class CamRead(Thread):
""" CamRead Class
Reads frames from a Realsense F200 camera and streams them
to a socket stream.
"""
def __init__(self):
""" Initializes the class. """
self.Helpers = Helpers("CamRead")
super(CamRead, self).__init__()
self.Helpers.logger.info("CamRead class initialized.")
def run(self):
""" Runs the module. """
self.identified = 0
# Starts the TassAI module
self.TassAI = TassAI()
self.TassAI.cv()
self.TassAI.ncs()
# Starts the socket server
soc = self.Sockets.connect(self.Helpers.confs["Socket"]["host"],
self.Helpers.confs["Socket"]["port"])
fps = ""
framecount = 0
count = 0
time1 = 0
time2 = 0
self.publishes = [None] * (len(self.TassAI.NCS1.encoded) + 1)
with pyrs.Service() as serv:
with serv.Device() as dev:
dev.apply_ivcam_preset(0)
while True:
t1 = time.perf_counter()
dev.wait_for_frames()
frame = dev.color
frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
# Processes the frame
raw, frame = self.TassAI.NCS1.prepareImg(frame)
width = frame.shape[1]
# Gets faces and coordinates
faces, coords = self.TassAI.NCS1.faces(frame)
# Writes header to frame
cv2.putText(frame, "TassAI", (10, 30), self.TassAI.font,
0.7, self.TassAI.color, 2, cv2.LINE_AA)
# Writes date to frame
cv2.putText(frame, str(datetime.now()), (10, 50),
self.TassAI.font, 0.5, self.TassAI.color, 2,
cv2.LINE_AA)
if len(coords):
i = 0
mesg = ""
# Loops through coordinates
for (i, face) in enumerate(coords):
# Gets facial landmarks coordinates
coordsi = face_utils.shape_to_np(face)
# Looks for matches/intruders
known, distance = self.TassAI.NCS1.match(
raw, faces[i])
if known:
mesg = "TassAI identified User #" + str(known)
else:
mesg = "TassAI identified intruder"
# If iotJumpWay publish for user is in past
if (self.publishes[int(known)] is None
or (self.publishes[int(known)] +
(1 * 20)) < time.time()):
# Update publish time for user
self.publishes[int(known)] = time.time()
# Send iotJumpWay notification
self.iot.channelPub(
"Sensors", {
"Type": "TassAI",
"Sensor": "F200 Camera",
"Value": known,
"Message": mesg
})
# Send iotJumpWay notification
self.iot.channelPub(
"Cameras", {
"Type": "TassAI",
"Sensor": "F200 Camera",
"Value": known,
"Message": mesg
})
(x, y, w,
h) = self.TassAI.NCS1.bounding_box(faces[i])
cv2.rectangle(frame, (x, y), (x + w, y + h),
(0, 255, 0), 1)
cx = int(round(+(w / 2)))
cy = int(round(y + (h / 2)))
cv2.putText(frame, "User ID#" + str(known),
(x, y - 5), cv2.FONT_HERSHEY_PLAIN, 1,
(0, 255, 0), 1)
distance = dev.depth[cy][cx] / 1000.0
if (distance != 0.0):
cv2.putText(frame,
str(distance) + "cm",
(x + (w - 20), y - 5),
cv2.FONT_HERSHEY_PLAIN, 1,
(0, 255, 0), 1)
# Draws facial landmarks
for (x, y) in coordsi:
cv2.circle(frame, (x, y), 2, (0, 255, 0), -1)
# Adds user name to frame
i += 1
cv2.putText(frame, fps, (width - 170, 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.5,
self.TassAI.color, 1, cv2.LINE_AA)
d = dev.depth * dev.depth_scale * 1000
d = cv2.applyColorMap(d.astype(np.uint8),
cv2.COLORMAP_RAINBOW)
cd = np.concatenate((frame, d), axis=1)
# Streams the modified frame to the socket server
encoded, buffer = cv2.imencode('.jpg', cd)
soc.send(base64.b64encode(buffer))
# FPS calculation
framecount += 1
if framecount >= 15:
fps = "Stream: {:.1f} FPS".format(time1 / 15)
framecount = 0
time1 = 0
time2 = 0
t2 = time.perf_counter()
elapsedTime = t2 - t1
time1 += 1 / elapsedTime
time2 += elapsedTime
time.sleep(0.05)
class CamRead(Thread):
""" CamRead Class
Reads frames from a USB camera and streams them
to a socket stream.
"""
def __init__(self):
""" Initializes the class. """
self.Helpers = Helpers("CamRead")
super(CamRead, self).__init__()
self.Helpers.logger.info("CamRead class initialized.")
def run(self):
""" Runs the module. """
self.identified = 0
# Starts the TassAI module
self.TassAI = TassAI()
self.TassAI.cv()
self.TassAI.connect()
self.TassAI.ncs()
# Starts the socket server
soc = self.Sockets.connect(self.Helpers.confs["Socket"]["host"],
self.Helpers.confs["Socket"]["port"])
fps = ""
framecount = 0
count = 0
time1 = 0
time2 = 0
self.publishes = [None] * (len(self.TassAI.NCS1.encoded) + 1)
while True:
time.sleep(0.05)
try:
t1 = time.perf_counter()
# Reads the current frame
frame = self.TassAI.camera.get(0.65)
# Processes the frame
raw, frame = self.TassAI.NCS1.prepareImg(frame)
width = frame.shape[1]
# Gets faces and coordinates
faces, coords = self.TassAI.NCS1.faces(frame)
# Writes header to frame
cv2.putText(frame, "TassAI", (10, 30), self.TassAI.font, 0.7,
self.TassAI.color, 2, cv2.LINE_AA)
# Writes date to frame
cv2.putText(frame, str(datetime.now()), (10, 50),
self.TassAI.font, 0.5, self.TassAI.color, 2,
cv2.LINE_AA)
if len(coords):
i = 0
mesg = ""
# Loops through coordinates
for (i, face) in enumerate(coords):
# Gets facial landmarks coordinates
coordsi = face_utils.shape_to_np(face)
# Looks for matches/intruders
known, distance = self.TassAI.NCS1.match(raw, faces[i])
if known:
mesg = "TassAI identified User #" + str(known)
else:
mesg = "TassAI identified intruder"
# If iotJumpWay publish for user is in past
if (self.publishes[int(known)] is None
or (self.publishes[int(known)] +
(1 * 20)) < time.time()):
# Update publish time for user
self.publishes[int(known)] = time.time()
# Send iotJumpWay notification
self.iot.channelPub(
"Sensors", {
"Type": "TassAI",
"Sensor": "USB Camera",
"Value": known,
"Message": mesg
})
# Send iotJumpWay notification
self.iot.channelPub(
"Cameras", {
"Type": "TassAI",
"Sensor": "USB Camera",
"Value": known,
"Message": mesg
})
# Draws facial landmarks
for (x, y) in coordsi:
cv2.circle(frame, (x, y), 2, (0, 255, 0), -1)
# Adds user name to frame
i += 1
cv2.putText(frame, fps, (width - 170, 30),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, self.TassAI.color,
1, cv2.LINE_AA)
# Streams the modified frame to the socket server
encoded, buffer = cv2.imencode('.jpg', frame)
soc.send(base64.b64encode(buffer))
# FPS calculation
framecount += 1
if framecount >= 15:
fps = "Stream: {:.1f} FPS".format(time1 / 15)
framecount = 0
time1 = 0
time2 = 0
t2 = time.perf_counter()
elapsedTime = t2 - t1
time1 += 1 / elapsedTime
time2 += elapsedTime
time.sleep(0.05)
except KeyboardInterrupt:
self.TassAI.camera.release()
break