def __init__(self):
self.results = get_args()
self.name = self.results.target
# Check if requested target exists
if not utils.is_target(self.name):
return
if self.results.camera == 'pi':
camera_provider = PICamera()
logging.info('Using PI Camera provider')
elif self.results.camera == 'realsense':
logging.info('Using RealSense camera provider')
camera_provider = RealSense()
elif self.results.camera == 'cv':
camera_provider = CVCamera(self.results.port)
else:
logging.error('Invalid camera provider, this shouldn\'t happen')
sys.exit(1)
self.display = Display(provider=camera_provider)
if self.results.local:
self.hsv_handler = Trackbars(self.name)
else:
self.hsv_handler = FileHSV(self.name)
if self.results.web:
self.web = Web(self)
self.web.start_thread() # Run web server
if self.results.networktables:
self.nt = nt_handler.NT(self.name)
self.stop = False
def loop(self):
printed = False
# Check if requested target exists
if not utils.is_target(self.name, False):
return
logging.info(f'Starting loop with target {self.name}')
self.stop = False
# We dynamically load classes in order to provide a modular base
target = import_module(f'targets.{self.name}').Target(self)
self.display.change_exposure(target.exposure)
# Timer for FPS counter
timer = time.time()
avg = 0
while True:
frame = self.display.get_frame()
if frame is None:
if not printed:
logging.warning('Couldn\'t read from camera')
printed = True
continue
else:
printed = False
# Separate frames for display purposes
original = frame.copy()
contour_image = frame.copy()
# Target functions
mask = target.create_mask(frame, self.hsv_handler.get_hsv())
contours, hierarchy = target.find_contours(mask)
filtered_contours = target.filter_contours(contours, hierarchy)
# Draw contours
target.draw_contours(filtered_contours, contour_image)
# Find distance and angle
angle, distance = target.measurements(contour_image,
filtered_contours)
# Show FPS
avg = utils.calculate_fps(contour_image, time.time(), timer, avg)
timer = time.time()
# Display
self.display.process_frame(contour_image, 'contour image',
self.results.local)
self.display.process_frame(utils.bitwise_and(original, mask),
'mask', self.results.local)
if self.results.networktables:
if distance:
self.nt.set_item('distance', distance)
if angle:
self.nt.set_item('angle', angle)
if self.stop:
# If stop signal was sent we call loop again to start with new name
logging.warning('Restarting...')
self.loop()
break
k = cv2.waitKey(1) & 0xFF # large wait time to remove freezing
if k in (27, 113):
logging.warning('Q pressed, stopping...')
self.display.release()
break
def change_name(self, name):
"""
Changes the name and starts a new loop.
:param name:
"""
if not utils.is_target(name, neural=True):
return
logging.info('Changing target to {}'.format(name))
self.name = name
self.stop = True
def change_name(self, name):
"""
Changes the name and starts a new loop.
:param name:
"""
if not utils.is_target(name):
return
logging.info(f'Changing target to {name}')
self.name = name
self.hsv_handler.name = name
self.hsv_handler.reload()
self.stop = True
def loop(self):
printed = False
# Check if requested target exists
if not utils.is_target(self.name, False, True):
return
logging.info('Starting loop with target {}'.format(self.name))
self.stop = False
# We dynamically load classes in order to provide a modular base
target = import_module('neural_targets.{}'.format(
self.name)).Target(self)
self.display.change_exposure(target.exposure)
# Timer for FPS counter
timer = time.time()
avg = 0
while True:
frame = self.display.get_frame()
if frame is None:
if not printed:
logging.warning('Couldn\'t read from camera')
printed = True
continue
else:
printed = False
# Get bounding boxes
boxes = target.boxes(frame)
# Draw on frame
target.draw(frame, boxes)
angle, distance, bounding_box = target.measurements(frame, boxes)
# Show FPS
avg = utils.calculate_fps(frame, time.time(), timer, avg)
timer = time.time()
# Web
self.web.frame = frame
# Display
self.display.process_frame(frame, 'image', self.results.local)
if self.results.networktables:
if distance:
self.nt.set_item('distance', distance)
if angle:
self.nt.set_item('angle', angle)
if self.stop:
# If stop signal was sent we call loop again to start with new name
logging.warning('Restarting...')
self.loop()
break
k = cv2.waitKey(1) & 0xFF # large wait time to remove freezing
if k in (27, 113):
logging.warning('Q pressed, stopping...')
self.display.release()
self.session.close()
break
def __init__(self):
"""
Create all initial handlers based on parameters from get_args.
camera_provider : CVCamera or PICamera or RealSense
- the type of camera to be used by self.display
"""
self.results = get_args()
self.name = self.results.target
# Check if requested target exists
if not utils.is_target(self.name):
return
# Set the camera provider
if self.results.camera == 'pi':
camera_provider = PICamera()
logging.info('Using PI Camera provider')
elif self.results.camera == 'realsense':
logging.info('Using RealSense camera provider')
camera_provider = RealSense()
elif self.results.camera == 'cv':
camera_provider = CVCamera(self.results.port)
else:
logging.error('Invalid camera provider, this shouldn\'t happen')
sys.exit(1)
# Create the display
self.display = Display(provider=camera_provider)
if self.results.local:
self.hsv_handler = Trackbars(self.name)
else:
self.hsv_handler = FileHSV(self.name)
# Create the web server
if self.results.web:
self.web = Web(self)
self.web.start_thread()
# Create the networktables server
if self.results.networktables:
self.nt = nt_handler.NT(self.name)
self.logger = Logger(self)
self.stop = False
def change_name(self, name):
"""
Changes the name of the target.
Uses: Generally placed in the web handler, where it receives a string from the site. Is called before a new
loop.
See: update() in web.py
:param name: The name of the new target. If it does not exist, the run is shut down.
"""
if not utils.is_target(name):
return
logging.info('Changing target to {}'.format(name))
self.name = name
# Update the HSV variables to match the new target
self.hsv_handler.name = name
self.hsv_handler.reload()
# Stop the current loop
self.stop = True
def loop(self):
"""
Recognises the target repeatedly. Utilises all handlers initialised in __init__.
:return: If the target doesn't exist, the run is shut down.
"""
printed = False
# Check if requested target exists
if not utils.is_target(self.name, False):
return
logging.info('Starting loop with target {}'.format(self.name))
self.stop = False
# Load the target class from the 'targets' directory
target = import_module('targets.{}'.format(self.name)).Target(self)
time.sleep(1)
# Change camera exposure based on the target
self.display.change_exposure(target.exposure)
# Timer for FPS counter
self.timer = time.time()
avg = 0
while True:
# Get initial frame
frame = self.display.get_frame()
# If the frame could not be read, flag it as unreadable to avoid errors
if frame is None:
if not printed:
logging.warning('Couldn\'t read from camera')
printed = True
continue
else:
self.logger.record_latency()
printed = False
# Copy the initial frame for analysis and display, respectively
original = frame.copy()
contour_image = frame.copy()
# Show FPS
avg = utils.calculate_fps(contour_image, time.time(), self.timer, avg)
self.timer = time.time()
# Create a mask
mask = target.create_mask(frame, self.hsv_handler.get_hsv())
# Get all contours
contours, hierarchy = target.find_contours(mask)
self.is_potential_target = bool(contours)
# Filter contours
filtered_contours = target.filter_contours(contours, hierarchy)
self.is_target = bool(filtered_contours)
# Draw contours
target.draw_contours(filtered_contours, contour_image)
self.logger.record_contours()
# Find distance, angle, and other measurements if stated
angle, distance, field_angle, additional_data = target.measurements(contour_image, filtered_contours)
if self.results.web:
# Stream frame
self.web.frame = contour_image
# Display frame
self.display.process_frame(contour_image, 'image', self.results.local)
# Display mask
self.display.process_frame(utils.bitwise_and(original, mask), 'mask', self.results.local)
# Send measurements to networktables, if requested, and if measurements were returned
if self.results.networktables:
if distance is not None:
self.nt.set_item('distance', distance)
if angle is not None:
self.nt.set_item('angle', angle)
if field_angle is not None:
self.nt.set_item('field_angle', field_angle)
# TODO: Send additional data
if self.stop:
# If stop signal was sent, call loop again to start with new name
logging.warning('Restarting...')
self.loop()
break
# Stop the code if q is pressed
k = cv2.waitKey(1) & 0xFF # Large wait time to remove freezing
if k in (27, 113):
logging.warning('Q pressed, stopping...')
# Release the camera and close all windows
self.display.release()
break