def __init__(self):
ObjectTracker.__init__(self)
self.logger = LogManager.get_instance().get_logger(
self.__class__.__name__)
self.framework_id_dict = {}
self.finished_framework_id_deque = deque(
[], FrameworkTracker.MAX_NUMBER_OF_FINISHED_FRAMEWORKS)
self.finished_framework_dict = {}
def remove(self, id):
framework = ObjectTracker.remove(self, id)
if framework is not None:
self.finished_framework_dict[id] = framework
if len(self.finished_framework_id_deque
) == FrameworkTracker.MAX_NUMBER_OF_FINISHED_FRAMEWORKS:
clear_framework_id = self.finished_framework_id_deque.popleft()
del self.finished_framework_dict[clear_framework_id]
self.finished_framework_id_deque.append(id)
return framework
def main(_argv):
object_tracker = ObjectTracker()
frame = None
while True:
frame = footage_socket.recv_string()
img = base64.b64decode(frame)
npimg = np.fromstring(img, dtype=np.uint8)
source = cv2.imdecode(npimg, 1)
message = socket.recv()
object_tracker.run(source)
send_array(socket, np.array(object_tracker.get_last_tracked()))
object_tracker.clear_last_tracked()
def main():
# Parse CLI args
args = ObjectTracker.cli_args()
# Setup logging
setup_logging(level=args[LOG_LEVEL])
tracker = ObjectTracker(width=args[WIDTH],
middle_percent=args[MIDDLE_PERCENT],
display=args[DISPLAY],
flip_x=args[FLIP_X],
flip_y=args[FLIP_Y],
mask_x=args[MASK_X],
mask_y=args[MASK_Y],
usb_camera=args[USB_CAMERA],
usb_port=args[USB_PORT],
camera_name=args[CAMERA_NAME],
http_host=args[HTTP_HOST],
http_file=args[HTTP_FILE],
http_delay_secs=args[HTTP_DELAY_SECS],
http_verbose=args[HTTP_VERBOSE])
obj_filter = DualObjectFilter(tracker,
bgr_color=args[BGR_COLOR],
hsv_range=args[HSV_RANGE],
minimum_pixels=args[MINIMUM_PIXELS],
grpc_port=args[GRPC_PORT],
leds=args[LEDS],
display_text=True,
draw_contour=args[DRAW_CONTOUR],
draw_box=args[DRAW_BOX],
vertical_lines=args[VERTICAL_LINES],
horizontal_lines=args[HORIZONTAL_LINES])
try:
tracker.start(obj_filter)
except KeyboardInterrupt:
pass
finally:
tracker.stop()
logger.info("Exiting...")
if _filter.contour is None:
_filter.reset_data()
return
slope, degrees = contour_slope_degrees(_filter.contour)
# logger.info("Slope: {0}".format(slope))
# logger.info("Degrees: {0}".format(degrees))
if abs(degrees) < 80 or (slope is not None and abs(slope) < 20):
_filter.reset_data()
if __name__ == "__main__":
# Parse CLI args
args = ObjectTracker.cli_args()
# Setup logging
setup_logging(level=args[LOG_LEVEL])
tracker = ObjectTracker(width=args[WIDTH],
middle_percent=args[MIDDLE_PERCENT],
display=args[DISPLAY],
flip_x=args[FLIP_X],
flip_y=args[FLIP_Y],
mask_x=args[MASK_X],
mask_y=args[MASK_Y],
usb_camera=args[USB_CAMERA],
usb_port=args[USB_PORT],
camera_name=args[CAMERA_NAME],
http_host=args[HTTP_HOST],
import cv2
import matplotlib.pyplot as plot
from object_tracker import ObjectTracker
from camera import Camera
from vector import Vector
from position_plot import PositionPlot
if __name__ == '__main__':
done = False
lower = [98, 80, 128]
upper = [120, 146, 255]
tracker1 = ObjectTracker('Left', (711, 400), lower, upper, 1)
tracker2 = ObjectTracker('Right', (711, 400), lower, upper, 0)
camera1 = Camera(Vector(0, 0, 1), ((80 * numpy.pi) / 180, 0), ((60 * numpy.pi) / 180, (47 * numpy.pi) / 180),
tracker1)
camera2 = Camera(Vector(1, 0, 1), ((100 * numpy.pi) / 180, 0), ((60 * numpy.pi) / 180, (47 * numpy.pi) / 180),
tracker2)
plotter = PositionPlot((camera1, camera2), ((-1, 2), (-1, 2), (1, 2)))
plotter.start()
plot.show()
while not done:
tracker1.run()
tracker2.run()
key = cv2.waitKey(1)
def __init__(self):
ObjectTracker.__init__(self)
self.framework_id_dict = {}
self.finished_framework_id_deque = deque(
[], FrameworkTracker.MAX_NUMBER_OF_FINISHED_FRAMEWORKS)
self.finished_framework_dict = {}
'''处理message回调'''
global COLOR_BLOCK_TOPIC_ID
# print('topic: {}'.format(msg.topic))
# print('message: {}'.format(str(msg.payload)))
if msg.topic == COLOR_BLOCK_TOPIC_ID:
message = msg.payload.decode('utf-8')
print('color_block_info: {}'.format(message))
update_object_tracker(message)
# 建立一个MQTT的客户端
client = mqtt.Client()
# 绑定数据接收回调函数
client.on_message = on_message
HOST_IP = 'localhost' # Server的IP地址
HOST_PORT = 1883 # mosquitto 默认打开端口
COLOR_BLOCK_TOPIC_ID = 'color_block_info' # TOPIC的ID
# 连接MQTT服务器
client.connect(HOST_IP, HOST_PORT, 60)
# 订阅主题
client.subscribe(COLOR_BLOCK_TOPIC_ID)
sdk = PyCarSDK(client, is_debug=True)
tracker = ObjectTracker(sdk)
# 阻塞式， 循环往复，一直处理网络数据，断开重连
client.loop_forever()
def main():
# Parse CLI args
p = argparse.ArgumentParser()
cli.usb_camera(p),
cli.width(p),
cli.middle_percent(p),
cli.minimum_pixels(p),
cli.hsv_range(p),
cli.leds(p),
cli.flip_x(p),
cli.flip_y(p),
cli.mask_x(p),
cli.mask_y(p),
cli.vertical_lines(p),
cli.horizontal_lines(p),
cli.camera_name_optional(p),
cli.display(p),
cli.draw_contour(p),
cli.draw_box(p),
cli.http_host(p),
cli.http_delay_secs(p),
cli.http_file(p),
cli.http_verbose(p),
p.add_argument("--dualbgr", dest=DUAL_BGR, required=True, help="Dual color BGR value")
p.add_argument("--singlebgr", dest=SINGLE_BGR, required=True, help="Single color BGR value")
p.add_argument("--dualport", dest=DUAL_PORT, default=GRPC_PORT_DEFAULT, type=int,
help="Dual gRPC port [{0}]".format(GRPC_PORT_DEFAULT))
p.add_argument("--singleport", dest=SINGLE_PORT, default=GRPC_PORT_DEFAULT + 1, type=int,
help="Dual gRPC port [{0}]".format(GRPC_PORT_DEFAULT + 1))
cli.log_level(p)
args = vars(p.parse_args())
# Setup logging
setup_logging(level=args[LOG_LEVEL])
tracker = ObjectTracker(width=args[WIDTH],
middle_percent=args[MIDDLE_PERCENT],
display=args[DISPLAY],
flip_x=args[FLIP_X],
flip_y=args[FLIP_Y],
mask_x=args[MASK_X],
mask_y=args[MASK_Y],
usb_camera=args[USB_CAMERA],
usb_port=args[USB_PORT],
camera_name=args[CAMERA_NAME],
http_host=args[HTTP_HOST],
http_file=args[HTTP_FILE],
http_delay_secs=args[HTTP_DELAY_SECS],
http_verbose=args[HTTP_VERBOSE])
dual_filter = DualObjectFilter(tracker,
bgr_color=args[DUAL_BGR],
hsv_range=args[HSV_RANGE],
minimum_pixels=args[MINIMUM_PIXELS],
grpc_port=args[DUAL_PORT],
leds=False,
display_text=False,
draw_contour=args[DRAW_CONTOUR],
draw_box=args[DRAW_BOX],
vertical_lines=args[VERTICAL_LINES],
horizontal_lines=args[HORIZONTAL_LINES])
single_filter = SingleObjectFilter(tracker,
bgr_color=args[SINGLE_BGR],
hsv_range=args[HSV_RANGE],
minimum_pixels=args[MINIMUM_PIXELS],
grpc_port=args[SINGLE_PORT],
leds=False,
display_text=True,
draw_contour=args[DRAW_CONTOUR],
draw_box=args[DRAW_BOX],
vertical_lines=False,
horizontal_lines=False)
try:
tracker.start(single_filter, dual_filter)
except KeyboardInterrupt:
pass
finally:
tracker.stop()
logger.info("Exiting...")