def draw_rectangle(self, img, colour=(255,0,0), linewidth=2, offset=2):
'''draw a rectange around the region in an image'''
(x1,y1,x2,y2) = self.tuple()
(wview,hview) = cuav_util.image_shape(img)
(w,h) = cuav_util.image_shape(img)
x1 = x1*wview//w
x2 = x2*wview//w
y1 = y1*hview//h
y2 = y2*hview//h
cv.Rectangle(img, (max(x1-offset,0),max(y1-offset,0)), (x2+offset,y2+offset), colour, linewidth)
def draw_rectangle(self, img, colour=(255, 0, 0), linewidth=2, offset=2):
'''draw a rectange around the region in an image'''
(x1, y1, x2, y2) = self.tuple()
(wview, hview) = cuav_util.image_shape(img)
(w, h) = cuav_util.image_shape(img)
x1 = x1 * wview // w
x2 = x2 * wview // w
y1 = y1 * hview // h
y2 = y2 * hview // h
cv.Rectangle(img, (max(x1 - offset, 0), max(y1 - offset, 0)),
(x2 + offset, y2 + offset), colour, linewidth)
def view_imagefile(self, filename):
'''view an image in a zoomable window'''
img = cuav_util.LoadImage(filename)
(w,h) = cuav_util.image_shape(img)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
if self.view_image is None or not self.view_image.is_alive():
import wx
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness')])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img, bgr=True)
self.view_image.set_title('View: ' + os.path.basename(filename))
def view_imagefile(self, filename):
'''view an image in a zoomable window'''
img = cuav_util.LoadImage(filename, rotate180=self.camera_settings.rotate180)
(w,h) = cuav_util.image_shape(img)
for i in range(len(self.images)):
if filename == self.images[i].filename:
self.current_view = i
self.images[i].shape = (w,h)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
if self.view_image is None or not self.view_image.is_alive():
import wx
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness')])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img, bgr=True)
self.view_image.set_title('View: ' + os.path.basename(filename))
def score_region(img, r, filter_type='simple'):
'''filter a list of regions using HSV values'''
(x1, y1, x2, y2) = r.tuple()
(w, h) = cuav_util.image_shape(img)
x = (x1 + x2) / 2
y = (y1 + y2) / 2
x1 = max(x - 10, 0)
x2 = min(x + 10, w)
y1 = max(y - 10, 0)
y2 = min(y + 10, h)
rimg = img[y1:y2, x1:x2]
r.score = rgb_score(rimg)
def view_imagefile(self, filename, focus_region=None):
'''view an image in a zoomable window'''
img = cv2.imread(filename)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
(w,h) = cuav_util.image_shape(img)
for i in range(len(self.images)):
if filename == self.images[i].filename:
self.current_view = i
self.last_view_latlon = None
self.images[i].shape = (w,h)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
if self.view_image is None or not self.view_image.is_alive():
import wx
viewwidth = w
viewheight = h
if self.image_view_width is not None:
if viewwidth > self.image_view_width:
viewwidth = self.image_view_width
viewheight = (h*viewwidth)/w
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True,
width=viewwidth,
height=viewheight)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness'),
MPMenuItem('Refresh Image\tCtrl+R', 'Refresh Image', 'refreshImage'),
MPMenuItem('Place Marker\tCtrl+M', 'Place Marker', 'placeMarker')])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img)
if focus_region is not None:
try:
self.view_image.center(focus_region.center())
except Exception:
pass
self.view_image.set_title('View: ' + os.path.basename(filename))
self.view_image.fit_to_window()
def score_region(img, r, min_score=4): '''filter a list of regions using HSV values''' (x1, y1, x2, y2) = r.tuple() if True: (w,h) = cuav_util.image_shape(img) x = (x1+x2)/2 y = (y1+y2)/2 x1 = max(x-10,0) x2 = min(x+10,w) y1 = max(y-10,0) y2 = min(y+10,h) cv.SetImageROI(img, (x1, y1, x2-x1,y2-y1)) hsv = cv.CreateImage((x2-x1,y2-y1), 8, 3) cv.CvtColor(img, hsv, cv.CV_RGB2HSV) cv.ResetImageROI(img) r.score = hsv_score(hsv)
def score_region(img, r, filter_type='simple'):
'''filter a list of regions using HSV values'''
(x1, y1, x2, y2) = r.tuple()
if True:
(w,h) = cuav_util.image_shape(img)
x = (x1+x2)/2
y = (y1+y2)/2
x1 = max(x-10,0)
x2 = min(x+10,w)
y1 = max(y-10,0)
y2 = min(y+10,h)
cv.SetImageROI(img, (x1, y1, x2-x1,y2-y1))
hsv = cv.CreateImage((x2-x1,y2-y1), 8, 3)
cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
cv.ResetImageROI(img)
if filter_type == 'compactness':
use_compactness = True
else:
use_compactness = False
hsv_score(r, hsv, use_compactness)
def score_region(img, r, filter_type='simple'):
'''filter a list of regions using HSV values'''
(x1, y1, x2, y2) = r.tuple()
if True:
(w,h) = cuav_util.image_shape(img)
x = (x1+x2)/2
y = (y1+y2)/2
x1 = int(max(x-10,0))
x2 = int(min(x+10,w))
y1 = int(max(y-10,0))
y2 = int(min(y+10,h))
cv.SetImageROI(img, (x1, y1, x2-x1,y2-y1))
hsv = cv.CreateImage((x2-x1,y2-y1), 8, 3)
cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
cv.ResetImageROI(img)
if filter_type == 'compactness':
use_compactness = True
else:
use_compactness = False
hsv_score(r, hsv, use_compactness)
def score_region(img, r, filter_type="simple"):
"""filter a list of regions using HSV values"""
(x1, y1, x2, y2) = r.tuple()
if True:
(w, h) = cuav_util.image_shape(img)
x = (x1 + x2) / 2
y = (y1 + y2) / 2
x1 = max(x - 10, 0)
x2 = min(x + 10, w)
y1 = max(y - 10, 0)
y2 = min(y + 10, h)
cv.SetImageROI(img, (x1, y1, x2 - x1, y2 - y1))
hsv = cv.CreateImage((x2 - x1, y2 - y1), 8, 3)
cv.CvtColor(img, hsv, cv.CV_RGB2HSV)
cv.ResetImageROI(img)
if filter_type == "compactness":
use_compactness = True
else:
use_compactness = False
r.score = hsv_score(hsv, use_compactness)
def score_region(img, r, filter_type='simple', target_hue=0):
'''filter a list of regions using HSV values'''
(x1, y1, x2, y2) = r.tuple()
(w,h) = cuav_util.image_shape(img)
x = (x1+x2)/2
y = (y1+y2)/2
x1 = max(x-10,0)
x2 = min(x+10,w)
y1 = max(y-10,0)
y2 = min(y+10,h)
hsv = cv2.cvtColor(img[y1:y2, x1:x2], cv2.COLOR_BGR2HSV)
hsv_score(r, hsv)
#set score to 0 if outside hue range
if target_hue != 0:
hue, saturation, lightness = cv2.split(hsv)
(height,width,d) = shape(hsv)
retb, dest = cv2.threshold(hue, max(target_hue-3, 0), 255, cv2.THRESH_TOZERO)
retb, dest = cv2.threshold(dest, min(target_hue+3, 180), 255, cv2.THRESH_TOZERO_INV)
ret, dest = cv2.threshold(dest, 0, 255, cv2.THRESH_BINARY)
#if less than 5% of the pixels are in hue range, then reject
if (cv2.countNonZero(dest)*100/(width*height)) < 5:
r.score = 0
def view_imagefile(self, filename):
'''view an image in a zoomable window'''
img = cuav_util.LoadImage(filename, rotate180=self.camera_settings.rotate180)
(w,h) = cuav_util.image_shape(img)
for i in range(len(self.images)):
if filename == self.images[i].filename:
self.current_view = i
self.last_view_latlon = None
self.images[i].shape = (w,h)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
if self.view_image is None or not self.view_image.is_alive():
import wx
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness'),
MPMenuItem('Refresh Image\tCtrl+R', 'Refresh Image', 'refreshImage'),
MPMenuItem('Download Full\tCtrl+D', 'Download Full', 'downloadFull'),
MPMenuItem('Place Marker\tCtrl+M', 'Place Marker', 'placeMarker')])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img, bgr=True)
self.view_image.set_title('View: ' + os.path.basename(filename))
def tag_image_available(self, color=(0,255,255)):
'''tag the small thumbnail image with a marker making it clear the
full image is available'''
(w,h) = cuav_util.image_shape(self.small_thumbnail)
cv.Rectangle(self.small_thumbnail, (w-3,0), (w-1,2), color, 2)
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(glob.glob(os.path.join(a, '*.pgm')))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if opts.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.boundary:
boundary = cuav_util.polygon_load(opts.boundary)
else:
boundary = None
if opts.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('planetracker.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
C_params = cam_params.CameraParams(lens=opts.lens)
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..',
'cuav', 'data', 'chameleon1_arecont0.json')
C_params.load(path)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if opts.joe:
joes = cuav_util.polygon_load(opts.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if opts.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
for f in files:
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if opts.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, opts.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print e
pos = None
else:
pos = None
# check for any events from the map
if opts.mosaic:
slipmap.check_events()
mosaic.check_events()
if f.endswith('.pgm'):
pgm = cuav_util.PGM(f)
im = pgm.array
if pgm.eightbit:
im_8bit = im
else:
im_8bit = numpy.zeros((960,1280,1),dtype='uint8')
if opts.gamma != 0:
scanner.gamma_correct(im, im_8bit, opts.gamma)
else:
scanner.reduce_depth(im, im_8bit)
im_full = numpy.zeros((960,1280,3),dtype='uint8')
scanner.debayer_full(im_8bit, im_full)
im_640 = numpy.zeros((480,640,3),dtype='uint8')
scanner.downsample(im_full, im_640)
else:
im_orig = cv.LoadImage(f)
(w,h) = cuav_util.image_shape(im_orig)
if (w,h) != (1280,960):
im_full = cv.CreateImage((1280, 960), 8, 3)
cv.Resize(im_orig, im_full)
cv.ConvertScale(im_full, im_full, scale=0.3)
else:
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
img_scan = im_640
t0=time.time()
for i in range(opts.repeat):
if opts.fullres:
regions = scanner.scan_full(im_full)
else:
regions = scanner.scan(img_scan)
count += 1
regions = cuav_region.RegionsConvert(regions)
t1=time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore)
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and opts.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(opts.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(opts.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=1280, height=960, altitude=opts.altitude)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if opts.mosaic and len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(cv.GetImage(cv.fromarray(im_full)), regions, quality=opts.quality)
chameleon.save_file('composite.jpg', composite)
thumbs = cuav_mosaic.ExtractThumbs(cv.LoadImage('composite.jpg'), len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.compress:
jpeg = scanner.jpeg_compress(im_full, opts.quality)
jpeg_filename = f[:-4] + '.jpg'
if os.path.exists(jpeg_filename):
print('jpeg %s already exists' % jpeg_filename)
continue
chameleon.save_file(jpeg_filename, jpeg)
if opts.view:
if opts.fullres:
img_view = im_full
else:
img_view = img_scan
mat = cv.fromarray(img_view)
for r in regions:
(x1,y1,x2,y2) = r.tuple()
(w,h) = cuav_util.image_shape(img_view)
x1 = x1*w//1280
x2 = x2*w//1280
y1 = y1*h//960
y2 = y2*h//960
cv.Rectangle(mat, (max(x1-2,0),max(y1-2,0)), (x2+2,y2+2), (255,0,0), 2)
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
def view_imagefile(self, filename, focus_region=None):
'''view an image in a zoomable window'''
img = cv2.imread(filename)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
(w, h) = cuav_util.image_shape(img)
for i in range(len(self.images)):
if filename == self.images[i].filename:
self.current_view = i
self.last_view_latlon = None
self.images[i].shape = (w, h)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img,
colour=(255, 0, 0),
linewidth=min(max(w / 600, 1), 3),
offset=max(w / 200, 1))
if self.view_image is None or not self.view_image.is_alive():
import wx
viewwidth = w
viewheight = h
if self.image_view_width is not None:
if viewwidth > self.image_view_width:
viewwidth = self.image_view_width
viewheight = (h * viewwidth) / w
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True,
width=viewwidth,
height=viewheight)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N',
'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P',
'Previous Image',
'previousImage'),
MPMenuItem('Fit Window\tCtrl+F',
'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z',
'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B',
'Increase Brightness',
'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B',
'Decrease Brightness',
'decreaseBrightness'),
MPMenuItem('Refresh Image\tCtrl+R',
'Refresh Image',
'refreshImage'),
MPMenuItem('Place Marker\tCtrl+M',
'Place Marker', 'placeMarker')
])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img)
if focus_region is not None:
try:
self.view_image.center(focus_region.center())
except Exception:
pass
self.view_image.set_title('View: ' + os.path.basename(filename))
self.view_image.fit_to_window()
