self.image_generator = ImageGenerator(image_width=self.image_width)
self.camera.set_computer_vision(self.cv).\
set_image_generator(self.image_generator)
self.viewable_objects = [
StationaryObject((2, 1 + math.tan(math.pi / 8))),
StationaryObject((1 + math.tan(math.pi / 8), 2)),
StationaryObject((10000, 1.1)),
StationaryObject((1.1, 10000)),
]
self.object_universe.add_viewable_objects(self.viewable_objects)
self.object_universe.add_camera(self.camera)
self.d = self.image_width / (2 * math.tan(self.fov / 2))
self.theta = math.pi / 8
def setUp(self):
self.num_timestamps = 6
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.object_universe.add_camera(self.camera)
for timestamp, _ in enumerate(self.camera.get_state_history()):
self.camera.set_pan_angle_deg(0, timestamp)
self.out_pos = (1,2)
self.in_pos = (1,0)
self.out_obj = ViewableObject()
self.in_obj = ViewableObject()
self.in_out_in_obj = ViewableObject()
self.out_in_out_obj = ViewableObject()
self.viewable_objects = [
self.out_obj,
self.in_obj,
self.in_out_in_obj,
self.out_in_out_obj,
]
self.object_universe.add_viewable_objects(self.viewable_objects)
for timestamp, _ in enumerate(self.out_obj.position_history):
self.in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [0,1]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [2,3]:
self.in_out_in_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.in_pos, timestamp)
for timestamp in [4,5]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.cv.set_cv_ids_for_all_camera_time()
class Demo:
def __init__(self):
# Setup physical environment
self.num_timestamps = 100
self.camera = Camera()
self.camera.set_actual_position((100,300)).\
set_gps_position((100,290)).\
set_gps_max_error(10).\
set_fov_deg(70)
for timestamp in range(self.num_timestamps):
self.camera.set_pan_angle_deg(0, timestamp)
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.boundary = Boundary([(150, 100), (150, 550), (300, 550),
(300, 100)])
self.viewable_objects = []
for _ in range(20):
self.viewable_objects.append(
RandomlyMovingObject(boundary=self.boundary))
self.object_universe = ObjectUniverse(
num_timestamps=self.num_timestamps)
self.object_universe.add_camera(self.camera).\
add_viewable_objects(self.viewable_objects)
self.cv.set_cv_ids_for_all_camera_time()
# Rendering
renderable_objects = [
self.boundary,
self.object_universe,
]
RenderOrchestrator(self.num_timestamps,
seconds_per_timestamp=0.2,
renderable_objects=renderable_objects).run()
def add_computer_vision_if_none(self):
if self.computer_vision is None:
self.set_computer_vision(ComputerVision())
return self
def update_capture(self, event=None):
camera_index = self.webcam_panel.spn_camera_index.GetValue()
self.capture = CV.get_capture(camera_index)
class TestComputerVision(unittest.TestCase):
def setUp(self):
self.num_timestamps = 6
self.object_universe = ObjectUniverse(num_timestamps=self.num_timestamps)
self.camera = Camera(fov_deg=90, actual_position=(0,0))
self.cv = ComputerVision()
self.camera.set_computer_vision(self.cv)
self.object_universe.add_camera(self.camera)
for timestamp, _ in enumerate(self.camera.get_state_history()):
self.camera.set_pan_angle_deg(0, timestamp)
self.out_pos = (1,2)
self.in_pos = (1,0)
self.out_obj = ViewableObject()
self.in_obj = ViewableObject()
self.in_out_in_obj = ViewableObject()
self.out_in_out_obj = ViewableObject()
self.viewable_objects = [
self.out_obj,
self.in_obj,
self.in_out_in_obj,
self.out_in_out_obj,
]
self.object_universe.add_viewable_objects(self.viewable_objects)
for timestamp, _ in enumerate(self.out_obj.position_history):
self.in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [0,1]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
for timestamp in [2,3]:
self.in_out_in_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.in_pos, timestamp)
for timestamp in [4,5]:
self.in_out_in_obj.set_position_at_timestamp(self.in_pos, timestamp)
self.out_in_out_obj.set_position_at_timestamp(self.out_pos, timestamp)
self.cv.set_cv_ids_for_all_camera_time()
def test_camera_has_correct_number_of_timestamps(self):
self.assertEqual(self.camera.get_num_timestamps(), self.num_timestamps)
self.assertEqual(self.camera.get_state_history_len(), self.num_timestamps)
def test_viewable_objects_have_correct_number_of_timestamps(self):
for vo in self.viewable_objects:
self.assertEqual(vo.get_position_history_len(), self.num_timestamps)
self.assertEqual(vo.get_num_timestamps(), self.num_timestamps)
def test_objects_that_never_are_in_view_never_get_id(self):
for timestamp, _ in enumerate(self.out_obj.get_position_history()):
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_obj, timestamp))
def test_it_ids_objects_that_come_into_view(self):
for timestamp in [0,1]:
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, timestamp))
self.assertIsNotNone(self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, timestamp))
self.assertEqual(self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 0),
self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 1))
def that_it_prefixes_the_ids_with_cv(self):
self.assertEqual(self.cv.get_cv_id_for_obj_at_timestamp(self.in_obj,0)[0:2], 'cv')
def test_it_retains_ids_of_objects_that_remain_in_view(self):
self.assertEqual(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 2),
self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 3))
def test_it_removes_ids_of_objects_that_leave_view(self):
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 4))
self.assertIsNone(self.cv.get_cv_id_for_obj_at_timestamp(self.out_in_out_obj, 5))
def test_it_re_ids_objects_that_come_back_in_view(self):
in_first = self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 1)
in_again = self.cv.get_cv_id_for_obj_at_timestamp(self.in_out_in_obj, 4)
self.assertIsNotNone(in_first)
self.assertIsNotNone(in_again)
self.assertNotEqual(in_first, in_again)
import cv2
import serial
import time
from computer_vision import ComputerVision
SER = serial.Serial("/dev/cu.usbmodem14301",9600)
# COMP_VIS = ComputerVision(src='images/weed_demo.mov')
# COMP_VIS = ComputerVision('images/weed_demo.mov')
COMP_VIS = ComputerVision(0)
while cv2.waitKey(1) != ord('q'):
# time.sleep(0.25)
cv2.imshow("Frame", COMP_VIS.frame)
# print(COMP_VIS.find_line())
# SER.write(COMP_VIS.find_line().encode())
SER.write(str(COMP_VIS.find_weed()).encode())
# time.sleep(.01)
COMP_VIS.cleanup()
