Ejemplo n.º 1
0
def gen_webconfig() :
  demo_css_files = []
  css_files = []

  for css_file in config.CSS_FILES :
    css_file = '/%s/%s' % (
      'resource/css',
      helper.get_file_name(css_file),
      )
    css_files.append("'%s'" % css_file)

  for css_file in config.DEMO_CSS_FILES :
    css_file = '/%s/%s' % (
      'resource/css',
      helper.get_file_name(css_file),
      )
    demo_css_files.append("'%s'" % css_file)

  text = '\n'.join([
    '# Generated file. DO NOT EDIT',
    'COMPILED = %s' % helper.should_compile(config.DEFAULT_COMPILED),
    'CSS_FILES = [\n%s\n]' % ',\n'.join(css_files),
    'DEMO_CSS_FILES = [\n%s\n]' % ',\n'.join(demo_css_files)
  ])
  helper.write_text(config.WEB_CONFIG_FILE_PATH, text)
Ejemplo n.º 2
0
def gen_tpl(path) :
  if (helper.is_modified(path) and
      not helper.should_compile(config.DEFAULT_COMPILED)) :
    print 'skip %s' % path
    return

  print 'gen_tpl %s\n' % path
  gen_flags = GEN_FLAGS[0 :]

  if helper.should_compile(config.DEFAULT_COMPILED) :
    gen_flags.append('--cssHandlingScheme REFERENCE')

  flags_str = ' '.join([str(soy_flag) for soy_flag in gen_flags])
  output_flag = '--outputPathFormat %s.js' % path
  cmd = 'java -jar %s %s %s %s' % (
    config.TPL_COMPILER_PATH,
    flags_str,
    output_flag,
    path)
  print cmd
  os.system(cmd)

  if helper.should_compile(config.DEFAULT_COMPILED) :
    helper.write_text(helper.get_build_info_file(path), 'build..')
  else :
    helper.write_text(helper.get_build_info_file(path),
                      str(os.path.getmtime(path)))
Ejemplo n.º 3
0
def gen_js_bin_deps(target_name, module_files) :
  output_path = '%s/%s.txt' % (config.JS_DEPS_OUTPUT_DIR, target_name)
  output_str = ('-o list > %s ' % output_path)
  cmd = gen_base_cmd(module_files) + output_str
  print cmd
  os.system(cmd)
  lines = helper.get_file_lines(output_path, True)
  new_lines = []
  idx = 0
  last_module_name = None
  for line in lines :
    line = line.strip()
    new_lines.append('--js %s' % line)
    idx = idx + 1
    if line in module_files :
      module_name = helper.get_module_name(line)
      if last_module_name is None :
        new_lines.append('--module %s:%s' % (module_name, idx))
      else :
        new_lines.append(
          '--module %s:%s:%s' % (module_name, idx, last_module_name))
      last_module_name = module_name
      idx = 0

  helper.write_text(output_path, '\n'.join(new_lines))
Ejemplo n.º 4
0
def gen_mock_data() :
  requires = []
  for data_file in config.MOCK_DATA_FILES :
    lines = helper.get_file_lines(data_file, True)
    for line in lines :
      if line.find('goog.provide(') == 0 :
        line = 'goog.require' + line[line.rfind('(') :]
        requires.append(line)
        break
  requires.sort()
  input_lines = helper.get_file_lines(config.JS_FBAPI_FILE_PATH)
  output_lines = []
  provide_line = None
  for line in input_lines :
    stripped_line = line.strip()
    if stripped_line.find('goog.provide(') == 0 :
      provide_line = stripped_line
    elif stripped_line.find('goog.require(') == 0 :
      if not stripped_line in requires :
        requires.append(stripped_line)
    else :
      output_lines.append(line)

  requires.sort()
  output_text = '%s\n\n%s\n\n%s' % (
    provide_line,
    '\n'.join(requires),
    ''.join(output_lines)
    )
  helper.write_text(config.JS_FBAPI_FILE_PATH, output_text)
Ejemplo n.º 5
0
def build_css() :
  all_css_text = []

  css_files = None

  if helper.should_compile() :
    css_files = config.CSS_FILES
  else :
    css_files = config.DEMO_CSS_FILES

  for css_file in config.CSS_FILES :
    all_css_text.append(helper.get_file_text(css_file))
  all_css_text = ''.join(all_css_text)

  output_raw_path = config.BUILD_INFO_DIR + '/.raw.all_css_text.css'
  output_min_path = config.BUILD_INFO_DIR + '/.min.all_css_text.css'
  helper.write_text(output_raw_path, all_css_text)

  cmd = 'java -jar %s %s > %s' % (
    config.CSS_COMPRESSOR_PATH,
    output_raw_path,
    output_min_path)

  os.system(cmd)
  min_css_text = helper.get_file_text(output_min_path)

  js_vars = []
  css_names = re.findall(CSS_NAME_PATTERN, min_css_text)
  old_new_css_names = [(cn, rename_css_name(cn, js_vars))for cn in css_names]

  if helper.should_compile(config.DEFAULT_COMPILED) :
    bin_css_text = min_css_text
    for pair in old_new_css_names :
      bin_css_text = bin_css_text.replace(pair[0], pair[1])
    helper.write_text(config.CSS_BIN_DIR + '/all.css', bin_css_text)
  else :
    print 'Skip generate compiled CSS.'

  js_code = JS_CODE_TEMPLATE % ''.join(js_vars)
  helper.write_text(config.JS_CSS_NAMES_PATH, js_code.strip())
Ejemplo n.º 6
0
def video(perspective_matrix_path,
          source="cam",
          save=False,
          save_path=None,
          file_name="out",
          cam_cal=None):
    """
    apply edge detection on video frames

    :param perspective_matrix_path: Path to pickle file contain transform matrix M and Minv
    :param source: source of video, if cam, apply edge detection on real time camera,
    else source should be path to local video
    :param save: True if want to save output video, available only when source is video not camera
    :param save_path: path to save output video, if save is True
    :param file_name: name of output video if saved is True, default = out
    :param cam_cal: path to Pickle file contain camera calibration parameters [ mtx , dist]
    :return: None
    """
    if not os.path.isfile(perspective_matrix_path):
        raise FileNotFoundError("Path to perspective matrix file not exist!")

    with open(perspective_matrix_path, "rb") as p:
        perspective_matrix = pickle.load(p)
        M = perspective_matrix["M"]
        Minv = perspective_matrix["Minv"]

    if source == "cam":
        cap = cv2.VideoCapture(0)
    else:
        if not os.path.isfile(source):
            raise FileNotFoundError(source, " not Exist!")
        cap = cv2.VideoCapture(source)

    # camera calibration parameters [ mtx , dist]
    mtx = None
    dist = None

    out = None
    if save:
        if not os.path.isdir(save_path):
            raise FileNotFoundError(save_path, " Not Exist!")
        file_name += ".mp4"
        out = cv2.VideoWriter(save_path + file_name, -1, 20,
                              (int(cap.get(3)), int(cap.get(4))))

    if cam_cal:
        if not os.path.isfile(cam_cal):
            raise FileNotFoundError(cam_cal, " Not Exist!")

        with open(cam_cal, "rb") as p:
            calibration = pickle.load(p)
            mtx = calibration["mtx"]
            dist = calibration["dist"]

    left_line = Line(5)
    right_line = Line(5)

    while True:
        # Capture frame-by-frame
        ret, frame = cap.read()
        if not ret:
            print("Finished..")
            sys.exit(0)

        # cv2 read frame as BGR, convert it to RGB
        frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)

        # camera calibration
        if not (mtx is None or dist is None):
            frame = cv2.undistort(frame, mtx, dist, None, mtx)

        # get edges in image
        edges = apply_edge_detection(frame)

        # transform image to bird view
        warped = warped_img(edges, M)

        # init out image which will draw lane line on it then weight it with original frame
        out_img = np.zeros_like(warped)
        if len(warped.shape) == 3 and warped.shape[2] == 3:
            pass
        else:
            out_img = np.dstack((out_img, out_img, out_img))

        # if line not detected, apply sliding window
        if not left_line.detected or not right_line.detected:
            leftx, lefty, rightx, righty = sliding_window(warped, 9, 200)

        # if already detected apply search around detected line
        else:
            leftx, lefty = search_around_poly(left_line, warped)
            rightx, righty = search_around_poly(right_line, warped)

        # will used for plotting line, find x fitted
        ploty = np.linspace(warped.shape[0] // 4, warped.shape[0] - 1,
                            warped.shape[0])

        # check if at least 100 pixels detected as line
        if len(leftx) > 100 and len(rightx) > 100:

            # make detected flag true
            left_line.detected = True
            right_line.detected = True

            left_line.current_x = leftx
            left_line.current_y = lefty

            right_line.current_x = rightx
            right_line.current_y = righty

            left_line.fit_polynomial(ploty)
            right_line.fit_polynomial(ploty)

        else:
            print("Line not detected in this frame ")
            # we just draw line form previous frame

            # make detected flag true
            left_line.detected = False
            right_line.detected = False

        # update Lane line radius
        left_line.radius()
        right_line.radius()

        # avg radius of to lines, and plot it
        radius = (left_line.radius_of_curvature +
                  right_line.radius_of_curvature) // 2
        frame = write_text(frame,
                           "Radius of Curvature = " + str(radius) + " M",
                           pos=(20, 50))

        # calculate Alignment ( how much car away from center between Lane lines
        dir = "Left"  # car far from left or right

        left_line.car_offset(frame.shape)  # distance from left line
        right_line.car_offset(frame.shape)  # distance from right line

        distance = round(right_line.line_base_pos - left_line.line_base_pos, 2)

        if distance < 0:  # car far away from left line not right line
            distance = -distance
            dir = "Right"
        frame = write_text(frame,
                           "Vehicle is {}m {} of center".format(distance, dir),
                           pos=(20, 80))

        # ** plot lane lines on image **
        # left_line.draw_line(out_img, ploty)
        # right_line.draw_line(out_img, ploty)

        # color pixel which belong to lane lines
        left_line.color_pixel(out_img, (255, 0, 0))
        right_line.color_pixel(out_img, (255, 100, 0))

        # fit green triangle in area between lane lines
        pts_left = np.array(
            [np.transpose(np.vstack([left_line.bestx, ploty]))])
        pts_right = np.array(
            [np.flipud(np.transpose(np.vstack([right_line.bestx, ploty])))])
        pts = np.hstack((pts_left, pts_right))

        # Draw the lane onto the warped blank image
        cv2.fillPoly(out_img, np.int_([pts]), (0, 255, 0))

        # return image to normal view from bird view
        out_img_undit = warped_img(out_img, Minv)

        # weight out_image_undit with original frame
        frame = cv2.addWeighted(out_img_undit, 0.5, frame, 1, 0)
        frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)

        cv2.imshow("frame", frame)

        # write video
        if save:
            out.write(frame)
        if cv2.waitKey(1) & 0xFF == ord('q'):
            break

    # When everything done, release the capture
    cap.release()
    cv2.destroyAllWindows()