def processDrawings(self, image):
# convert to rgb so that coloured lines can be drawn on top
image = filterlib.color(image)
for item in self.drawingRouting:
image = getattr(drawing, item['drawingName'],
drawing.drawingNotDefined)(image, item['args'])
return image
def updateFrame(self):
if self.isFireWire():
if self.isUpdating():
frameOriginal = self.cam.dequeue()
if not self.isFilterBypassed(
) and not self.filterRouting == []:
frameFiltered = self.processFilters(frameOriginal.copy())
else:
frameFiltered = frameOriginal
if self.isObjectDetectionEnabled():
frameProcessed = self.processObjectDetection(
frameFiltered, frameOriginal)
else:
frameProcessed = frameFiltered
if self.isDrawingEnabled():
frameProcessed = self.processDrawings(frameProcessed)
if self.isSnapshotEnabled():
cv2.imwrite('snapshot.png',
filterlib.color(frameProcessed))
self.setStateSnapshotEnabled(False)
if self.isVideoWritingEnabled():
self.videoWriter.write(filterlib.color(frameProcessed))
cv2.imshow(self.windowName(), frameProcessed)
frameOriginal.enqueue()
else:
if self.isUpdating():
_, frameOriginal = self.cap.read()
if not self.isFilterBypassed(
) and not self.filterRouting == []:
frameFiltered = self.processFilters(frameOriginal.copy())
else:
frameFiltered = frameOriginal
if self.isObjectDetectionEnabled():
frameProcessed = self.processObjectDetection(
frameFiltered, frameOriginal)
else:
frameProcessed = frameFiltered
if self.isDrawingEnabled():
frameProcessed = self.processDrawings(frameProcessed)
if self.isSnapshotEnabled():
cv2.imwrite('snapshot.png',
filterlib.color(frameProcessed))
self.setStateSnapshotEnabled(False)
if self.isVideoWritingEnabled():
self.videoWriter.write(filterlib.color(frameProcessed))
cv2.imshow(self.windowName(), frameProcessed)
def processObjectDetection(self,imageFiltered,imageOriginal):
# convert to rgb so that coloured lines can be drawn on top
imageOriginal = filterlib.color(imageOriginal)
# object detection algorithm starts here
# In this function, information about the agent will be updated, and the original image with
# the detected objects highlighted will be returned
algorithm = getattr(objectDetection,self._detectionAlgorithm,objectDetection.algorithmNotDefined)
imageProcessed = algorithm(imageFiltered,imageOriginal,self.agent1) # pass instances of Agent class if you want to update its info
return imageProcessed
def updateFrame(self):
if self.isFireWire():
if self.isUpdating():
frameOriginal = self.cam.dequeue()
if not self.isFilterBypassed(
) and not self.filterRouting == []:
frameFiltered = self.processFilters(frameOriginal.copy())
else:
frameFiltered = frameOriginal
if self.isObjectDetectionEnabled():
frameProcessed = self.processObjectDetection(
frameFiltered, frameOriginal)
else:
frameProcessed = frameFiltered
if self.isFieldDrawingEnabled():
self.fieldDrawing(self._field.x, self._field.y,
self._field.freq, self._field.mag,
self.time, self.separation,
self.orientation)
if self.isAgentDrawingEnabled():
for i in range(0, 4):
self.agentDrawing(self.agent[i].x, self.agent[i].y)
if self.isCOMDrawingEnabled():
self.COMDrawing(self.agent[0].x, self.agent[0].y,
self.agent[1].x, self.agent[1].y,
self.agent[2].x, self.agent[2].y,
self.agent[3].x, self.agent[3].y)
if self.isDrawingEnabled():
frameProcessed = self.processDrawings(frameProcessed)
if self.isSnapshotEnabled():
cv2.imwrite('snapshot.png',
filterlib.color(frameProcessed))
self.setStateSnapshotEnabled(False)
if self.isVideoWritingEnabled():
self.videoWriter.write(filterlib.color(frameProcessed))
cv2.imshow(self.windowName(), frameProcessed)
frameOriginal.enqueue()
self.clearDrawingRouting()
else:
if self.isUpdating():
_, frameOriginal = self.cap.read()
if not self.isFilterBypassed(
) and not self.filterRouting == []:
frameFiltered = self.processFilters(frameOriginal.copy())
else:
frameFiltered = frameOriginal
if self.isObjectDetectionEnabled():
frameProcessed = self.processObjectDetection(
frameFiltered, frameOriginal)
else:
frameProcessed = frameFiltered
if self.isFieldDrawingEnabled():
self.fieldDrawing(self._field.x, self._field.y,
self._field.freq, self._field.mag,
self.time, self.separation,
self.orientation)
if self.isAgentDrawingEnabled():
for i in range(0, 4):
self.agentDrawing(self.agent[i].x, self.agent[i].y)
if self.isCOMDrawingEnabled():
self.COMDrawing(self.agent[0].x, self.agent[0].y,
self.agent[1].x, self.agent[1].y,
self.agent[2].x, self.agent[2].y,
self.agent[3].x, self.agent[3].y)
if self.isDrawingEnabled():
frameProcessed = self.processDrawings(frameProcessed)
if self.isSnapshotEnabled():
cv2.imwrite('snapshot.png',
filterlib.color(frameProcessed))
self.setStateSnapshotEnabled(False)
if self.isVideoWritingEnabled():
self.videoWriter.write(filterlib.color(frameProcessed))
self.frameCounter += 1
#If the last frame is reached, reset the capture and the frame_counter
if self.frameCounter == self.cap.get(cv2.CAP_PROP_FRAME_COUNT):
self.frameCounter = 0 #Or whatever as long as it is the same as next line
self.cap.set(cv2.CAP_PROP_POS_FRAMES, 0)
#print(self.frameCounter)
cv2.imshow(self.windowName(), frameProcessed)
self.clearDrawingRouting()
