server_response, server_time = talk2server(cmd='connect',devN=1)
"""
try:
server_response, server_time = client.check_tcp_server(
cmd=cmd, dev=devN).split("_")
server_response, server_time = clientConnectThread.get_command()
except: # noserver response
server_time = "na"
server_response = "none"
# print "server reponse: {} and timestamp: {}".format(server_response, server_time)
return server_response, server_time
# TCP communication
# Start the client thread:
clientConnectThread = client.ClientConnect("connect", "{}".format(devN))
clientConnectThread.setDaemon(True)
clientConnectThread.start() # launching thread
# time.sleep(1)
server_time = 0.0
server_response = "none"
response = clientConnectThread.get_command()
if "_" in response:
server_response, server_time = response.split("_")
else:
server_reponse = response
# ==============================================================================
# Video .avi output setup
# ==============================================================================
#############################################################################
# setup thermal camera
def save_videos(folder4frames, c, vid_num, tic, nf=360):
"""
save videos
"""
fourcc = cv2.cv.CV_FOURCC('X', 'V', 'I', 'D')
fps = 30
# TCP communication
# Start the client thread:
clientConnectThread = client.ClientConnect("connect", "{}".format(devN))
clientConnectThread.setDaemon(True)
clientConnectThread.start() # launching thread
# time.sleep(1)
server_time = 0.0
server_response = "none"
response = clientConnectThread.get_command()
if "_" in response:
server_response, server_time = response.split("_")
else:
server_reponse = response
# print(server_response, server_time)
# Create a pandas dataframe to hold the information (index starts at 1)
cols = ["frameN", "localtime", "servertime"]
df = pd.DataFrame(columns=cols)
df.loc[c] = [0, server_time, time.time()]
print "Creating Video Headers"
# Initialize the videowriter
#vid_num = 0
video_rgb = cv2.VideoWriter(folder4frames + "/rgb/dev" + str(devN) +
"rgb" + str(vid_num) + ".avi",
fourcc,
fps=fps,
frameSize=(w, h))
video_depth = cv2.VideoWriter(folder4frames + "/depth/dev" + str(devN) +
"depth" + str(vid_num) + ".avi",
fourcc,
fps=fps,
frameSize=(w, h))
video_dmap = cv2.VideoWriter(folder4frames + "/dmap/dev" + str(devN) +
"dmap" + str(vid_num) + ".avi",
fourcc,
fps=fps,
frameSize=(w, h))
rgb_stream.start()
depth_stream.start()
for f in range(nf):
openni2.wait_for_any_stream()
# RGB-D Streams
rgb = get_rgb()
dmap, d4d = get_depth()
# if vis_frames: # Display the streams
rgbdm = np.hstack((rgb, d4d, dmap))
rgbdm_small = cv2.resize(rgbdm, (960, 240)) # smallest
cv2.imshow("1:4 scale", rgbdm_small)
# === Keyboard Commands ===
key = cv2.waitKey(1) & 255
if key == 27:
print "Terminating code!"
df.loc[c] = [f, run_time, server_time]
video_rgb.write(rgb) # write to vid file
video_depth.write(d4d) # write to vid file
video_dmap.write(dmap)
# Write data to csv
df.to_csv(folder4csv + "dev" + str(devN) + '_data' + str(vid_num) +
'.csv')
# release video writers
print "==== Releasing the video writers"
video_rgb.release()
video_depth.release()
video_dmap.release()
#done = True
sys.exit(0)
# Poll the server:
clientConnectThread.update_command("check")
sresponse = clientConnectThread.get_command()
if "_" in response:
server_response, server_time = response.split("_")
else:
server_reponse = response
run_time = time.time() - tic
print "\t Processing {} session and frame number {} -- {}".format(
vid_num, f, (vid_num * nf) + f)
video_rgb.write(rgb) # --> rgb vid file
video_depth.write(d4d) # --> depth vid file
video_dmap.write(dmap) # --> dmap vid file
# Write Datarows
df.loc[c] = [f, run_time, server_time]
c += 1
# endfor f in range nf
df.to_csv(folder4csv + "dev" + str(devN) + '_data' + str(vid_num) + '.csv')
# release video writers
video_rgb.release()
video_depth.release()
video_dmap.release()
done = True
del df
del video_rgb
del video_depth
del video_dmap
print "\n === Cleared the video and pandas variables".format(vid_num)
# endfor vid_num in range(0, t_num_vids):
rgb_stream.stop()
depth_stream.stop()
return c, run_time
import client
import time, sys
done = False
if __name__ == '__main__':
dev = 1
clientConnectThread = client.ClientConnect('connect', dev=dev)
clientConnectThread.setDaemon(True)
clientConnectThread.start() #launching thread
while not done: # view <= nviews
clientConnectThread.update_command('check')
server_response = clientConnectThread.get_command()
if "save" in server_response:
print "RECEIVED FLAG TO SAVE DATA"
time.sleep(5)
elif "close" in server_response:
print('Closing the connection')
clientConnectThread.update_command('close')
time.sleep(5)
done = True
else:
print "\t doing other stuff"
print server_response
time.sleep(2)
sys.exit(1)
def run_old_loop():
"""
Creates session videos. However, opencv video release is not working. HUGE memory
leak that.
#if __name__ == "__main__":
#time.sleep(20) # secs pause! for startup
#devN = 1
"""
synctype = "relaxed"
actorname = "patient_0"
# Flags
vis_frames = True # True # display frames
save_frames_flag = False # save all frames
test_flag = True
test_frames = 5000000
fps = 30
c = 0
## Runtime and Controls
nf = 500 # 172800# 60*60*24*2 # Number of video frames in each clip and video
f = 1 # frame counter
tic = 0
run_time = 0
total_t = 0
fourcc = cv2.cv.CV_FOURCC('X', 'V', 'I', 'D')
done = False
# TCP communication
# Start the client thread:
clientConnectThread = client.ClientConnect("connect", "{}".format(devN))
clientConnectThread.setDaemon(True)
clientConnectThread.start() # launching thread
# time.sleep(1)
server_time = 0.0
server_response = "none"
response = clientConnectThread.get_command()
if "_" in response:
server_response, server_time = response.split("_")
else:
server_reponse = response
# print(server_response, server_time)
# Create a pandas dataframe to hold the information (index starts at 1)
cols = ["frameN", "localtime", "servertime"]
df = pd.DataFrame(columns=cols)
df.loc[c] = [0, server_time, time.time()]
# The folders for all data
folder4frames, folder4csv = createFolders(actorname)
print "Creating Video Headers"
# Initialize the videowriter
vid_num = 0
video_rgb = cv2.VideoWriter(folder4frames + "/rgb/dev" + str(devN) +
"rgb" + str(vid_num) + ".avi",
fourcc,
fps=fps,
frameSize=(w, h))
video_depth = cv2.VideoWriter(folder4frames + "/depth/dev" + str(devN) +
"depth" + str(vid_num) + ".avi",
fourcc,
fps=fps,
frameSize=(w, h))
video_dmap = cv2.VideoWriter(folder4frames + "/dmap/dev" + str(devN) +
"dmap" + str(vid_num) + ".avi",
fourcc,
fps=fps,
frameSize=(w, h))
# Get the first timestamp
tic = time.time()
start_t = tic
# --- main loop ---
done = False
while not done: # view <= nviews
# RGB-D Streams
rgb = get_rgb()
dmap, d4d = get_depth()
if vis_frames: # Display the streams
rgbdm = np.hstack((rgb, d4d, dmap))
# rgbdm_small = rgbdm # orginal size
# rgbdm_small = cv2.resize(rgbdm,(1280,240)) # medium
# rgbdm_small = cv2.resize(rgbdm,(640,240)) # smallest
rgbdm_small = cv2.resize(rgbdm, (960, 240)) # smallest
cv2.imshow("1:4 scale", rgbdm_small)
# === Keyboard Commands ===
key = cv2.waitKey(1) & 255
if key == 27:
print "Terminating code!"
done = True
# Poll the server:
clientConnectThread.update_command("check")
response = clientConnectThread.get_command()
if "_" in response:
server_response, server_time = response.split("_")
else:
server_reponse = response
run_time = time.time() - tic
print "Processing {} session and frame number {}".format(vid_num, f)
# === check synchronization type
if synctype == 'strict':
if server_response == 'save':
video_rgb.write(rgb) # --> rgb vid file
video_depth.write(d4d) # --> depth vid file
video_dmap.write(dmap) # --> dmap vid file
# Write Datarows
df.loc[c] = [
f,
strftime("%a, %d %b %Y %H:%M:%S +0000", localtime()),
server_time
]
f += 1
c += 1
elif synctype == 'relaxed':
video_rgb.write(rgb) # --> rgb vid file
video_depth.write(d4d) # --> depth vid file
video_dmap.write(dmap) # --> dmap vid file
# Write Datarows
df.loc[c] = [f, run_time, server_time]
f += 1
c += 1
else:
print "synchronization type unknown"
if test_flag and (f == test_frames):
print "Terminating code!"
done = True
# if np.mod(f,nf) == 0: # close and create new csv and video
if f == nf:
df.to_csv(folder4csv + "dev" + str(devN) + '_data' + str(vid_num) +
'.csv')
print "session {} saved".format(vid_num)
# release video writers
video_rgb.release()
video_depth.release()
video_dmap.release()
del df
del video_rgb
del video_depth
del video_dmap
print "\t Cleared the vars and memory and prepping next session"
vid_num += 1
# Create new video writers
video_rgb = cv2.VideoWriter(folder4frames + "/rgb/dev" +
str(devN) + "rgb" + str(vid_num) +
".avi",
fourcc,
fps=fps,
frameSize=(w, h))
video_depth = cv2.VideoWriter(folder4frames + "/depth/dev" +
str(devN) + "depth" + str(vid_num) +
".avi",
fourcc,
fps=fps,
frameSize=(w, h))
video_dmap = cv2.VideoWriter(folder4frames + "/dmap/dev" +
str(devN) + "dmap" + str(vid_num) +
".avi",
fourcc,
fps=fps,
frameSize=(w, h))
# reset pandas dataframe
df = pd.DataFrame(columns=cols)
c = 0
f = 0
# done = True #stop after the first recording.
# elif chr(key) =='s': #s-key to save current screen
# save_frames(f,rgb,dmap,p=folder4screens)
# if
# --- keyboard commands ---
# while
# TERMINATE
print "=== Terminating code! ==="
# Close carmine context and stop device
print "==== Closing carmine context"
rgb_stream.stop()
depth_stream.stop()
openni2.unload()
# write last datapoints
print "==== Writing last portions of data."
vid_num = +1
df.loc[c] = [f, run_time, server_time]
video_rgb.write(rgb) # write to vid file
video_depth.write(d4d) # write to vid file
video_dmap.write(dmap)
# Write data to csv
df.to_csv(folder4csv + "dev" + str(devN) + '_data' + str(vid_num) + '.csv')
# release video writers
print "==== Releasing the video writers"
video_rgb.release()
video_depth.release()
video_dmap.release()
# Disconnect the client from the server
print "==== Disconecting client and closing the server"
clientConnectThread.update_command("close")
# Release video/image resources
cv2.destroyAllWindows()
# print some timing information:
fps = f / run_time
print "\nTime metrics for {} frames:".format(f)
print("\ttotal run time is %.2f secs over" % run_time)
print("\tfps: %.2f" % fps)
sys.exit(1)
