def __init__(self, parent=None):
"""
UI set up, install event filter (key board listener)
"""
super(Intelligent_Eye, self).__init__(parent)
self.setupUi(self)
self.installEventFilter(self) # Bind key listerner here
self.point_cloud = Point_cloud(
calib_foler='./src/Point_cloud/calib_files_test',
SGBM_setting='./src/Point_cloud/settings/SGBM_1')
"""
Init constants
"""
self.raspberry_ip = '192.168.0.123' # Static IP Address
self.local_ip = ni.ifaddresses('wlan0')[2][0]['addr']
self.port_intr = 9999
self.port_video = 8888
self.navigatable = False
self.timer = True
self.image_number = 0
"""
Connect bluetooth module
"""
self.bt_MAC = '20:14:08:05:43:82'
self.bt_port = 1
self.bt_control = Car_Control(self.bt_MAC, self.bt_port)
"""
Connect all buttons, set their init state
"""
self.btn_start.clicked.connect(self.start_preview)
self.btn_stop.clicked.connect(self.stop_preview)
self.btn_takePics.clicked.connect(self.take_pictures)
self.btn_navigate.clicked.connect(self.navigate)
self.btn_init()
"""
def __init__(self, parent=None):
"""
UI set up, install event filter (key board listener)
"""
super(Intelligent_Eye, self).__init__(parent)
self.setupUi(self)
self.installEventFilter(self) # Bind key listerner here
self.point_cloud = Point_cloud(calib_foler='./src/Point_cloud/calib_files_test', SGBM_setting='./src/Point_cloud/settings/SGBM_1')
"""
Init constants
"""
self.raspberry_ip = '192.168.0.123' # Static IP Address
self.local_ip = ni.ifaddresses('wlan0')[2][0]['addr']
self.port_intr = 9999
self.port_video = 8888
self.navigatable = False
self.timer = True
self.image_number = 0
"""
Connect bluetooth module
"""
self.bt_MAC = '20:14:08:05:43:82'
self.bt_port = 1
self.bt_control = Car_Control(self.bt_MAC, self.bt_port)
"""
Connect all buttons, set their init state
"""
self.btn_start.clicked.connect(self.start_preview)
self.btn_stop.clicked.connect(self.stop_preview)
self.btn_takePics.clicked.connect(self.take_pictures)
self.btn_navigate.clicked.connect(self.navigate)
self.btn_init()
"""
class Intelligent_Eye(QMainWindow, Ui_MainWindow):
def __init__(self, parent=None):
"""
UI set up, install event filter (key board listener)
"""
super(Intelligent_Eye, self).__init__(parent)
self.setupUi(self)
self.installEventFilter(self) # Bind key listerner here
self.point_cloud = Point_cloud(calib_foler='./src/Point_cloud/calib_files_test', SGBM_setting='./src/Point_cloud/settings/SGBM_1')
"""
Init constants
"""
self.raspberry_ip = '192.168.0.123' # Static IP Address
self.local_ip = ni.ifaddresses('wlan0')[2][0]['addr']
self.port_intr = 9999
self.port_video = 8888
self.navigatable = False
self.timer = True
self.image_number = 0
"""
Connect bluetooth module
"""
self.bt_MAC = '20:14:08:05:43:82'
self.bt_port = 1
self.bt_control = Car_Control(self.bt_MAC, self.bt_port)
"""
Connect all buttons, set their init state
"""
self.btn_start.clicked.connect(self.start_preview)
self.btn_stop.clicked.connect(self.stop_preview)
self.btn_takePics.clicked.connect(self.take_pictures)
self.btn_navigate.clicked.connect(self.navigate)
self.btn_init()
"""
Display ready message
"""
def btn_init(self):
"""
Init the states of buttons
"""
self.btn_start.setEnabled(True)
self.btn_stop.setEnabled(False)
# self.btn_takePics.setEnabled(False)
self.btn_navigate.setEnabled(True)
def start_preview(self):
"""
Set a server socket
Init a Client socket and connect to the raspberry ip
Send instruction to raspberry pi, and get ready to receive the video file
Start another thread which runs mplayer locally
Keep reading video data and pipe them to mplayer
Toggle buttons
"""
self.server_video = Server(self.port_video)
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('S' + self.local_ip)
self.server_video.receive_file()
self.mplayer_t = Threading_Mplayer(self.server_video)
self.mplayer_t.start()
self.btn_start.setEnabled(False)
self.btn_stop.setEnabled(True)
self.btn_takePics.setEnabled(True)
def stop_preview(self):
"""
Send instruction to the raspberry pi to stop preview
Terminate the mplayer process and close the socket connection at the server side
Toggle buttons
"""
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('P')
self.mplayer_t.stop()
self.server_video.close()
self.btn_start.setEnabled(True)
self.btn_stop.setEnabled(False)
# self.btn_takePics.setEnabled(False)
def take_pictures(self):
"""
Init Client socket and connect to the raspberry ip
Send instruction to raspberry pi
Check the return message from the raspberry pi, which means images transmitting is done
Conduct human detection and display the results on the image views
Toggle buttons and navigatable status
cam0: left
cam1: right
"""
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('T' + self.local_ip)
check_call(['scp', '-q', 'pi@' + self.raspberry_ip + ':~/cam0.jpeg', 'pi@' + self.raspberry_ip + ':~/cam1.jpeg', './images/'])
self.name1 = './images/left_' + str(self.image_number) + '.jpeg'
self.name2 = './images/right_' + str(self.image_number) + '.jpeg'
os.rename('./images/cam0.jpeg', self.name1)
os.rename('./images/cam1.jpeg', self.name2)
self.image_number += 1
# Calibration
self.point_cloud.load_image(self.name1, self.name2)
image_list = self.point_cloud.rectify_image()
self.rectangle_coor_list = People_Detect.detect_image_list(image_list[:1], [self.name1])
self._views_showImage(self.view_cam1, self.name1)
self._views_showImage(self.view_cam0, self.name2)
self.btn_navigate.setEnabled(True)
self.navigatable = True
def navigate(self):
self.removeEventFilter(self) # Disable key listerner here
if self.navigatable:
self._navigate()
else:
self.take_pictures()
self._navigate()
self.installEventFilter(self) # Enable key listerner here
def _navigate(self):
if not self.rectangle_coor_list:
print("Failed to find a person!")
return
disparity = self.point_cloud.get_disparity()
cv2.imwrite("disparity" + str(self.image_number) + ".jpg", disparity)
for rectangle_coor in self.rectangle_coor_list:
x, y, w, h = rectangle_coor
pad_w = int(0.15 * w)
pad_h = int(0.15 * h)
coor = [(x + pad_w, y + pad_h), (x + w - pad_w, y + pad_h), (x + w - pad_w, y + h - pad_h), (x + pad_w, y + h - pad_h)]
print(coor)
coor_x, coor_y, coor_z = self.point_cloud.find_pos(coor)
print(coor_x, coor_y, coor_z)
if (-coor_z) > 16 and (-coor_z) < 35:
break
else:
print("Failed to find the direction and distance")
return
# Center of the rectangle
p = x + w / 2.0
degree = self._get_degree(p)
if degree > 25 or degree < -25:
print("Failed to find the direction")
return
distance = self._get_distance(-coor_z, degree)
self._naviagete_send_request(degree, distance)
@staticmethod
def _get_degree(p):
degree = int(math.atan((p - 640) / 1269.8) / math.pi * 180.0)
return degree
@staticmethod
def _get_distance(z, degree):
# Take off the length of the car
distance = 0.2576 * z - 1.4744
return distance
# return distance / (math.cos(degree * math.pi / 180.0))
def _naviagete_send_request(self, degree, distance):
t_distance = 1.2408 * distance + 0.2321
if degree <= -1 and degree >= -23:
self.bt_control.hand_shake(chr(97 - degree))
elif degree >= 1 and degree <= 22:
self.bt_control.hand_shake(chr(67 + degree))
sleep(1)
self.bt_control.forward()
sleep(t_distance)
self.bt_control.stop_motor()
def _views_showImage(self, view, image):
"""
Display image on the view widget
"""
imageScene = QGraphicsScene()
imageScene.addPixmap(QPixmap(image))
view.setScene(imageScene)
view.fitInView(imageScene.sceneRect(), Qt.KeepAspectRatio)
view.show()
def eventFilter(self, obj, event):
"""
Listen and decode key board input: W, S, A, D
"""
if event.type() == QEvent.KeyPress:
self.btn_navigate.setEnabled(False)
self.navigatable = False
if event.key() == Qt.Key_W:
self.bt_control.forward()
elif event.key() == Qt.Key_S:
self.bt_control.backward()
elif event.key() == Qt.Key_A:
self.bt_control.left()
elif event.key() == Qt.Key_D:
self.bt_control.right()
elif event.key() == Qt.Key_Escape:
self.bt_control.stop_motor()
return True
elif event.type() == QEvent.KeyRelease:
if self.timer == True:
self.timer = False
self.t = Timer(0.2, self.stop_motor)
self.t.start()
else:
self.t.cancel()
self.t = Timer(0.2, self.stop_motor)
self.t.start()
return True
else:
return QObject.eventFilter(self, obj, event)
def stop_motor(self):
"""
Stop the motor, reset timer, enable navigate button
"""
self.bt_control.stop_motor()
self.timer = True
self.btn_navigate.setEnabled(True)
class Intelligent_Eye(QMainWindow, Ui_MainWindow):
def __init__(self, parent=None):
"""
UI set up, install event filter (key board listener)
"""
super(Intelligent_Eye, self).__init__(parent)
self.setupUi(self)
self.installEventFilter(self) # Bind key listerner here
self.point_cloud = Point_cloud(
calib_foler='./src/Point_cloud/calib_files_test',
SGBM_setting='./src/Point_cloud/settings/SGBM_1')
"""
Init constants
"""
self.raspberry_ip = '192.168.0.123' # Static IP Address
self.local_ip = ni.ifaddresses('wlan0')[2][0]['addr']
self.port_intr = 9999
self.port_video = 8888
self.navigatable = False
self.timer = True
self.image_number = 0
"""
Connect bluetooth module
"""
self.bt_MAC = '20:14:08:05:43:82'
self.bt_port = 1
self.bt_control = Car_Control(self.bt_MAC, self.bt_port)
"""
Connect all buttons, set their init state
"""
self.btn_start.clicked.connect(self.start_preview)
self.btn_stop.clicked.connect(self.stop_preview)
self.btn_takePics.clicked.connect(self.take_pictures)
self.btn_navigate.clicked.connect(self.navigate)
self.btn_init()
"""
Display ready message
"""
def btn_init(self):
"""
Init the states of buttons
"""
self.btn_start.setEnabled(True)
self.btn_stop.setEnabled(False)
# self.btn_takePics.setEnabled(False)
self.btn_navigate.setEnabled(True)
def start_preview(self):
"""
Set a server socket
Init a Client socket and connect to the raspberry ip
Send instruction to raspberry pi, and get ready to receive the video file
Start another thread which runs mplayer locally
Keep reading video data and pipe them to mplayer
Toggle buttons
"""
self.server_video = Server(self.port_video)
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('S' + self.local_ip)
self.server_video.receive_file()
self.mplayer_t = Threading_Mplayer(self.server_video)
self.mplayer_t.start()
self.btn_start.setEnabled(False)
self.btn_stop.setEnabled(True)
self.btn_takePics.setEnabled(True)
def stop_preview(self):
"""
Send instruction to the raspberry pi to stop preview
Terminate the mplayer process and close the socket connection at the server side
Toggle buttons
"""
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('P')
self.mplayer_t.stop()
self.server_video.close()
self.btn_start.setEnabled(True)
self.btn_stop.setEnabled(False)
# self.btn_takePics.setEnabled(False)
def take_pictures(self):
"""
Init Client socket and connect to the raspberry ip
Send instruction to raspberry pi
Check the return message from the raspberry pi, which means images transmitting is done
Conduct human detection and display the results on the image views
Toggle buttons and navigatable status
cam0: left
cam1: right
"""
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('T' + self.local_ip)
check_call([
'scp', '-q', 'pi@' + self.raspberry_ip + ':~/cam0.jpeg',
'pi@' + self.raspberry_ip + ':~/cam1.jpeg', './images/'
])
self.name1 = './images/left_' + str(self.image_number) + '.jpeg'
self.name2 = './images/right_' + str(self.image_number) + '.jpeg'
os.rename('./images/cam0.jpeg', self.name1)
os.rename('./images/cam1.jpeg', self.name2)
self.image_number += 1
# Calibration
self.point_cloud.load_image(self.name1, self.name2)
image_list = self.point_cloud.rectify_image()
self.rectangle_coor_list = People_Detect.detect_image_list(
image_list[:1], [self.name1])
self._views_showImage(self.view_cam1, self.name1)
self._views_showImage(self.view_cam0, self.name2)
self.btn_navigate.setEnabled(True)
self.navigatable = True
def navigate(self):
self.removeEventFilter(self) # Disable key listerner here
if self.navigatable:
self._navigate()
else:
self.take_pictures()
self._navigate()
self.installEventFilter(self) # Enable key listerner here
def _navigate(self):
if not self.rectangle_coor_list:
print("Failed to find a person!")
return
disparity = self.point_cloud.get_disparity()
cv2.imwrite("disparity" + str(self.image_number) + ".jpg", disparity)
for rectangle_coor in self.rectangle_coor_list:
x, y, w, h = rectangle_coor
pad_w = int(0.15 * w)
pad_h = int(0.15 * h)
coor = [(x + pad_w, y + pad_h), (x + w - pad_w, y + pad_h),
(x + w - pad_w, y + h - pad_h), (x + pad_w, y + h - pad_h)]
print(coor)
coor_x, coor_y, coor_z = self.point_cloud.find_pos(coor)
print(coor_x, coor_y, coor_z)
if (-coor_z) > 16 and (-coor_z) < 35:
break
else:
print("Failed to find the direction and distance")
return
# Center of the rectangle
p = x + w / 2.0
degree = self._get_degree(p)
if degree > 25 or degree < -25:
print("Failed to find the direction")
return
distance = self._get_distance(-coor_z, degree)
self._naviagete_send_request(degree, distance)
@staticmethod
def _get_degree(p):
degree = int(math.atan((p - 640) / 1269.8) / math.pi * 180.0)
return degree
@staticmethod
def _get_distance(z, degree):
# Take off the length of the car
distance = 0.2576 * z - 1.4744
return distance
# return distance / (math.cos(degree * math.pi / 180.0))
def _naviagete_send_request(self, degree, distance):
t_distance = 1.2408 * distance + 0.2321
if degree <= -1 and degree >= -23:
self.bt_control.hand_shake(chr(97 - degree))
elif degree >= 1 and degree <= 22:
self.bt_control.hand_shake(chr(67 + degree))
sleep(1)
self.bt_control.forward()
sleep(t_distance)
self.bt_control.stop_motor()
def _views_showImage(self, view, image):
"""
Display image on the view widget
"""
imageScene = QGraphicsScene()
imageScene.addPixmap(QPixmap(image))
view.setScene(imageScene)
view.fitInView(imageScene.sceneRect(), Qt.KeepAspectRatio)
view.show()
def eventFilter(self, obj, event):
"""
Listen and decode key board input: W, S, A, D
"""
if event.type() == QEvent.KeyPress:
self.btn_navigate.setEnabled(False)
self.navigatable = False
if event.key() == Qt.Key_W:
self.bt_control.forward()
elif event.key() == Qt.Key_S:
self.bt_control.backward()
elif event.key() == Qt.Key_A:
self.bt_control.left()
elif event.key() == Qt.Key_D:
self.bt_control.right()
elif event.key() == Qt.Key_Escape:
self.bt_control.stop_motor()
return True
elif event.type() == QEvent.KeyRelease:
if self.timer == True:
self.timer = False
self.t = Timer(0.2, self.stop_motor)
self.t.start()
else:
self.t.cancel()
self.t = Timer(0.2, self.stop_motor)
self.t.start()
return True
else:
return QObject.eventFilter(self, obj, event)
def stop_motor(self):
"""
Stop the motor, reset timer, enable navigate button
"""
self.bt_control.stop_motor()
self.timer = True
self.btn_navigate.setEnabled(True)
