def __init__(self, url='10.84.110.2', topic='radar60', only_latest=True):
fps = 60
frame_width = 110
frame_height = 180
#self.out_writer = cv2.VideoWriter('/Users/home/Desktop/stuff/work/code/Junction/light-navigation/stick/output/output.avi',
#cv2.VideoWriter_fourcc('M','J','P','G'),
#fps,
#(frame_width,frame_height))
self.url = url
self.topic = topic
self.only_latest = only_latest
self.samples_in_total = 0
self.fps = 30
self.startTime = time.time()
#cv2.namedWindow('junction',cv2.WINDOW_NORMAL)
###############our stuff
self.Serial_Device = InitLights()
self.direction = 5
self.finder = PersonFinder()
self.reset = False
self.last_cnt = None
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
class Streamer24():
def __init__(self, url='localhost', topic='radar24', only_latest=False):
self.url = url
self.topic = topic
self.only_latest = only_latest
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
def deserialize_radar_raw_int_data(self, sample):
"""Deserialize raw radar int data (Vtt24) to dictionary.
Return None is case of failure"""
try:
deserialized_sample = RadarRawIntSample.Sample.GetRootAsSample(
sample, 0)
except Exception:
return None
sample_dict = {}
sample_dict['time'] = deserialized_sample.Time()
sample_dict['seq'] = deserialized_sample.Seq()
sample_dict['frame_id'] = deserialized_sample.FrameId()
sample_dict['data'] = deserialized_sample.DataAsNumpy().reshape(
deserialized_sample.Height(), deserialized_sample.Width())
return sample_dict
def process_sample(self, ch, method, properties, body):
"""Process a single sample from radar"""
# data inside a dictionary
# {'data':[1.3,4.4,5...]}
sample_dict = self.deserialize_radar_raw_int_data(body)
if body is None or sample_dict is None:
print('Stream stopped.')
return
data = sample_dict['data']
# your code here
print("Variance: %.2f" % np.var(data))
def exit(self):
"""Perform actions before exit"""
print("Exiting..")
def __init__(self, url='localhost', topic='radar24', only_latest=False):
self.url = url
self.topic = topic
self.only_latest = only_latest
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
def __init__(self, url='10.84.110.2', topic='radar60', only_latest=False):
self.i = 0
self.url = url
self.topic = topic
self.only_latest = only_latest
self.samples_in_total = 0
self.fps = 30
self.startTime = time.time()
cv2.namedWindow('junction', cv2.WINDOW_NORMAL)
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
class Streamer60():
def __init__(self, url='10.84.110.2', topic='radar60', only_latest=True):
fps = 60
frame_width = 110
frame_height = 180
#self.out_writer = cv2.VideoWriter('/Users/home/Desktop/stuff/work/code/Junction/light-navigation/stick/output/output.avi',
#cv2.VideoWriter_fourcc('M','J','P','G'),
#fps,
#(frame_width,frame_height))
self.url = url
self.topic = topic
self.only_latest = only_latest
self.samples_in_total = 0
self.fps = 30
self.startTime = time.time()
#cv2.namedWindow('junction',cv2.WINDOW_NORMAL)
###############our stuff
self.Serial_Device = InitLights()
self.direction = 5
self.finder = PersonFinder()
self.reset = False
self.last_cnt = None
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
def deserialize_vtt_60_processed(self, sample):
"""Deserialize raw data and config dictionary.
Return None is case of failure"""
try:
deserialized_sample = Vtt60Processed.Sample.GetRootAsSample(
sample, 0)
except Exception:
return None
sample_dict = {}
sample_dict['amplitude'] = deserialized_sample.AmplitudeAsNumpy()
sample_dict['angle'] = deserialized_sample.AngleAsNumpy()
self.samples_in_total += 1
return sample_dict
def process_sample(self, ch, method, properties, body):
"""Process a single sample from radar"""
# data inside a dictionary
# {'amplitude':[1.3,4.4,5...],
# 'angle': [0.04,0.1,...]}
sample_dict = self.deserialize_vtt_60_processed(body)
if body is None or sample_dict is None:
print('Stream stopped.')
return
if self.samples_in_total % self.fps == 0:
endTime = time.time()
print('FPS: {:.1f}'.format(self.fps / (endTime - self.startTime)))
self.startTime = endTime
# your code here
amplitude = sample_dict['amplitude']
amplitude = np.reshape(amplitude, (180, 110))
amplitude = np.where(amplitude > 130, 130, amplitude)
amplitude = np.uint8(255 * amplitude / 130)
ret, thresh = cv2.threshold(imgray, 200, 255, cv2.THRESH_BINARY)
thresh, contours = get_contours(new_frame)
self.direction, final_cnt = self.finder.get_new_cors(
contours, self.direction)
if self.last_cnt is not None:
last_rect = cv2.minAreaRect(self.last_cnt)
new_rect = cv2.minAreaRect(final_cnt)
if ((last_rect[0][0] - new_rect[0][0])**2 +
(last_rect[0][1] - new_rect[0][1])**2) > 50:
self.reset = True
self.last_cnt = final_cnt
for row in thresh:
for i in range(len(row)):
row[i] = 255
#for cnt in contours:
# cv2.drawContours(thresh, [cnt], 0, (183,23,100), -1)
cv2.drawContours(thresh, [final_cnt], 0, (183, 23, 100), -1)
if self.reset == True:
if thread.active_count() == 1:
thread.Thread(target=Off, args=(2, self.Serial_Device)).start()
self.reset = False
print("OFF")
elif self.direction > 9 and thread.active_count() == 1:
thread.Thread(target=Blink,
args=(1, "EC86", self.Serial_Device)).start()
print("further EC86")
elif thread.active_count() == 1:
thread.Thread(target=Blink,
args=(1, "ECC5", self.Serial_Device)).start()
print("closer ECC5")
#cv2.circle(thresh, (50, 130), 1, color=(0,255,255), thickness=2, lineType=8, shift=0)
#namedWindow("Display frame", WINDOW_NORMAL)
cv2.resizeWindow("Display frame", 400, 400)
cv2.imshow('Display frame', thresh)
#out_writer.write(thresh)
cv2.waitKey(25)
#out = cv2.cvtColor(amplitude,cv2.COLOR_GRAY2BGR)
# out = cv2.applyColorMap(out,cv2.COLORMAP_MAGMA)
#self.out_writer.write(out)
#cv2.imshow('junction',out)
#cv2.waitKey(10)
def exit(self):
"""Perform actions before exit"""
self.out_writer.release()
cv2.destroyAllWindows()
print("Exiting..")
class Streamer60():
def __init__(self, url='10.84.110.2', topic='radar60', only_latest=False):
self.i = 0
self.url = url
self.topic = topic
self.only_latest = only_latest
self.samples_in_total = 0
self.fps = 30
self.startTime = time.time()
cv2.namedWindow('junction', cv2.WINDOW_NORMAL)
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
def deserialize_vtt_60_processed(self, sample):
"""Deserialize raw data and config dictionary.
Return None is case of failure"""
try:
deserialized_sample = Vtt60Processed.Sample.GetRootAsSample(
sample, 0)
except Exception:
return None
sample_dict = {}
sample_dict['amplitude'] = deserialized_sample.AmplitudeAsNumpy()
sample_dict['angle'] = deserialized_sample.AngleAsNumpy()
self.samples_in_total += 1
return sample_dict
def report_people(self, number):
if number > 0:
number = number - 1
if number == 0:
light = 5
temperature = 6500
elif number == 1:
light = 20
temperature = 5750
elif number == 2:
light = 30
temperature = 4850
else:
light = 60
temperature = 3450
requests.post('http://10.100.15.151:8070/api/v1/set_light',
json={
"device_id": "EC22",
"type": "brightness",
"user": "******",
"settings": {
"light_level_value": light,
"color_temperature_value": temperature
}
})
def process_sample(self, ch, method, properties, body):
"""Process a single sample from radar"""
# data inside a dictionary
# {'amplitude':[1.3,4.4,5...],
# 'angle': [0.04,0.1,...]}
sample_dict = self.deserialize_vtt_60_processed(body)
with open('sample_test_run.txt', 'a') as f:
x_arrstr = np.char.mod('%d', sample_dict['amplitude'])
# x_arrstr -> should be 2d array "frame".
raw_data = ",".join(x_arrstr.flatten())
f.write(raw_data)
f.write('\n')
arr = np.array(sample_dict['amplitude'])
frame = np.reshape(arr, (180, 110))
frame_transposed_flipped = np.flip(np.transpose(frame))
frame_transposed_flipped = np.flip(np.transpose(frame))
details_removed = frame_transposed_flipped
details_removed = np.clip(frame_transposed_flipped,
a_min=frame_transposed_flipped.max() -
15,
a_max=None)
self.i = self.i + 1
if self.i % 10 == 0:
b = sum(
pd.DataFrame(frame).max().diff() /
pd.DataFrame(frame).max() > 0.13)
self.report_people(b)
if body is None or sample_dict is None:
print('Stream stopped.')
return
if self.samples_in_total % self.fps == 0:
endTime = time.time()
print('FPS: {:.1f}'.format(self.fps / (endTime - self.startTime)))
self.startTime = endTime
# your code here
amplitude = sample_dict['amplitude']
amplitude = np.reshape(amplitude, (180, 110))
amplitude = np.where(amplitude > 130, 130, amplitude)
amplitude = np.uint8(255 * amplitude / 130)
out = cv2.cvtColor(amplitude, cv2.COLOR_GRAY2BGR)
out = cv2.applyColorMap(out, cv2.COLORMAP_MAGMA)
cv2.imshow('junction', out)
cv2.waitKey(10)
def exit(self):
"""Perform actions before exit"""
cv2.destroyAllWindows()
print("Exiting..")
class Streamer60():
def __init__(self, url='localhost', topic='radar60', only_latest=False):
self.url = url
self.topic = topic
self.only_latest = only_latest
self.samples_in_total = 0
self.fps = 30
self.startTime = time.time()
cv2.namedWindow('junction', cv2.WINDOW_NORMAL)
# connect to RabbitMQ topic
self.subscriber = Subscriber(self.url)
self.subscriber.subscribe(self.topic,
self.process_sample,
only_latest=self.only_latest)
atexit.register(self.exit)
try:
self.subscriber.run()
except KeyboardInterrupt:
pass
def deserialize_vtt_60_processed(self, sample):
"""Deserialize raw data and config dictionary.
Return None is case of failure"""
try:
deserialized_sample = Vtt60Processed.Sample.GetRootAsSample(
sample, 0)
except Exception:
return None
sample_dict = {}
sample_dict['amplitude'] = deserialized_sample.AmplitudeAsNumpy()
sample_dict['angle'] = deserialized_sample.AngleAsNumpy()
self.samples_in_total += 1
return sample_dict
def process_sample(self, ch, method, properties, body):
"""Process a single sample from radar"""
# data inside a dictionary
# {'amplitude':[1.3,4.4,5...],
# 'angle': [0.04,0.1,...]}
sample_dict = self.deserialize_vtt_60_processed(body)
if body is None or sample_dict is None:
print('Stream stopped.')
return
if self.samples_in_total % self.fps == 0:
endTime = time.time()
print('FPS: {:.1f}'.format(self.fps / (endTime - self.startTime)))
self.startTime = endTime
# your code here
amplitude = sample_dict['amplitude']
amplitude = np.reshape(amplitude, (180, 110))
amplitude = np.where(amplitude > 130, 130, amplitude)
amplitude = np.uint8(255 * amplitude / 130)
out = cv2.cvtColor(amplitude, cv2.COLOR_GRAY2BGR)
out = cv2.applyColorMap(out, cv2.COLORMAP_MAGMA)
cv2.imshow('junction', out)
cv2.waitKey(10)
def exit(self):
"""Perform actions before exit"""
cv2.destroyAllWindows()
print("Exiting..")