def __init__(self, draw=True, colour='blue', side='left', main_pitch=True, load_bg_model=False, corners_from_mem=False):
_filepath = sys.argv[0]
_relpath = os.path.split(_filepath)[0]
if _relpath is not '': _relpath = _relpath + '/'
self._bg = cv.LoadImage(_relpath + "b02.jpg")
self._draw = draw
self._colour = colour
self._side = side
self._n_avg_bg = 30
self._corners_from_mem = corners_from_mem
self._last_update = 0
self._fps_update_interval = 0.5
self._num_frames = 0
self._fps = 0
self._calibrate = Calibrate((9,6))
self.calibrate_cam(from_mem = True)
self._config = yaml.load(file('config/020311-0830-main_pitch.yaml', 'r'))
self._vision = Vision(self._bg, self._calibrate, self._config, fix_distortions = True, main_pitch=main_pitch, corners_from_mem=self._corners_from_mem)
self._vision_com = VisionCom(self._vision, colour=self._colour, side=self._side)
self._ba = None
self._load_bg_model = load_bg_model
self._frame_name = 'annotated'
self._capture = Capture()
self._base_time = 0
def __init__(self, avg_bg_frames = 30, online = True, main = True, advanced = False, config = "config/020311-0830-secondary_pitch.yaml"):
# Set up vision, visioncom
calibrate = Calibrate((9,6))
calibrate.calibrate_camera_from_mem("calibration_data/")
self._config = yaml.load(file(config, 'r'))
self._offline_img = cv.LoadImage("b02.jpg")
self._vision = Vision(self._offline_img, calibrate, self._config, fix_distortions = True, main_pitch = main)
self._visioncom = VisionCom(self._vision)
self._capture_pipe, capture_pipe = Pipe()
self._capture = Process(target=Capture, args = (capture_pipe,))
self._capture.start()
self._fps_then = 0
self._fps_frames = 0
self._fps = 0
self._base_time = 0
self._advanced = advanced
self._online = online
if self._online:
if avg_bg_frames:
frames = []
for i in range(avg_bg_frames):
frames.append(self.get_frame())
self._vision.avg_bg_frames(frames)
# Set up GUI and start process
self._events_pipe , events_pipe = Pipe(False)
set_shapes_pipe, get_shapes_pipe = False, False
if advanced:
self._set_shapes_pipe, set_shapes_pipe = Pipe(False)
get_shapes_pipe , self._get_shapes_pipe = Pipe(False)
feed_pipe , self._feed_pipe = Pipe(False)
locations_pipe , self._locations_pipe = Pipe(False)
self._gui_process = Process(target = gui.Gui, args = (events_pipe, locations_pipe, feed_pipe, self._config, get_shapes_pipe, set_shapes_pipe))
self._gui_process.start()
self._locations_pipe.send(("pitch",{True:"main",False:"other"}[main]))
self._window = "source"
self._our_colour = "blue"
self._show_window = True
self._run = True
self._loop()
class VisionWrapper:
def __init__(self, draw=True, colour='blue', side='left', main_pitch=True, load_bg_model=False, corners_from_mem=False):
_filepath = sys.argv[0]
_relpath = os.path.split(_filepath)[0]
if _relpath is not '': _relpath = _relpath + '/'
self._bg = cv.LoadImage(_relpath + "b02.jpg")
self._draw = draw
self._colour = colour
self._side = side
self._n_avg_bg = 30
self._corners_from_mem = corners_from_mem
self._last_update = 0
self._fps_update_interval = 0.5
self._num_frames = 0
self._fps = 0
self._calibrate = Calibrate((9,6))
self.calibrate_cam(from_mem = True)
self._config = yaml.load(file('config/020311-0830-main_pitch.yaml', 'r'))
self._vision = Vision(self._bg, self._calibrate, self._config, fix_distortions = True, main_pitch=main_pitch, corners_from_mem=self._corners_from_mem)
self._vision_com = VisionCom(self._vision, colour=self._colour, side=self._side)
self._ba = None
self._load_bg_model = load_bg_model
self._frame_name = 'annotated'
self._capture = Capture()
self._base_time = 0
def online_feed(self):
frames = []
if self._load_bg_model: frames = [self._capture.pull()]
else: frames = [self._capture.pull() for i in range(self._n_avg_bg)]
self._vision.avg_bg_frames(frames, load_from_mem=self._load_bg_model)
reset_base = False
last_base_time = 0
time_interval = 60
while 1:
lstart = time.time()
if lstart - last_base_time >= time_interval:
self.calc_baseline()
last_base_time = time.time()
frame = self._capture.pull()
timestamp = datetime.fromtimestamp(self.correct_timestamp() / 1000.0).strftime('%Y-%m-%dT%H:%M:%S.%f')
self._vision.update(frame)
self._vision_com.transmit(timestamp)
self.update_fps()
try:
if self._frame_name == 'annotated':
vframe = self._vision.get_frame(name='source', annotated=True)
else:
vframe = self._vision.get_frame(name=self._frame_name, annotated=False)
except:
vframe = self._vision.get_frame(name='annotated', annotated=True)
font = cv.InitFont(cv.CV_FONT_HERSHEY_PLAIN, 0.75, 0.75, 0.0, 1, cv.CV_AA)
msg = ">> FPS: %.2f" % (self._fps,)
cv.PutText(vframe, msg, (10,15), font, cv.Scalar(0,0,255))
if self._draw:
cv.ShowImage("Feed", vframe)
c = cv.WaitKey(2) % 0x100
if c != -1:
if c == 27 or chr(c) == 'q' : break
if chr(c) == 'p' : cv.SaveImage(timestamp + ".jpg", vframe)
if chr(c) == 'a' : self._frame_name = 'annotated'
if chr(c) == 's' : self._frame_name = 'source'
if chr(c) == 'r' : self._frame_name = 'threshed_red'
if chr(c) == 'y' : self._frame_name = 'threshed_yellow'
if chr(c) == 'b' : self._frame_name = 'threshed_blue'
if chr(c) == 'h' : self._frame_name = 'threshed_black'
if chr(c) == 'g' : self._frame_name = 'threshed_green'
if chr(c) == 'f' : self._frame_name = 'foreground'
if chr(c) == 'c' : self._frame_name = 'foreground_connected'
def offline_feed(self, filename):
capture = cv.CaptureFromFile(filename)
width = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH))
height = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT))
fps = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FPS))
frames = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_COUNT))
for f in range(frames - 2):
frame = cv.QueryFrame(capture)
timestamp = datetime.now().strftime('%Y-%m-%dT%H:%M:%S.%f')
frame = self._calibrate.undistort_single_image(frame)
self._vision.update(frame)
self._vision_com.transmit(timestamp)
self.update_fps()
if self._draw:
cv.ShowImage("Feed", frame)
if cv.WaitKey(1000 / fps) == 27:
break
def calc_baseline(self):
for i in range(3):
self._capture.pull()
self._base_time = int(round(time.time() * 1000))
def correct_timestamp(self):
t = int(round(time.time() * 1000))
return t - (t - self._base_time) % 40
def update_fps(self):
self._num_frames += 1
current_update = time.time()
if(current_update - self._last_update > self._fps_update_interval):
self._fps = self._num_frames / (current_update - self._last_update)
self._last_update = current_update
self._num_frames = 0
def calibrate_cam(self, from_mem=True, filenames=[]):
if from_mem:
self._calibrate.calibrate_camera_from_mem("calibration_data/")
else:
images = [cv.LoadImage(file) for file in filenames]
self._calibrate.calibrate_camera(images, save_data=True)
class StartGui:
def __init__(self, avg_bg_frames = 30, online = True, main = True, advanced = False, config = "config/020311-0830-secondary_pitch.yaml"):
# Set up vision, visioncom
calibrate = Calibrate((9,6))
calibrate.calibrate_camera_from_mem("calibration_data/")
self._config = yaml.load(file(config, 'r'))
self._offline_img = cv.LoadImage("b02.jpg")
self._vision = Vision(self._offline_img, calibrate, self._config, fix_distortions = True, main_pitch = main)
self._visioncom = VisionCom(self._vision)
self._capture_pipe, capture_pipe = Pipe()
self._capture = Process(target=Capture, args = (capture_pipe,))
self._capture.start()
self._fps_then = 0
self._fps_frames = 0
self._fps = 0
self._base_time = 0
self._advanced = advanced
self._online = online
if self._online:
if avg_bg_frames:
frames = []
for i in range(avg_bg_frames):
frames.append(self.get_frame())
self._vision.avg_bg_frames(frames)
# Set up GUI and start process
self._events_pipe , events_pipe = Pipe(False)
set_shapes_pipe, get_shapes_pipe = False, False
if advanced:
self._set_shapes_pipe, set_shapes_pipe = Pipe(False)
get_shapes_pipe , self._get_shapes_pipe = Pipe(False)
feed_pipe , self._feed_pipe = Pipe(False)
locations_pipe , self._locations_pipe = Pipe(False)
self._gui_process = Process(target = gui.Gui, args = (events_pipe, locations_pipe, feed_pipe, self._config, get_shapes_pipe, set_shapes_pipe))
self._gui_process.start()
self._locations_pipe.send(("pitch",{True:"main",False:"other"}[main]))
self._window = "source"
self._our_colour = "blue"
self._show_window = True
self._run = True
self._loop()
def get_frame(self):
self._capture_pipe.send("")
while not self._capture_pipe.poll():
pass
data = self._capture_pipe.recv()
frame = cv.CreateImage((640,480),8,3)
cv.SetData(frame, data)
return frame
def _loop(self):
last_base_time = 0
time_interval = 60
while self._run:
lstart = time.time()
if lstart - last_base_time >= time_interval:
self.calc_baseline()
last_base_time = time.time()
# Update feed and locations
self._current_frame = self.get_frame() if self._online else cv.CloneImage(self._offline_img)
self._vision.update(self._current_frame)
timestamp = datetime.fromtimestamp(self.correct_timestamp() / 1000.0).strftime('%Y-%m-%dT%H:%M:%S.%f')
self._visioncom.transmit(timestamp)
self._calc_fps()
self._locations_pipe.send(("fps", "fps", self._fps))
self._src_frame = self._vision.get_frame(self._window)
if self._show_window:
if self._src_frame:
frame = cv.CreateImage(cv.GetSize(self._src_frame),8,3)
if self._window == "source":
cv.CvtColor(self._src_frame, frame, cv.CV_BGR2RGB)
else:
cv.CvtColor(self._src_frame, frame, cv.CV_GRAY2RGB)
pixbuf = (
frame.tostring(),
gtk.gdk.COLORSPACE_RGB,
False,
8,
frame.width,
frame.height,
frame.width * frame.nChannels
)
self._feed_pipe.send(pixbuf)
ball = self._vision.get_ball()
if ball:
self._locations_pipe.send(("ball", "x", ball[0][0]))
self._locations_pipe.send(("ball", "y", ball[0][1]))
(our_centre, our_rotation) = self._vision.get_robot(self._our_colour)
if our_centre:
self._locations_pipe.send(("us", "x", our_centre[0]))
self._locations_pipe.send(("us", "y", our_centre[1]))
if our_rotation:
self._locations_pipe.send(("us", "r", our_rotation))
their_colour = {"blue":"yellow", "yellow":"blue"}[self._our_colour]
(their_centre, their_rotation) = self._vision.get_robot(their_colour)
if their_centre:
self._locations_pipe.send(("them", "x", their_centre[0]))
self._locations_pipe.send(("them", "y", their_centre[1]))
if their_rotation:
self._locations_pipe.send(("them", "r", their_rotation))
# Shapes and sizes
if self._advanced:
vals = [
"_pnp_dist_thresh",
"_cc_area_thresh",
"_max_foreground_obj_thresh",
"_robot_area_threshold",
"_black_dot_area_threshold",
"_black_dot_dist_threshold",
"_ball_area_threshold",
"_plate_area_threshold",
"_blob_area_threshold",
"_pnp_dist_thresh",
"_ball_centre",
"_ball_radius",
"_ball_roundness_metric",
"_blue_robot_centre",
"_blue_robot_t_area",
"_blue_plate_area",
"_yellow_robot_centre",
"_yellow_robot_t_area",
"_yellow_plate_area",
"_offset_bottom" ,
"_offset_top" ,
"_offset_left" ,
"_offset_right"
]
while self._set_shapes_pipe.poll():
var, val = self._set_shapes_pipe.recv()
if var == "_max_foreground_obj_thresh": val = int(val)
if var == "_offset_bottom": val = int(val)
if var == "_offset_top": val = int(val)
if var == "_offset_left": val = int(val)
if var == "_offset_right": val = int(val)
if var[-1] not in ["0","1"]:
setattr(self._vision, var, val)
else:
tup = getattr(self._vision, var[:-1])
temp = (val, tup[1]) if var[-1] == "0" else (tup[0], val)
setattr(self._vision, var[:-1], temp)
for val in vals:
self._get_shapes_pipe.send((val, getattr(self._vision, val)))
vals = [
"_blue_robot_black_dot",
"_yellow_robot_black_dot"
]
for val in vals:
temp = getattr(self._vision, val)
if temp is not None:
self._get_shapes_pipe.send((val, temp[0]))
# Handle Events
while self._events_pipe.poll():
m,a = self._events_pipe.recv()
if m == "quit":
self._run = False
elif m == "change_window":
self._window = a[0]
elif m == "show_window":
self._show_window = a[0]
elif m == "game_mode":
print "/general/state/" + a[0]
stdout.flush()
elif m == "our_colour":
self._our_colour = a[0]
self._visioncom._colour = a[0]
elif m == "shooting_direction":
self._visioncom._side = a[0]
elif m == "save_as":
cv.SaveImage("%s.jpg" % a[0], self._current_frame)
elif m == "set_hsv_values":
self._vision.set_hsv_values(*a)
elif m == "thresholds_invert":
break
# TODO Invert thresholds
self._locations_pipe.send("quit")
def _calc_fps(self):
self._fps_frames += 1
now = time.time()
if(now - self._fps_then > 0.5):
self._fps = self._fps_frames / (now - self._fps_then)
self._fps_then = now
self._fps_frames = 0
def calc_baseline(self):
for i in range(3):
self.get_frame()
self._base_time = int(round(time.time() * 1000))
def correct_timestamp(self):
t = int(round(time.time() * 1000))
return t - (t - self._base_time) % 40
