def mainWorker(camId):
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
#variable declarations
lastTime = time.time()
transposeTime = 0
frameCount = 0
avFrameRate = 0
numberCars = 0
numberClose = 0
numberFar = 0
numberTruck = 0
lastSnapshot = None
baseColor = (255,255,255)
baseRes = scaledRes
scale = 800/1920
factor = baseRes/320
showLines = False
logsOn = False
showYolo = False
IS_CAM_OK = True
MODE = "DAY"
CLOSE_TRIGGER_METHOD = "DELAY" # DELAY, CALC
triggerDelay = 0.5
VARIANCE_METHOD = False
# SET MODE BASED ON CURRENT TIME
# SET THRESHES LOCALLY
uproadThresh = 0
truckThresh = 0
closeThresh = 0
extraThresh = 0
leftBound = 0
leftBound2 = 0
rightBound = 0
rightBound2 = 0
marginOfError = 0
isFarClear = True
isTruckClear = True
isCloseClear = True
farBoxCenter= [97, 298],
farBoxWidth= 5,
farBoxHeight= 10,
truckBoxCenter= [97, 170],
truckBoxWidth= 5,
truckBoxHeight= 10,
closeBoxCenter= [97, 50],
closeBoxWidth= 15,
closeBoxHeight= 15,
sdThreshold= 30,
tsdThreshold= 30,
csdThreshold= 30,
def setDefaultValues(MODE):
values = DEFAULT_VALUES[MODE]
nonlocal farBoxCenter
nonlocal farBoxWidth
nonlocal farBoxHeight
nonlocal truckBoxCenter
nonlocal truckBoxWidth
nonlocal truckBoxHeight
nonlocal closeBoxCenter
nonlocal closeBoxWidth
nonlocal closeBoxHeight
nonlocal sdThreshold
nonlocal tsdThreshold
nonlocal csdThreshold
farBoxCenter = values['farBoxCenter']
farBoxWidth = values['farBoxWidth']
farBoxHeight = values['farBoxHeight']
truckBoxCenter = values['truckBoxCenter']
truckBoxWidth = values['truckBoxWidth']
truckBoxHeight = values['truckBoxHeight']
closeBoxCenter = values['closeBoxCenter']
closeBoxWidth = values['closeBoxWidth']
closeBoxHeight = values['closeBoxHeight']
sdThreshold = values['sdThreshold']
tsdThreshold = values['tsdThreshold']
csdThreshold = values['csdThreshold']
def setThresholds(MODE, factor):
thresh = THRESHOLDS[MODE]
nonlocal uproadThresh
nonlocal truckThresh
nonlocal closeThresh
nonlocal extraThresh
nonlocal leftBound
nonlocal leftBound2
nonlocal rightBound
nonlocal rightBound2
nonlocal marginOfError
uproadThresh = int(thresh['uproadThresh']*factor)
truckThresh = int(thresh['truckThresh']*factor)
closeThresh = int(thresh['closeThresh']*factor)
extraThresh = int(thresh['extraThresh']*factor)
leftBound = int(thresh['leftBound']*factor)
leftBound2 = int(thresh['leftBound2']*factor)
rightBound = int(thresh['rightBound']*factor)
rightBound2 = int(thresh['rightBound2']*factor)
marginOfError = int(thresh['marginOfError']*factor)
setThresholds(MODE, factor)
setDefaultValues(MODE)
startTime = time.time()
IS_CAM_OK = True
while(IS_CAM_OK):
print(camId, "Creating harvester modules and loading genlcam producers ...")
h = Harvester()
h.add_cti_file(CTI_FILE)
h.update_device_info_list()
cam = h.create_image_acquisition_manager(serial_number=CAM_NAME)
cam.start_image_acquisition()
cv2.namedWindow(WINDOW_NAME, flags=0) # create dedicated stream window
#print(dir(cam.device.node_map))
def nothing(x):
pass
def changeDelay(x):
nonlocal triggerDelay
triggerDelay = x/1000
def toggleBoxes(x):
nonlocal showLines
if x==1:
showLines = True
print("SHOWING TRIGGER BOXES")
else:
showLines = False
print("HIDING TRIGGER BOXES")
def toggleLogs(x):
nonlocal logsOn
if x==1:
logsOn = True
print("SHOWING LOGS")
else:
logsOn = False
print("HIDING LOGS")
def toggleVarianceMethod(x):
nonlocal VARIANCE_METHOD
if x==1:
VARIANCE_METHOD = True
print("SWITCHED TO USER CONTROLLED VALUES FOR TRIGGERING")
else:
VARIANCE_METHOD = False
print("SWITCHED TO AVERAGE VALUES FOR TRIGGERING")
def switchMode(x):
nonlocal MODE
if x==1:
MODE = "DAY"
setDefaultValues(MODE)
#set camera defaults
print("SWITCHED TO DAY MODE")
cam.device.node_map.ExposureAuto = 'Continuous'
cam.device.node_map.GainAuto = 'Continuous'
else:
MODE = "NIGHT"
setDefaultValues(MODE)
#set camera defaults
print("SWITCHED TO NIGHT MODE")
cam.device.node_map.ExposureAuto = 'Off'
cam.device.node_map.GainAuto = 'Off'
#cam.device.node_map.ExposureTime.value = 150.69
#cam.device.node_map.Gain.value = 15.5
def handleChangeInTrigger(x):
nonlocal logsOn
if x==1:
logsOn = True
print("SHOWING LOGS")
else:
logsOn = False
print("HIDING LOGS")
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
farStdAv = 0.0
closeStdAv = 0.0
truckStdAv = 0.0
baseAv = 0.0
# create variable track bars
showBoxes = '0 : BOXES OFF \n1 : BOXES ON'
outputLogs = '0 : LOGS OFF \n1 : LOGS ON'
autoExposureSwitch = '0 : Auto Exp OFF \n1 : Auto Exp ON'
autoGainSwitch = '0 : Auto Gain OFF \n1 : Auto Gain ON'
modeSwitch = '0 : Night Mode\n1 : Day Mode'
varianceMethodSwitch = '0 : Auto Variance\n1 : Manual Variance'
currentHour = int(float(time.strftime('%H')))
if(currentHour>=DAY_MODE_HOUR and currentHour<=NIGHT_MODE_HOUR ):
cv2.createTrackbar(modeSwitch,WINDOW_NAME,0,1,switchMode)
else:
cv2.createTrackbar(modeSwitch,WINDOW_NAME,0,1,switchMode)
cv2.createTrackbar(showBoxes,WINDOW_NAME,1,1,nothing)
cv2.createTrackbar(outputLogs,WINDOW_NAME,0,1,nothing)
cv2.createTrackbar('Trigger Reset Delay ms',WINDOW_NAME,int(triggerDelay*1000),1000,nothing)
cv2.createTrackbar(varianceMethodSwitch,WINDOW_NAME,0,1,nothing)
cv2.createTrackbar('Far Gray',WINDOW_NAME,0,255,nothing)
cv2.createTrackbar('Truck Gray',WINDOW_NAME,0,255,nothing)
cv2.createTrackbar('Close Gray',WINDOW_NAME,0,255,nothing)
showBoxesValue = None
outputLogsValue = None
triggerResetDelayValue = None
modeSwitchValue = None
varianceMethodSwitchValue = None
farGrayValue = None
truckGrayValue = None
closeGrayValue = None
while(IS_CAM_OK): # MAIN WHILE LOOP FOR IMAGE ACQUISITION
with timeout(seconds=5, error_message='FETCH_ERROR'):
frame = cam.fetch_buffer()
if(IS_CAM_OK and frame.payload.components):
timestamp = time.strftime('%H:%M:%S')
image = frame.payload.components[0].data
frameScaled = cv2.resize(image, dsize=(baseRes, int(baseRes*scale)), interpolation=cv2.INTER_CUBIC)
frameColorised = cv2.cvtColor(frameScaled, cv2.COLOR_BayerRG2RGB)
c, h1, w1 = frameColorised.shape[2], frameColorised.shape[1], frameColorised.shape[0]
currentHour = int(float(time.strftime('%H')))
if(MODE=="NIGHT" and currentHour>=DAY_MODE_HOUR and currentHour<NIGHT_MODE_HOUR):
switchMode(modeSwitchValue)
cv2.setTrackbarPos(modeSwitch,WINDOW_NAME, 1)
if(False and MODE=="DAY" and currentHour>=NIGHT_MODE_HOUR):
switchMode(modeSwitchValue)
cv2.setTrackbarPos(modeSwitch,WINDOW_NAME, 0)
# CHECKING POSITION OF ALL TRACKBARS
# cv2.setTrackbarPos(trackbarname, winname, pos)
if cv2.getTrackbarPos(showBoxes,WINDOW_NAME)!=showBoxesValue:
showBoxesValue = cv2.getTrackbarPos(showBoxes,WINDOW_NAME)
toggleBoxes(showBoxesValue)
if cv2.getTrackbarPos(outputLogs,WINDOW_NAME)!=outputLogsValue:
outputLogsValue = cv2.getTrackbarPos(outputLogs,WINDOW_NAME)
toggleLogs(outputLogsValue)
if cv2.getTrackbarPos(modeSwitch,WINDOW_NAME)!=modeSwitchValue:
modeSwitchValue = cv2.getTrackbarPos(modeSwitch,WINDOW_NAME)
switchMode(modeSwitchValue)
triggerBoxFar = frameScaled[farBoxCenter[0]-farBoxWidth:farBoxCenter[0]+farBoxWidth,farBoxCenter[1]:farBoxCenter[1]+farBoxHeight] #frameScaled[uproadThresh:uproadThresh+boxHeight,farBoxCenter-farBoxWidth:farBoxCenter+farBoxWidth]
triggerBoxTruck = frameScaled[truckBoxCenter[0]-truckBoxWidth:truckBoxCenter[0]+truckBoxWidth,truckBoxCenter[1]:truckBoxCenter[1]+truckBoxHeight] #frameScaled[truckThresh:truckThresh+boxHeight,truckBoxCenter-truckBoxWidth:truckBoxCenter+truckBoxWidth]
triggerBoxClose = frameScaled[closeBoxCenter[0]-closeBoxWidth:closeBoxCenter[0]+closeBoxWidth,closeBoxCenter[1]:closeBoxCenter[1]+closeBoxHeight] #frameScaled[closeThresh:closeThresh+boxHeight,closeBoxCenter-closeBoxWidth:closeBoxCenter+closeBoxWidth]
# ARRAY METRICS FOR TRIGGERING
triggerBoxFarStd= np.mean(triggerBoxFar)
triggerBoxTruckStd= np.mean(triggerBoxTruck)
triggerBoxCloseStd= np.mean(triggerBoxClose)
numberOfFrames = 200
farStdAv = farStdAv*(numberOfFrames-1)/numberOfFrames + triggerBoxFarStd/numberOfFrames
truckStdAv = truckStdAv*(numberOfFrames-1)/numberOfFrames + triggerBoxTruckStd/numberOfFrames
closeStdAv = closeStdAv*(numberOfFrames-1)/numberOfFrames + triggerBoxCloseStd/numberOfFrames
if cv2.getTrackbarPos(varianceMethodSwitch,WINDOW_NAME)!=varianceMethodSwitchValue:
varianceMethodSwitchValue = cv2.getTrackbarPos(varianceMethodSwitch,WINDOW_NAME)
toggleVarianceMethod(varianceMethodSwitchValue)
cv2.setTrackbarPos('Far Gray',WINDOW_NAME, int(farStdAv))
cv2.setTrackbarPos('Truck Gray',WINDOW_NAME, int(truckStdAv))
cv2.setTrackbarPos('Close Gray',WINDOW_NAME, int(closeStdAv))
if cv2.getTrackbarPos('Far Gray',WINDOW_NAME)!=farGrayValue:
farGrayValue = cv2.getTrackbarPos('Far Gray',WINDOW_NAME)
if cv2.getTrackbarPos('Truck Gray',WINDOW_NAME)!=truckGrayValue:
truckGrayValue = cv2.getTrackbarPos('Truck Gray',WINDOW_NAME)
if cv2.getTrackbarPos('Close Gray',WINDOW_NAME)!=closeGrayValue:
closeGrayValue = cv2.getTrackbarPos('Close Gray',WINDOW_NAME)
if (VARIANCE_METHOD == True):
farDiff = abs(farGrayValue -triggerBoxFarStd)
truckDiff = abs(truckGrayValue-triggerBoxTruckStd)
closeDiff = abs(closeGrayValue-triggerBoxCloseStd)
else:
farDiff = abs(farStdAv -triggerBoxFarStd)
truckDiff = abs(truckStdAv-triggerBoxTruckStd)
closeDiff = abs(closeStdAv-triggerBoxCloseStd)
currentTime = time.time()
# WAS GOING TO BE USED TO IDENTIFY CARS, NOW JUST A VISUAL AID FOR WHEN ZONES ARE RESETTING OR NOT
if isFarClear and farDiff>sdThreshold:
isFarClear = False
elif isFarClear == False and (currentTime-uproadLastTrigger)>triggerDelay:
isFarClear = True
if isTruckClear and truckDiff>tsdThreshold:
isTruckClear = False
elif isTruckClear == False and (currentTime-truckLastTrigger)>triggerDelay:
isTruckClear = True
if isCloseClear and closeDiff>csdThreshold:
isCloseClear = False
elif isCloseClear == False and (currentTime-closeLastTrigger)>triggerDelay:
isCloseClear = True
if currentTime-startTime>DELAY_TIME_FROM_INIT_TO_TRIGGER:
if farDiff>sdThreshold and (currentTime-uproadLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
numberFar += 1
uproadLastTrigger = currentTime
if truckDiff>tsdThreshold and (currentTime-truckLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()
numberTruck += 1
truckLastTrigger = currentTime
if closeDiff>csdThreshold and (currentTime-closeLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_CLOSE_FLASH_URL).read()
numberClose += 1
closeLastTrigger = currentTime
# SHOW LINES SECTION
if showLines:
cv2.rectangle(frameColorised, (farBoxCenter[1],farBoxCenter[0]-farBoxWidth),(farBoxCenter[1]+farBoxHeight,farBoxCenter[0]+farBoxWidth),(0,255,0) if isFarClear else (0,0,255))
cv2.rectangle(frameColorised, (truckBoxCenter[1],truckBoxCenter[0]-truckBoxWidth),(truckBoxCenter[1]+truckBoxHeight,truckBoxCenter[0]+truckBoxWidth),(0,255,0) if isTruckClear else (0,0,255))
cv2.rectangle(frameColorised, (closeBoxCenter[1],closeBoxCenter[0]-closeBoxWidth),(closeBoxCenter[1]+closeBoxHeight,closeBoxCenter[0]+closeBoxWidth),(0,255,0) if isCloseClear else (0,0,255))
# DISPLAY FRAME IN WINDOW
cv2.imshow(WINDOW_NAME, np.rot90(frameColorised) if IS_ROTATE else frameColorised)
frame.queue()
cv2.waitKey(1)
avFrameRate=avFrameRate*49/50+int(1.0/(time.time()-lastTime))/50
if frameCount%1==0 and logsOn:
print("CF", numberFar, "CT", numberTruck,"CC", numberClose,"avFPS", int(avFrameRate),"FV", int(triggerBoxFarStd),"TV", int(triggerBoxTruckStd), "CV", int(triggerBoxCloseStd))
lastTime = time.time()
frameCount += 1
#IF CAM NOT OK
cam.stop_image_acquisition()
cam.destroy()
def worker(camId):
pyyolo.init(darknet_path, datacfg, cfgfile, weightfile)
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
h = Harvester()
h.add_cti_file('/opt/mvIMPACT_Acquire/lib/x86_64/mvGenTLProducer.cti')
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(serial_number=CAM_NAME)
print("Camera found")
except:
print("Camera Not Found")
exit()
cam.start_image_acquisition()
lastTime = time.time()
transposeTime = 0
i = 0
numberCars = 0
lastSnapshot = None
cv2.namedWindow(WINDOW_NAME, flags=0)
while (True):
buffer = cam.fetch_buffer()
image = buffer.payload.components[0].data
small = cv2.resize(image,
dsize=(320, 200),
interpolation=cv2.INTER_CUBIC)
clone = small.copy()
rgb = cv2.cvtColor(clone, cv2.COLOR_BayerRG2RGB)
#img = rgb.transpose(2,0,1)
img = np.rot90(rgb)
print(rgb.shape)
c, h, w = img.shape[0], img.shape[1], img.shape[2]
#c, h, w = img.shape[2], img.shape[1], img.shape[0]
data = img.ravel() / 255.0
#data = np.ascontiguousarray(data, dtype=np.float32)
predictions = pyyolo.detect(w, h, c, data, thresh, hier_thresh)
#im = np.zeros((3,small.shape[1],small.shape[0]))
#im[0,:,:] = np.rot90(small)
#im[1,:,:] = np.rot90(small)
#im[2,:,:] = np.rot90(small)
#im = rgb
print(rgb.shape)
#c, h, w = im.shape[0], im.shape[1], im.shape[2]
# im = im.transpose(2,0,1)
#c, h, w = im.shape[0], im.shape[1], im.shape[2]
#c, h, w = 1, image.shape[0], image.shape[1]
#im = image.copy()
#data = im.ravel()/255.0
#print(data.shape)
#data = np.ascontiguousarray(data, dtype=np.float32)
#print(data.shape)
for output in predictions:
left, right, top, bottom, what, prob = output['left'], output[
'right'], output['top'], output['bottom'], output[
'class'], output['prob']
#print(output)
#lastSnapshot = snapshot.copy()
#cv2.imshow("Snapshots", lastSnapshot)
if (what == 'car'):
print(output)
numberCars += 1
cv2.rectangle(rgb, (50, 50), (100, 150), (0, 255, 0), 5)
if (camId == "CAM_2"):
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
urllib.request.urlopen(TRIGGER_CLOSE_FLASH_URL).read()
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(rgb))
else:
cv2.imshow(WINDOW_NAME, rgb)
cv2.waitKey(1)
buffer.queue()
print("Count: ", numberCars, " Frame: ", i, " FPS: ",
1.0 / (time.time() - lastTime))
lastTime = time.time()
i += 1
cam.stop_image_acquisition()
cam.destroy()
def mainWorker(camId):
# declare yolo detector in isolation from camera object for reinitiation of camera under failure.
print(camId, ' Constructing Yolo Model ...')
net = Detector(bytes(cfgfile, encoding="utf-8"), bytes(weightfile, encoding="utf-8"), 0, bytes(datacfg, encoding="utf-8"))
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
# main worker event loop, will keep restarting on camera dropout
#variable declarations
lastTime = time.time()
transposeTime = 0
frameCount = 0
numberCars = 0
numberClose = 0
numberFar = 0
numberTruck = 0
lastSnapshot = None
baseColor = (255,255,255)
baseRes = scaledRes
scale = 800/1920
factor = baseRes/320
showLines = False
showYolo = False
IS_CAM_OK = True
MODE = "DAY"
CLOSE_TRIGGER_METHOD = "DELAY" # DELAY, CALC
# SET MODE BASED ON TIME
# SET THRESHES LOCALLY
uproadThresh = 0
truckThresh = 0
closeThresh = 0
extraThresh = 0
leftBound = 0
leftBound2 = 0
rightBound = 0
rightBound2 = 0
marginOfError = 0
def setThresholds(MODE, factor):
thresh = THRESHOLDS[MODE]
nonlocal uproadThresh
nonlocal truckThresh
nonlocal closeThresh
nonlocal extraThresh
nonlocal leftBound
nonlocal leftBound2
nonlocal rightBound
nonlocal rightBound2
nonlocal marginOfError
uproadThresh = int(thresh['uproadThresh']*factor)
truckThresh = int(thresh['truckThresh']*factor)
closeThresh = int(thresh['closeThresh']*factor)
extraThresh = int(thresh['extraThresh']*factor)
leftBound = int(thresh['leftBound']*factor)
leftBound2 = int(thresh['leftBound2']*factor)
rightBound = int(thresh['rightBound']*factor)
rightBound2 = int(thresh['rightBound2']*factor)
marginOfError = int(thresh['marginOfError']*factor)
setThresholds(MODE, factor)
while(True):
try:
print(camId, "Creating harvester modules and loading genlcam producers ...")
h = Harvester()
h.add_cti_file(CTI_FILE)
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(serial_number=CAM_NAME)
print ("Camera found!")
IS_CAM_OK = True
except:
print ("Camera Not Found! Waiting 10 seconds and retrying ...")
time.sleep(10) #sleep for 10 seconds and then retry!
continue #exit ()
cam.start_image_acquisition()
cv2.namedWindow(WINDOW_NAME, flags=0) # create dedicated stream window
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
uproadTruckDelay = 0.0
def setUproadTruckDelay():
nonlocal uproadTruckDelay
nonlocal uproadLastTrigger
nonlocal truckLastTrigger
if truckLastTrigger > uproadLastTrigger and truckLastTrigger-uproadLastTrigger<5:
uproadTruckDelay = truckLastTrigger-uproadLastTrigger
while(IS_CAM_OK):
#print(dir(cam.device.node_map))
try:
with timeout(seconds=3, error_message='FETCH_ERROR'):
frame = cam.fetch_buffer()
except:
IS_CAM_OK = False
print('CAM TOOK TOO LONG TO FETCH BUFFER - KILLING AND RESTARTING!')
sendMessageToSlack('Streaming Camera has Failed - Restarting ...', '#ff3300')
cam.stop_image_acquisition()
cam.destroy()
if(IS_CAM_OK and frame.payload.components):
image = frame.payload.components[0].data
if LOG:
print(image)
# USER CONTROLS
user_input_key = cv2.waitKey(1)
if user_input_key==113: #q
showLines = True
elif user_input_key==97: #a
showLines = False
elif user_input_key==122: #z
showYolo = True
elif user_input_key==120: #x
showYolo = False
elif user_input_key==119: #w
MODE="DAY"
setThresholds("DAY", factor)
# CHANGE EXPOSURE AND GAIN
elif user_input_key==115: #s
MODE="NIGHT"
setThresholds("NIGHT", factor)
elif user_input_key==101: #o
CLOSE_TRIGGER_METHOD = "CALC"
elif user_input_key==100: #l
CLOSE_TRIGGER_METHOD = "DELAY"
frameScaled = cv2.resize(image, dsize=(baseRes, int(baseRes*scale)), interpolation=cv2.INTER_CUBIC)
frameColorised = cv2.cvtColor(frameScaled, cv2.COLOR_BayerRG2RGB)
c, h1, w1 = frameColorised.shape[2], frameColorised.shape[1], frameColorised.shape[0]
# SHOW LINES SECTION
if showLines and camId=='CAM_1' and MODE=="DAY":
cv2.line(frameColorised, (uproadThresh,0), (uproadThresh, w1), (255,255,0), 1)
cv2.line(frameColorised, (uproadThresh+marginOfError,0), (uproadThresh+marginOfError, w1), (255,0,0), 1)
cv2.line(frameColorised, (uproadThresh-marginOfError,0), (uproadThresh-marginOfError, w1), (255,0,0), 1)
cv2.line(frameColorised, (truckThresh,0), (truckThresh, w1), (255,255,0), 1)
cv2.line(frameColorised, (truckThresh+marginOfError,0), (truckThresh+marginOfError, w1), (255,0,0), 1)
cv2.line(frameColorised, (truckThresh-marginOfError,0), (truckThresh-marginOfError, w1), (255,0,0), 1)
cv2.line(frameColorised, (closeThresh,0), (closeThresh, w1), (255,255,0), 1)
cv2.line(frameColorised, (closeThresh+marginOfError,0), (closeThresh+marginOfError, w1), (255,0,0), 1)
cv2.line(frameColorised, (closeThresh-marginOfError,0), (closeThresh-marginOfError, w1), (255,0,0), 1)
cv2.line(frameColorised, (0,rightBound), (h1, rightBound), (255,255,255), 1)
cv2.line(frameColorised, (0,leftBound2), (h1, leftBound2), (255,255,255), 1)
cv2.line(frameColorised, (0,leftBound), (h1, leftBound), (255,255,255), 1)
if showLines and camId=='CAM_1' and MODE=="NIGHT":
cv2.line(frameColorised, (uproadThresh,0), (uproadThresh, w1), (255,255,0), 1)
cv2.line(frameColorised, (truckThresh,0), (truckThresh, w1), (255,255,0), 1)
cv2.line(frameColorised, (closeThresh,0), (closeThresh, w1), (255,255,0), 1)
cv2.line(frameColorised, (0,rightBound), (h1, rightBound), (255,255,255), 1)
cv2.line(frameColorised, (0,leftBound), (h1, leftBound), (255,255,255), 1)
cv2.line(frameColorised, (0,leftBound2), (h1, leftBound2), (255,0,255), 1)
# PROCESSING SPECIFIC
if MODE=="NIGHT":
frameGray = cv2.cvtColor(frameScaled, cv2.COLOR_BayerRG2GRAY)
thresh = cv2.threshold(frameGray, grayThresh, 255, cv2.THRESH_BINARY)[1]
labels = measure.label(thresh, neighbors=8, background=0)
mask = np.zeros(thresh.shape, dtype="uint8")
for label in np.unique(labels):
# if this is the background label, ignore it
if label == 0:
continue
labelMask = np.zeros(thresh.shape, dtype="uint8")
labelMask[labels == label] = 255
mask = cv2.add(mask, labelMask)
if len(np.unique(labels))>0:
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# loop over the contours
for (i, c) in enumerate(cnts):
currentTime = time.time()
# draw the bright spot on the image
(x, y, w, h) = cv2.boundingRect(c)
((cX, cY), radius) = cv2.minEnclosingCircle(c)
if showYolo:
cv2.circle(frameColorised, (int(cX), int(cY)), int(5),
(0, 0, 255), 3)
if cY <= rightBound and cY >= leftBound and camId=='CAM_1':
if cX>=uproadThresh-marginOfError and cX<=uproadThresh+marginOfError and (currentTime-uproadLastTrigger)>triggerDelay and cY>=leftBound2:
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
uproadLastTrigger = currentTime
numberCars += 1
if cX>=truckThresh-marginOfError and cX<=truckThresh+marginOfError and (currentTime-truckLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()
truckLastTrigger = currentTime
setUproadTruckDelay()
if cX>=closeThresh-marginOfError and cX<=closeThresh+marginOfError and (currentTime-closeLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_CLOSE_FLASH_URL).read()
closeLastTrigger = currentTime
if MODE=="DAY":
img = np.rot90(frameColorised, 1)
img2 = Image(img)
results = net.detect(img2, thresh=yolo_thresh, nms=yolo_nms, hier_thresh=yolo_hier_thresh)
for cat, score, bounds in results:
x, y, w, h = bounds
x, y = (h1-int(y), int(x))
x1,y1,x2,y2 = [int(x-h/2),int(y-w/2),int(x+h/2),int(y+w/2)]
type = str(cat.decode("utf-8"))
color = baseColor
if showYolo and h>5:
cv2.rectangle(frameColorised, (x1,y1),(x2,y2),color)
cv2.circle(frameColorised, (int(x), int(y)), int(2),(0, 255, 0), 3)
currentTime = time.time()
if y <= rightBound and camId=='CAM_1' and h>10 and w>10:
if x>=uproadThresh-10 and x<=uproadThresh+10 and y>=leftBound2 and (currentTime-uproadLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_FAR_URL).read()
numberFar += 1
uproadLastTrigger = currentTime
if x>=truckThresh-marginOfError and x<=truckThresh+marginOfError and y>=leftBound and (currentTime-truckLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_TRUCK_URL).read()
numberTruck += 1
truckLastTrigger = currentTime
setUproadTruckDelay()
if x>=closeThresh-marginOfError*2 and x<=closeThresh+marginOfError*2 and y>=leftBound and (currentTime-closeLastTrigger)>triggerDelay:
urllib.request.urlopen(TRIGGER_CLOSE_URL).read()
numberClose += 1
closeLastTrigger = currentTime
# DISPLAY FRAME IN WINDOW
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(frameColorised))
else:
cv2.imshow(WINDOW_NAME, frameColorised)
frame.queue()
cv2.waitKey(1)
if frameCount%10==0:
print("mode:", MODE,"close mode:", CLOSE_TRIGGER_METHOD, "Count Far", numberFar, "Count Truck", numberTruck,"Count Close", numberClose,"frame:", frameCount, "fps:", int(1.0/(time.time()-lastTime)),"trigger dif",uproadTruckDelay)
lastTime = time.time()
frameCount += 1
#IF CAM NOT OK
cam.stop_image_acquisition()
cam.destroy()
except Exception as e:
print ("Critical Script error! Trying again in 5 seconds ...")
print(e)
time.sleep(5) #sleep for 10 seconds and then retry!
def worker(camId):
# declare Detector in isolation from Camera object for reinitiation of Camera under failure.
#
net = Detector(bytes(cfgfile, encoding="utf-8"),
bytes(weightfile, encoding="utf-8"), 0,
bytes(datacfg, encoding="utf-8"))
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
h = Harvester()
h.add_cti_file(CTI_FILE)
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(serial_number=CAM_NAME)
print("Camera found")
except:
print("Camera Not Found")
exit()
cam.start_image_acquisition()
#variable declarations
lastTime = time.time()
transposeTime = 0
i = 0
numberCars = 0
lastSnapshot = None
cv2.namedWindow(WINDOW_NAME, flags=0)
carColor = (255, 0, 0)
busColor = (0, 255, 0)
truckColor = (0, 0, 255)
phoneColor = (0, 255, 255)
baseColor = (255, 255, 255)
baseRes = 400
scale = 800 / 1920
#as percentages
uproadThresh = 295
truckThresh = 230
closeThresh = 180
extraThresh = 50
leftBound = 50
leftBound2 = 70
rightBound = 125
rightBound2 = 125
marginOfError = 20
factor = baseRes / 320
uproadThresh = int(uproadThresh * factor)
truckThresh = int(truckThresh * factor)
closeThresh = int(closeThresh * factor)
extraThresh = int(50 * factor)
leftBound = int(leftBound * factor)
leftBound2 = int(leftBound2 * factor)
rightBound = int(125 * factor)
rightBound2 = int(125 * factor)
showLines = False
showYolo = False
triggerDelay = 0.250
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
while (True):
buffer = cam.fetch_buffer() #cam fails here often!
payload = buffer.payload.components
if LOG:
print(payload)
if (payload):
image = payload[0].data
if LOG:
print(image)
small = cv2.resize(image,
dsize=(baseRes, int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
rgb = cv2.cvtColor(small, cv2.COLOR_BayerRG2RGB)
img = np.rot90(rgb, 1)
c, h1, w1 = rgb.shape[2], rgb.shape[1], rgb.shape[0]
img2 = Image(img)
results = net.detect(img2)
if LOG:
print(results)
k = cv2.waitKey(1)
if k == 113: # Esc key to stop
showLines = True
elif k == 97:
showLines = False
elif k == 122:
showYolo = True
elif k == 120:
showYolo = False
if showLines and camId == 'CAM_2':
cv2.line(rgb, (uproadThresh, 0), (uproadThresh, w1),
(255, 255, 0), 1)
cv2.line(rgb, (uproadThresh + marginOfError, 0),
(uproadThresh + marginOfError, w1), (255, 0, 0), 1)
cv2.line(rgb, (uproadThresh - marginOfError, 0),
(uproadThresh - marginOfError, w1), (255, 0, 0), 1)
cv2.putText(rgb, 'Up-Road', (uproadThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
cv2.line(rgb, (truckThresh, 0), (truckThresh, w1),
(255, 255, 0), 1)
cv2.line(rgb, (truckThresh + marginOfError, 0),
(truckThresh + marginOfError, w1), (255, 0, 0), 1)
cv2.line(rgb, (truckThresh - marginOfError, 0),
(truckThresh - marginOfError, w1), (255, 0, 0), 1)
cv2.putText(rgb, 'Truck', (truckThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
cv2.line(rgb, (closeThresh, 0), (closeThresh, w1),
(255, 255, 0), 1)
cv2.line(rgb, (closeThresh + marginOfError, 0),
(closeThresh + marginOfError, w1), (255, 0, 0), 1)
cv2.line(rgb, (closeThresh - marginOfError, 0),
(closeThresh - marginOfError, w1), (255, 0, 0), 1)
cv2.putText(rgb, 'Close', (closeThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
cv2.line(rgb, (0, rightBound), (h1, rightBound),
(255, 255, 255), 1)
cv2.line(rgb, (0, leftBound2), (h1, leftBound2),
(255, 255, 255), 1)
cv2.line(rgb, (0, leftBound), (h1, leftBound), (255, 255, 255),
1)
if showLines and camId == 'CAM_1':
cv2.line(rgb, (extraThresh, 0), (extraThresh, w1),
(255, 255, 0), 1)
cv2.putText(rgb, 'Up-Road', (extraThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
#cv2.line(rgb, (0,rightBound2), (h1, rightBound2), (255,255,255), 1)
bounds = 100
for cat, score, bounds in results:
x, y, w, h = bounds
x, y = (h1 - int(y), int(x))
x1, y1, x2, y2 = [
int(x - h / 2),
int(y - w / 2),
int(x + h / 2),
int(y + w / 2)
]
type = str(cat.decode("utf-8"))
color = baseColor
if (type == 'car'):
color = carColor
if (type == 'bus'):
color = busColor
if (type == 'truck'):
color = truckColor
if (type == 'phone'):
color = phoneColor
#x1,y1,x2,y2 = [int(x+w/2),int(y+h/2),int(x-w/2),int(y-h/2)]
#cv2.rectangle(rgb, (int(x-w/2),int(y-h/2)),(int(x+w/2),int(y+h/2)),(255,0,0))
#cv2.line(rgb, (x1,y1), (x1, y2), color, 2)
if showYolo and h > 5:
#cv2.rectangle(rgb, (x1,y1),(x2,y2),color)
#cv2.putText(rgb, str(cat.decode("utf-8")), (int(x), int(y)), cv2.FONT_HERSHEY_COMPLEX, 1, color)
cv2.circle(rgb, (int(x), int(y)), int(2), (0, 255, 0), 3)
currentTime = time.time()
if y <= rightBound and camId == 'CAM_2' and h > 10 and w > 10:
if x >= uproadThresh - 10 and x <= uproadThresh + 10 and y >= leftBound2 and (
currentTime - uproadLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
if LOG:
print('FAR TRIG')
uproadLastTrigger = currentTime
#if x1<=truckThresh and x2>=truckThresh and (currentTime-truckLastTrigger)>triggerDelay:
if x >= truckThresh - marginOfError and x <= truckThresh + marginOfError and y >= leftBound and (
currentTime - truckLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()
if LOG:
print('TRUCK TRIG')
numberCars += 1
truckLastTrigger = currentTime
#if x1<=closeThresh and x2>=closeThresh and (currentTime-closeLastTrigger)>triggerDelay:
if x >= closeThresh - marginOfError * 2 and x <= closeThresh + marginOfError * 2 and y >= leftBound and (
currentTime - closeLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_CLOSE_URL).read()
if LOG:
print('CLOSE TRIG')
closeLastTrigger = currentTime
if camId == 'CAM_1':
if y1 <= rightBound2 and y2 >= rightBound2 and False:
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
numberCars += 1
'''predictions = []
for output in predictions:
left, right, top, bottom, what, prob = output['left'],output['right'],output['top'],output['bottom'],output['class'],output['prob']
#print(output)
#lastSnapshot = snapshot.copy()
#cv2.imshow("Snapshots", lastSnapshot)
if( what == 'car' ):
print(output)
numberCars += 1
cv2.rectangle(rgb, (50,50), (100,150), (255, 255, 255), 20)
if ( camId =="CAM_2" ):
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
urllib.request.urlopen(TRIGGER_CLOSE_FLASH_URL).read()
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()'''
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(rgb))
else:
cv2.imshow(WINDOW_NAME, rgb)
cv2.waitKey(1)
buffer.queue()
print("Count: ", numberCars, " Frame: ", i, " FPS: ",
1.0 / (time.time() - lastTime))
lastTime = time.time()
i += 1
cam.stop_image_acquisition()
cam.destroy()
def yoloWorker(camId):
# declare yolo detector in isolation from camera object for reinitiation of camera under failure.
print(camId, ' Constructing Yolo Model ...')
net = Detector(bytes(cfgfile, encoding="utf-8"),
bytes(weightfile, encoding="utf-8"), 0,
bytes(datacfg, encoding="utf-8"))
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
# main worker event loop, will keep restarting on camera dropout
while (True):
try:
print(
camId,
' Creating harvester modules and loading genlcam producers ...'
)
h = Harvester()
h.add_cti_file(CTI_FILE)
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(
serial_number=CAM_NAME)
print("Camera found!")
except:
print("Camera Not Found! Waiting 10 seconds and retrying ...")
time.sleep(10) #sleep for 10 seconds and then retry!
continue #exit ()
cam.start_image_acquisition()
cv2.namedWindow(WINDOW_NAME,
flags=0) # create dedicated stream window
#variable declarations
lastTime = time.time()
transposeTime = 0
i = 0
numberCars = 0
lastSnapshot = None
baseColor = (255, 255, 255)
baseRes = 400
scale = 800 / 1920
#as percentages to do
uproadThresh = 235
truckThresh = 155
closeThresh = 110
extraThresh = 50
leftBound = 50
leftBound2 = 60
rightBound = 90
rightBound2 = 125
marginOfError = 15
# rescaling
factor = baseRes / 320
uproadThresh = int(uproadThresh * factor)
truckThresh = int(truckThresh * factor)
closeThresh = int(closeThresh * factor)
extraThresh = int(50 * factor)
leftBound = int(leftBound * factor)
leftBound2 = int(leftBound2 * factor)
rightBound = int(rightBound * factor)
rightBound2 = int(125 * factor)
showLines = False
showYolo = False
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
IS_CAM_OK = True
IS_MULTI = False
def fetchBuffer(shared, camera):
frame = camera.fetch_buffer()
shared['buffer'] = frame.payload.components[0].data
frame.queue()
while (IS_CAM_OK):
if IS_MULTI:
dict = {"buffer": None}
manager = multiprocessing.Manager()
shared = manager.dict()
p = multiprocessing.Process(target=fetchBuffer,
args=(shared, cam))
p.start()
# Wait for 5 seconds or until process finishes
p.join(TIMEOUT_DELAY)
print('3')
# If thread is still active
if p.is_alive():
p.terminate()
p.join()
IS_CAM_OK = False
try:
with timeout(seconds=3, error_message='FETCH_ERROR'):
frame = cam.fetch_buffer()
except:
IS_CAM_OK = False
print(
'CAM TOOK TOO LONG TO FETCH BUFFER - KILLING AND RESTARTING!'
)
sendMessageToSlack(
'Streaming Camera has Failed - Restarting ...',
'#ff3300')
if LOG:
print(shared['buffer'])
if (IS_CAM_OK and frame.payload.components):
image = frame.payload.components[0].data
if LOG:
print(image)
small = cv2.resize(image,
dsize=(baseRes, int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
rgb = cv2.cvtColor(small, cv2.COLOR_BayerRG2RGB)
img = np.rot90(rgb, 1)
c, h1, w1 = rgb.shape[2], rgb.shape[1], rgb.shape[0]
img2 = Image(img)
results = net.detect(img2)
if LOG:
print(results)
user_input_key = cv2.waitKey(1)
if user_input_key == 113: #q
showLines = True
elif user_input_key == 97: #a
showLines = False
elif user_input_key == 122: #z
showYolo = True
elif user_input_key == 120: #x
showYolo = False
if showLines and camId == 'CAM_2':
cv2.line(rgb, (uproadThresh, 0), (uproadThresh, w1),
(255, 255, 0), 1)
cv2.line(rgb, (uproadThresh + marginOfError, 0),
(uproadThresh + marginOfError, w1),
(255, 0, 0), 1)
cv2.line(rgb, (uproadThresh - marginOfError, 0),
(uproadThresh - marginOfError, w1),
(255, 0, 0), 1)
cv2.line(rgb, (truckThresh, 0), (truckThresh, w1),
(255, 255, 0), 1)
cv2.line(rgb, (truckThresh + marginOfError, 0),
(truckThresh + marginOfError, w1),
(255, 0, 0), 1)
cv2.line(rgb, (truckThresh - marginOfError, 0),
(truckThresh - marginOfError, w1),
(255, 0, 0), 1)
cv2.line(rgb, (closeThresh, 0), (closeThresh, w1),
(255, 255, 0), 1)
cv2.line(rgb, (closeThresh + marginOfError, 0),
(closeThresh + marginOfError, w1),
(255, 0, 0), 1)
cv2.line(rgb, (closeThresh - marginOfError, 0),
(closeThresh - marginOfError, w1),
(255, 0, 0), 1)
cv2.line(rgb, (0, rightBound), (h1, rightBound),
(255, 255, 255), 1)
cv2.line(rgb, (0, leftBound2), (h1, leftBound2),
(255, 255, 255), 1)
cv2.line(rgb, (0, leftBound), (h1, leftBound),
(255, 255, 255), 1)
for cat, score, bounds in results:
x, y, w, h = bounds
x, y = (h1 - int(y), int(x))
x1, y1, x2, y2 = [
int(x - h / 2),
int(y - w / 2),
int(x + h / 2),
int(y + w / 2)
]
type = str(cat.decode("utf-8"))
color = baseColor
if showYolo and h > 5:
cv2.rectangle(rgb, (x1, y1), (x2, y2), color)
cv2.circle(rgb, (int(x), int(y)), int(2),
(0, 255, 0), 3)
currentTime = time.time()
if y <= rightBound and camId == 'CAM_2' and h > 10 and w > 10:
if x >= uproadThresh - 10 and x <= uproadThresh + 10 and y >= leftBound2 and (
currentTime -
uproadLastTrigger) > triggerDelay:
urllib.request.urlopen(
TRIGGER_FAR_FLASH_URL).read()
if LOG:
print('FAR TRIG')
numberCars += 1
uproadLastTrigger = currentTime
if x >= truckThresh - marginOfError and x <= truckThresh + marginOfError and y >= leftBound and (
currentTime -
truckLastTrigger) > triggerDelay:
urllib.request.urlopen(
TRIGGER_TRUCK_FLASH_URL).read()
if LOG:
print('TRUCK TRIG')
truckLastTrigger = currentTime
if x >= closeThresh - marginOfError * 2 and x <= closeThresh + marginOfError * 2 and y >= leftBound and (
currentTime -
closeLastTrigger) > triggerDelay:
urllib.request.urlopen(
TRIGGER_CLOSE_FLASH_URL).read()
if LOG:
print('CLOSE TRIG')
closeLastTrigger = currentTime
if camId == 'CAM_1':
if y1 <= rightBound2 and y2 >= rightBound2 and False:
urllib.request.urlopen(
TRIGGER_FAR_FLASH_URL).read()
numberCars += 1
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(rgb))
else:
cv2.imshow(WINDOW_NAME, rgb)
frame.queue()
cv2.waitKey(1)
print("Count: ", numberCars, " Frame: ", i, " FPS: ",
1.0 / (time.time() - lastTime))
lastTime = time.time()
i += 1
#IF CAM NOT OK
cam.stop_image_acquisition()
cam.destroy()
except:
print("Critical Script error! Trying again in 5 seconds ...")
time.sleep(5) #sleep for 10 seconds and then retry!
def openCvWorker(camId):
while (True):
try:
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
h = Harvester()
h.add_cti_file(CTI_FILE)
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(
serial_number=CAM_NAME)
print("Camera found")
except:
print("Camera Not Found")
exit()
cam.start_image_acquisition()
cv2.namedWindow(WINDOW_NAME, flags=0)
lastTime = time.time()
transposeTime = 0
frame = 0
numberCars = 0
lastSnapshot = None
carColor = (255, 0, 0)
busColor = (0, 255, 0)
truckColor = (0, 0, 255)
phoneColor = (0, 255, 255)
baseColor = (255, 255, 255)
baseRes = 300
scale = 800 / 1920
#as percentages
uproadThresh = 230
truckThresh = 155
closeThresh = 90
extraThresh = 50
leftBound = 50
leftBound2 = 60
rightBound = 80
rightBound2 = 125
marginOfError = 10
grayThresh = 150
factor = baseRes / 320
uproadThresh = int(uproadThresh * factor)
truckThresh = int(truckThresh * factor)
closeThresh = int(closeThresh * factor)
extraThresh = int(50 * factor)
leftBound = int(leftBound * factor)
leftBound2 = int(leftBound2 * factor)
rightBound = int(rightBound * factor)
rightBound2 = int(125 * factor)
showLines = False
showYolo = False
triggerDelay = 0.500
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
IS_CAM_OK = True
while IS_CAM_OK:
try:
with timeout(seconds=3, error_message='FETCH_ERROR'):
buffer = cam.fetch_buffer()
except:
IS_CAM_OK = False
print(
'CAM TOOK TOO LONG TO FETCH BUFFER - KILLING AND RESTARTING!'
)
sendMessageToSlack(
'Streaming Camera has Failed - Restarting ...',
'#ff3300')
if LOG:
print(payload)
if (IS_CAM_OK and buffer.payload.components):
image = buffer.payload.components[0].data
if showLines or showYolo:
conver = cv2.resize(image,
dsize=(baseRes,
int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
small = cv2.cvtColor(conver, cv2.COLOR_BayerRG2RGB)
rgb = cv2.cvtColor(conver, cv2.COLOR_BayerRG2GRAY)
else:
small = cv2.resize(image,
dsize=(baseRes,
int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
rgb = cv2.cvtColor(small, cv2.COLOR_BayerRG2GRAY)
thresh = cv2.threshold(rgb, grayThresh, 255,
cv2.THRESH_BINARY)[1]
labels = measure.label(thresh, neighbors=8, background=0)
mask = np.zeros(thresh.shape, dtype="uint8")
if LOG:
print(labels)
# loop over the unique components
for label in np.unique(labels):
# if this is the background label, ignore it
if label == 0:
continue
labelMask = np.zeros(thresh.shape, dtype="uint8")
labelMask[labels == label] = 255
mask = cv2.add(mask, labelMask)
if len(np.unique(labels)) > 0:
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# loop over the contours
for (i, c) in enumerate(cnts):
currentTime = time.time()
# draw the bright spot on the image
(x, y, w, h) = cv2.boundingRect(c)
((cX, cY), radius) = cv2.minEnclosingCircle(c)
if showYolo:
cv2.circle(small, (int(cX), int(cY)), int(5),
(0, 0, 255), 3)
if cY <= rightBound and cY >= leftBound and camId == 'CAM_2':
if cX >= uproadThresh - marginOfError and cX <= uproadThresh + marginOfError and (
currentTime - uproadLastTrigger
) > triggerDelay and cY >= leftBound2:
urllib.request.urlopen(
TRIGGER_FAR_FLASH_URL).read()
uproadLastTrigger = currentTime
numberCars += 1
if cX >= truckThresh - marginOfError and cX <= truckThresh + marginOfError and (
currentTime -
truckLastTrigger) > triggerDelay:
urllib.request.urlopen(
TRIGGER_TRUCK_FLASH_URL).read()
truckLastTrigger = currentTime
if cX >= closeThresh - marginOfError and cX <= closeThresh + marginOfError and (
currentTime -
closeLastTrigger) > triggerDelay:
urllib.request.urlopen(
TRIGGER_CLOSE_FLASH_URL).read()
closeLastTrigger = currentTime
# show the output image
k = cv2.waitKey(1)
h1, w1 = small.shape[1], small.shape[0]
if k == 113: # Esc key to stop
showLines = True
elif k == 97:
showLines = False
elif k == 122:
showYolo = True
elif k == 120:
showYolo = False
if showLines and camId == 'CAM_2':
cv2.line(small, (uproadThresh, 0), (uproadThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Up-Road', (uproadThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2,
(255, 255, 0))
cv2.line(small, (truckThresh, 0), (truckThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Truck', (truckThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2,
(255, 255, 0))
cv2.line(small, (closeThresh, 0), (closeThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Close', (closeThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2,
(255, 255, 0))
cv2.line(small, (0, rightBound), (h1, rightBound),
(255, 255, 255), 1)
cv2.line(small, (0, leftBound), (h1, leftBound),
(255, 255, 255), 1)
cv2.line(small, (0, leftBound2), (h1, leftBound2),
(255, 0, 255), 1)
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(small))
else:
cv2.imshow(WINDOW_NAME, small)
cv2.waitKey(1)
buffer.queue()
print("Count: ", numberCars, " Frame: ", frame, " FPS: ",
1.0 / (time.time() - lastTime))
lastTime = time.time()
frame += 1
cam.stop_image_acquisition()
cam.destroy()
except:
print("Critical Script Error! Waiting 5 seconds and retrying ...")
time.sleep(5) #sleep for 10 seconds and then retry!
def mainWorker(camId):
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
# main worker event loop, will keep restarting on camera dropout
#variable declarations
lastTime = time.time()
transposeTime = 0
frameCount = 0
avFrameRate = 0
numberCars = 0
numberClose = 0
numberFar = 0
numberTruck = 0
lastSnapshot = None
baseColor = (255, 255, 255)
baseRes = scaledRes
scale = 800 / 1920
factor = baseRes / 320
showLines = False
showYolo = False
IS_CAM_OK = True
MODE = "DAY"
CLOSE_TRIGGER_METHOD = "DELAY" # DELAY, CALC
# SET MODE BASED ON TIME
# SET THRESHES LOCALLY
uproadThresh = 0
truckThresh = 0
closeThresh = 0
extraThresh = 0
leftBound = 0
leftBound2 = 0
rightBound = 0
rightBound2 = 0
marginOfError = 0
isFarClear = True
isTruckClear = True
isCloseClear = True
def setThresholds(MODE, factor):
thresh = THRESHOLDS[MODE]
nonlocal uproadThresh
nonlocal truckThresh
nonlocal closeThresh
nonlocal extraThresh
nonlocal leftBound
nonlocal leftBound2
nonlocal rightBound
nonlocal rightBound2
nonlocal marginOfError
uproadThresh = int(thresh['uproadThresh'] * factor)
truckThresh = int(thresh['truckThresh'] * factor)
closeThresh = int(thresh['closeThresh'] * factor)
extraThresh = int(thresh['extraThresh'] * factor)
leftBound = int(thresh['leftBound'] * factor)
leftBound2 = int(thresh['leftBound2'] * factor)
rightBound = int(thresh['rightBound'] * factor)
rightBound2 = int(thresh['rightBound2'] * factor)
marginOfError = int(thresh['marginOfError'] * factor)
setThresholds(MODE, factor)
startTime = time.time()
while (True):
try:
print(
camId,
"Creating harvester modules and loading genlcam producers ...")
h = Harvester()
h.add_cti_file(CTI_FILE)
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(
serial_number=CAM_NAME)
print("Camera found!")
IS_CAM_OK = True
except:
print("Camera Not Found! Waiting 20 seconds and retrying ...")
time.sleep(20) #sleep for 10 seconds and then retry!
cam.stop_image_acquisition()
cam.destroy()
continue #exit ()
cam.start_image_acquisition()
cv2.namedWindow(WINDOW_NAME,
flags=0) # create dedicated stream window
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
uproadTruckDelay = 0.0
farStdAv = 0.0
closeStdAv = 0.0
truckStdAv = 0.0
baseAv = 0.0
def setUproadTruckDelay():
nonlocal uproadTruckDelay
nonlocal uproadLastTrigger
nonlocal truckLastTrigger
if truckLastTrigger > uproadLastTrigger and truckLastTrigger - uproadLastTrigger < 5:
uproadTruckDelay = truckLastTrigger - uproadLastTrigger
while (IS_CAM_OK):
#print(dir(cam.device.node_map))
try:
with timeout(seconds=3, error_message='FETCH_ERROR'):
frame = cam.fetch_buffer()
except:
IS_CAM_OK = False
print(
'CAM TOOK TOO LONG TO FETCH BUFFER - KILLING AND RESTARTING!'
)
sendMessageToSlack(
'Streaming Camera has Failed - Restarting ...',
'#ff3300')
cv2.destroyWindow(WINDOW_NAME)
cam.stop_image_acquisition()
cam.destroy()
time.sleep(5)
if (IS_CAM_OK and frame.payload.components):
image = frame.payload.components[0].data
if LOG:
print(image)
# USER CONTROLS
user_input_key = cv2.waitKey(1)
if user_input_key == 113: #q
showLines = True
elif user_input_key == 97: #a
showLines = False
elif user_input_key == 122: #z
showYolo = True
elif user_input_key == 120: #x
showYolo = False
elif user_input_key == 119: #w
MODE = "DAY"
setThresholds("DAY", factor)
# CHANGE EXPOSURE AND GAIN
elif user_input_key == 115: #s
MODE = "NIGHT"
setThresholds("NIGHT", factor)
elif user_input_key == 101: #o
CLOSE_TRIGGER_METHOD = "CALC"
elif user_input_key == 100: #l
CLOSE_TRIGGER_METHOD = "DELAY"
frameScaled = cv2.resize(image,
dsize=(baseRes,
int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
frameColorised = cv2.cvtColor(frameScaled,
cv2.COLOR_BayerRG2RGB)
c, h1, w1 = frameColorised.shape[2], frameColorised.shape[
1], frameColorised.shape[0]
boxWidth = 40
farBoxCenter = 97
farBoxWidth = 5
truckBoxCenter = 97
truckBoxWidth = 10
closeBoxCenter = 97
closeBoxWidth = 10
boxHeight = 10
closeBoxHeight = 15
baseValueCenter = 50
baseValueWidth = 3
baseValueHeight = 20
baseValueThresh = 50
farBoxCenter = [97, 298] # [97,285]
farBoxWidth = 5 # 15 # 5
farBoxHeight = 10
truckBoxCenter = [97, 190] # [97, 155]
truckBoxWidth = 10 #30 # 5
truckBoxHeight = 10 #10
closeBoxCenter = [97, 50] # [97, 70]
closeBoxWidth = 15 #35 #5
closeBoxHeight = 15 #15
triggerBoxFar = frameScaled[
farBoxCenter[0] - farBoxWidth:farBoxCenter[0] +
farBoxWidth, farBoxCenter[1]:farBoxCenter[1] +
farBoxHeight] #frameScaled[uproadThresh:uproadThresh+boxHeight,farBoxCenter-farBoxWidth:farBoxCenter+farBoxWidth]
triggerBoxTruck = frameScaled[
truckBoxCenter[0] - truckBoxWidth:truckBoxCenter[0] +
truckBoxWidth, truckBoxCenter[1]:truckBoxCenter[1] +
truckBoxHeight] #frameScaled[truckThresh:truckThresh+boxHeight,truckBoxCenter-truckBoxWidth:truckBoxCenter+truckBoxWidth]
triggerBoxClose = frameScaled[
closeBoxCenter[0] - closeBoxWidth:closeBoxCenter[0] +
closeBoxWidth, closeBoxCenter[1]:closeBoxCenter[1] +
closeBoxHeight] #frameScaled[closeThresh:closeThresh+boxHeight,closeBoxCenter-closeBoxWidth:closeBoxCenter+closeBoxWidth]
baseAvBox = frameScaled[
baseValueCenter - baseValueWidth:baseValueCenter +
baseValueWidth, baseValueThresh:baseValueThresh +
baseValueHeight] #frameScaled[closeThresh:closeThresh+boxHeight,closeBoxCenter-closeBoxWidth:closeBoxCenter+closeBoxWidth]
# ARRAY METRICS FOR TRIGGERING
triggerBoxFarStd = np.mean(triggerBoxFar)
triggerBoxTruckStd = np.mean(triggerBoxTruck)
triggerBoxCloseStd = np.mean(triggerBoxClose)
baseAvStd = np.mean(triggerBoxClose)
numberOfFrames = 200
farStdAv = farStdAv * (
numberOfFrames - 1
) / numberOfFrames + triggerBoxFarStd / numberOfFrames # numberOfFrames frame floating average
truckStdAv = truckStdAv * (
numberOfFrames - 1
) / numberOfFrames + triggerBoxTruckStd / numberOfFrames # numberOfFrames frame floating average
closeStdAv = closeStdAv * (
numberOfFrames - 1
) / numberOfFrames + triggerBoxCloseStd / numberOfFrames # numberOfFrames frame floating average
baseAv = baseAv * (
numberOfFrames -
1) / numberOfFrames + baseAvStd / numberOfFrames
sdThreshold = 32 #30 #2
tsdThreshold = 32 #0.8
csdThreshold = 32 #0.3
farDiff = abs(farStdAv - triggerBoxFarStd)
truckDiff = abs(truckStdAv - triggerBoxTruckStd)
closeDiff = abs(closeStdAv - triggerBoxCloseStd)
currentTime = time.time()
if isFarClear and farDiff > sdThreshold:
isFarClear = False
elif isFarClear == False and (
currentTime - uproadLastTrigger) > triggerDelay:
isFarClear = True
if isTruckClear and truckDiff > tsdThreshold:
isTruckClear = False
elif isTruckClear == False and (
currentTime - truckLastTrigger) > triggerDelay:
isTruckClear = True
if isCloseClear and closeDiff > csdThreshold:
isCloseClear = False
elif isCloseClear == False and (
currentTime - closeLastTrigger) > triggerDelay:
isCloseClear = True
if currentTime - startTime > 20 and farDiff > sdThreshold and (
currentTime - uproadLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
numberFar += 1
uproadLastTrigger = currentTime
if currentTime - startTime > 20 and truckDiff > tsdThreshold and (
currentTime - truckLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()
numberTruck += 1
truckLastTrigger = currentTime
setUproadTruckDelay()
if currentTime - startTime > 20 and closeDiff > csdThreshold and (
currentTime - closeLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_CLOSE_FLASH_URL).read()
numberClose += 1
closeLastTrigger = currentTime
# SHOW LINES SECTION
if showLines and MODE == "DAY":
if isFarClear:
cv2.rectangle(frameColorised,
(farBoxCenter[1],
farBoxCenter[0] - farBoxWidth),
(farBoxCenter[1] + farBoxHeight,
farBoxCenter[0] + farBoxWidth),
(0, 255, 0))
else:
cv2.rectangle(frameColorised,
(farBoxCenter[1],
farBoxCenter[0] - farBoxWidth),
(farBoxCenter[1] + farBoxHeight,
farBoxCenter[0] + farBoxWidth),
(0, 0, 255))
if isTruckClear:
cv2.rectangle(frameColorised,
(truckBoxCenter[1],
truckBoxCenter[0] - truckBoxWidth),
(truckBoxCenter[1] + truckBoxHeight,
truckBoxCenter[0] + truckBoxWidth),
(0, 255, 0))
else:
cv2.rectangle(frameColorised,
(truckBoxCenter[1],
truckBoxCenter[0] - truckBoxWidth),
(truckBoxCenter[1] + truckBoxHeight,
truckBoxCenter[0] + truckBoxWidth),
(0, 0, 255))
if isCloseClear:
cv2.rectangle(frameColorised,
(closeBoxCenter[1],
closeBoxCenter[0] - closeBoxWidth),
(closeBoxCenter[1] + closeBoxHeight,
closeBoxCenter[0] + closeBoxWidth),
(0, 255, 0))
else:
cv2.rectangle(frameColorised,
(closeBoxCenter[1],
closeBoxCenter[0] - closeBoxWidth),
(closeBoxCenter[1] + closeBoxHeight,
closeBoxCenter[0] + closeBoxWidth),
(0, 0, 255))
# DISPLAY FRAME IN WINDOW
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(frameColorised))
else:
cv2.imshow(WINDOW_NAME, frameColorised)
frame.queue()
cv2.waitKey(1)
avFrameRate = avFrameRate * 49 / 50 + int(
1.0 / (time.time() - lastTime)) / 50
if frameCount % 1 == 0:
#print("mode:", MODE,"close mode:", CLOSE_TRIGGER_METHOD, "Count Far", numberFar, "Count Truck", numberTruck,"Count Close", numberClose,"avFPS:", avFrameRate ,"frame:", frameCount, "fps:", int(1.0/(time.time()-lastTime)),"trigger dif",uproadTruckDelay)
print("CF", numberFar, "CT", numberTruck, "CC",
numberClose, "avFPS", int(avFrameRate), "FV",
int(triggerBoxFarStd), "TV",
int(triggerBoxTruckStd), "CV",
int(triggerBoxCloseStd))
lastTime = time.time()
frameCount += 1
#IF CAM NOT OK
cam.stop_image_acquisition()
cam.destroy()
except Exception as e:
print("Critical Script error! Trying again in 5 seconds ...")
print(e)
time.sleep(5) #sleep for 10 seconds and then retry!
from harvesters.core import Harvester
h = Harvester()
h.add_cti_file('/usr/local/lib/baumer/libbgapi2_gige.cti')
#h.add_cti_file('/home/server/Desktop/ctifiles/GxGVTL.cti')
h.update_device_info_list()
print(h.device_info_list)
iam = h.create_image_acquisition_manager(serial_number='QG0170070016')
iam.start_image_acquisition()
buffer = iam.fetch_buffer()
print(buffer)
def worker(camId):
CAM_NAME = CAM_CONFIG[camId]['name']
WINDOW_NAME = CAM_CONFIG[camId]['window']
IS_ROTATE = CAM_CONFIG[camId]['rotate']
h = Harvester()
h.add_cti_file('/opt/mvIMPACT_Acquire/lib/x86_64/mvGenTLProducer.cti')
h.update_device_info_list()
try:
cam = h.create_image_acquisition_manager(serial_number=CAM_NAME)
print("Camera found")
except:
print("Camera Not Found")
exit()
cam.start_image_acquisition()
lastTime = time.time()
transposeTime = 0
frame = 0
numberCars = 0
lastSnapshot = None
cv2.namedWindow(WINDOW_NAME, flags=0)
carColor = (255, 0, 0)
busColor = (0, 255, 0)
truckColor = (0, 0, 255)
phoneColor = (0, 255, 255)
baseColor = (255, 255, 255)
baseRes = 300
scale = 800 / 1920
#as percentages
uproadThresh = 295
truckThresh = 220
closeThresh = 170
extraThresh = 50
leftBound = 50
leftBound2 = 70
rightBound = 100
rightBound2 = 125
marginOfError = 10
factor = baseRes / 320
uproadThresh = int(uproadThresh * factor)
truckThresh = int(truckThresh * factor)
closeThresh = int(closeThresh * factor)
extraThresh = int(50 * factor)
leftBound = int(leftBound * factor)
leftBound2 = int(leftBound2 * factor)
rightBound = int(rightBound * factor)
rightBound2 = int(125 * factor)
showLines = False
showYolo = False
triggerDelay = 0.250
uproadLastTrigger = time.time()
truckLastTrigger = time.time()
closeLastTrigger = time.time()
while (True):
print('Fetching Buffer!')
buffer = cam.fetch_buffer()
print('Fetched Buffer!')
payload = buffer.payload.components
if LOG:
print(payload)
if (payload):
image = payload[0].data
if showLines or showYolo:
conver = cv2.resize(image,
dsize=(baseRes, int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
small = cv2.cvtColor(conver, cv2.COLOR_BayerRG2RGB)
rgb = cv2.cvtColor(conver, cv2.COLOR_BayerRG2GRAY)
else:
small = cv2.resize(image,
dsize=(baseRes, int(baseRes * scale)),
interpolation=cv2.INTER_CUBIC)
rgb = cv2.cvtColor(small, cv2.COLOR_BayerRG2GRAY)
#blurred = cv2.GaussianBlur(rgb, (11, 11), 0)
thresh = cv2.threshold(rgb, 200, 255, cv2.THRESH_BINARY)[1]
#thresh = cv2.erode(thresh, None, iterations=2)
#thresh = cv2.dilate(thresh, None, iterations=4)
labels = measure.label(thresh, neighbors=8, background=0)
mask = np.zeros(thresh.shape, dtype="uint8")
if LOG:
print(labels)
# loop over the unique components
for label in np.unique(labels):
# if this is the background label, ignore it
if label == 0:
continue
labelMask = np.zeros(thresh.shape, dtype="uint8")
labelMask[labels == label] = 255
mask = cv2.add(mask, labelMask)
""" # otherwise, construct the label mask and count the
# number of pixels
labelMask = np.zeros(thresh.shape, dtype="uint8")
labelMask[labels == label] = 255
numPixels = cv2.countNonZero(labelMask)
# if the number of pixels in the component is sufficiently
# large, then add it to our mask of "large blobs"
if numPixels > 300:
mask = cv2.add(mask, labelMask) """
if len(np.unique(labels)) > 0:
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
#cnts = contours.sort_contours(cnts)[0]
# loop over the contours
for (i, c) in enumerate(cnts):
currentTime = time.time()
# draw the bright spot on the image
(x, y, w, h) = cv2.boundingRect(c)
((cX, cY), radius) = cv2.minEnclosingCircle(c)
if showYolo:
cv2.circle(small, (int(cX), int(cY)), int(5),
(0, 0, 255), 3)
if cY <= rightBound and cY >= leftBound and camId == 'CAM_2':
if cX >= uproadThresh - marginOfError and cX <= uproadThresh + marginOfError and (
currentTime - uproadLastTrigger
) > triggerDelay and cY >= leftBound2:
urllib.request.urlopen(
TRIGGER_FAR_FLASH_URL).read()
uproadLastTrigger = currentTime
numberCars += 1
if cX >= truckThresh - marginOfError and cX <= truckThresh + marginOfError and (
currentTime - truckLastTrigger) > triggerDelay:
urllib.request.urlopen(
TRIGGER_TRUCK_FLASH_URL).read()
truckLastTrigger = currentTime
if cX >= closeThresh - marginOfError and cX <= closeThresh + marginOfError and (
currentTime - closeLastTrigger) > triggerDelay:
urllib.request.urlopen(TRIGGER_CLOSE_URL).read()
closeLastTrigger = currentTime
# show the output image
# cv2.imshow("Image", rgb)
k = cv2.waitKey(1)
h1, w1 = small.shape[1], small.shape[0]
if k == 113: # Esc key to stop
showLines = True
elif k == 97:
showLines = False
elif k == 122:
showYolo = True
elif k == 120:
showYolo = False
if showLines and camId == 'CAM_2':
cv2.line(small, (uproadThresh, 0), (uproadThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Up-Road', (uproadThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
cv2.line(small, (truckThresh, 0), (truckThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Truck', (truckThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
cv2.line(small, (closeThresh, 0), (closeThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Close', (closeThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
cv2.line(small, (0, rightBound), (h1, rightBound),
(255, 255, 255), 1)
cv2.line(small, (0, leftBound), (h1, leftBound),
(255, 255, 255), 1)
cv2.line(small, (0, leftBound2), (h1, leftBound2),
(255, 0, 255), 1)
if showLines and camId == 'CAM_1':
cv2.line(small, (extraThresh, 0), (extraThresh, w1),
(255, 255, 0), 1)
cv2.putText(small, 'Up-Road', (extraThresh, 50),
cv2.FONT_HERSHEY_COMPLEX, 0.2, (255, 255, 0))
#cv2.line(rgb, (0,rightBound2), (h1, rightBound2), (255,255,255), 1)
bounds = 100
results = []
'''predictions = []
for output in predictions:
left, right, top, bottom, what, prob = output['left'],output['right'],output['top'],output['bottom'],output['class'],output['prob']
#print(output)
#lastSnapshot = snapshot.copy()
#cv2.imshow("Snapshots", lastSnapshot)
if( what == 'car' ):
print(output)
numberCars += 1
cv2.rectangle(rgb, (50,50), (100,150), (255, 255, 255), 20)
if ( camId =="CAM_2" ):
urllib.request.urlopen(TRIGGER_FAR_FLASH_URL).read()
urllib.request.urlopen(TRIGGER_CLOSE_FLASH_URL).read()
urllib.request.urlopen(TRIGGER_TRUCK_FLASH_URL).read()'''
if IS_ROTATE:
cv2.imshow(WINDOW_NAME, np.rot90(small))
else:
cv2.imshow(WINDOW_NAME, small)
cv2.waitKey(1)
buffer.queue()
print("Count: ", numberCars, " Frame: ", frame, " FPS: ",
1.0 / (time.time() - lastTime))
print('getting time')
lastTime = time.time()
print('setting time')
frame += 1
print('setting frame')
cam.stop_image_acquisition()
cam.destroy()