def process_log(self, bag_in, prefix: str, bag_out, prefix_out: str, utils: ProcessorUtilsInterface):
algo_db = get_easy_algo_db()
line_detector = algo_db.create_instance(FAMILY_LINE_DETECTOR, self.line_detector)
image_prep = algo_db.create_instance("image_prep", self.image_prep)
vehicle = dbu.which_robot(bag_in)
topic = f"/{vehicle}/camera_node/image/compressed"
context = FakeContext()
transform = None
frame = 0
for compressed_img_msg in dbu.d8n_bag_read_with_progress(bag_in, topic):
with context.phase("decoding"):
try:
image_cv = dtu.bgr_from_jpg(compressed_img_msg.data)
except ValueError as e:
msg = f"Could not decode image: {e}"
dtu.raise_wrapped(ValueError, e, msg)
segment_list = image_prep.process(context, image_cv, line_detector, transform)
rendered = vs_fancy_display(image_prep.image_cv, segment_list)
rendered = dtu.d8_image_zoom_linear(rendered, 2)
log_name = "log_name"
time = 12
rendered = dtu.add_duckietown_header(rendered, log_name, time, frame)
out = dru.d8n_image_msg_from_cv_image(rendered, "bgr8", same_timestamp_as=compressed_img_msg)
# Write to the bag
bag_out.write("processed", out)
# out = d8n_image_msg_from_cv_image(image_cv, "bgr8", same_timestamp_as=compressed_img_msg)
bag_out.write("image", compressed_img_msg)
frame += 1
def get_robot_camera_geometry_from_log(
brp: dru.BagReadProxy) -> RobotCameraGeometry:
robot_name = dru.which_robot(brp)
K = get_homography_for_robot(robot_name)
ci = dru.read_camera_info_from_bag(brp)
rectifier = Rectify(ci)
gpg = GroundProjectionGeometry(ci.width, ci.height, K)
return RobotCameraGeometry(rectifier, gpg)
def look_at(
log,
output: str,
anti_instagram: str,
line_detector: str,
image_prep: str,
lane_filter: str,
all_details: bool,
) -> None:
filename = get_local_bag_file(log)
bag = rosbag.Bag(filename)
vehicle_name = dbu.which_robot(bag)
dtu.logger.info(f"Vehicle name: {vehicle_name}")
brp = dbu.BagReadProxy(bag)
rcg = get_robot_camera_geometry_from_log(brp)
topic = dbu.get_image_topic(bag)
res = dbu.d8n_read_all_images_from_bag(bag, topic, max_images=1)
image_cv = res[0]["rgb"]
# dtu.logger.debug(dtu.describe_value(image_cv))
image_cv_bgr = dtu.bgr_from_rgb(image_cv)
dtu.DuckietownConstants.show_timeit_benchmarks = True
res, _stats = run_pipeline(
image_cv_bgr,
gpg=rcg.gpg,
rectifier=rcg.rectifier,
anti_instagram_name=anti_instagram,
line_detector_name=line_detector,
image_prep_name=image_prep,
lane_filter_name=lane_filter,
all_details=all_details,
)
res = dtu.resize_small_images(res)
dtu.write_bgr_images_as_jpgs(res, output)
def process_log(
self,
bag_in: dbu.BagReadProxy,
prefix_in: str,
bag_out,
prefix_out: str,
utils: ProcessorUtilsInterface,
):
log_name = utils.get_log().log_name
vehicle_name = dbu.which_robot(bag_in)
logger.info(f"Vehicle name: {vehicle_name}")
topic = dbu.get_image_topic(bag_in)
rcg = get_robot_camera_geometry_from_log(bag_in)
bgcolor = dtu.ColorConstants.BGR_DUCKIETOWN_YELLOW
sequence = bag_in.read_messages_plus(topics=[topic])
for _i, mp in enumerate(sequence):
bgr = dtu.bgr_from_rgb(dru.rgb_from_ros(mp.msg))
res, stats = run_pipeline(
bgr,
gpg=rcg.gpg,
rectifier=rcg.rectifier,
line_detector_name=self.line_detector,
image_prep_name=self.image_prep,
lane_filter_name=self.lane_filter,
anti_instagram_name=self.anti_instagram,
all_details=self.all_details,
)
rect = (480, 640) if not self.all_details else (240, 320)
res = dtu.resize_images_to_fit_in_rect(res, rect, bgcolor=bgcolor)
msg = (
f"abs: {mp.time_absolute} window: {mp.time_window} from log: "
f"{mp.time_from_physical_log_start}")
dtu.logger.info(msg)
headers = [
f"Robot: {vehicle_name} log: {log_name} time: {mp.time_from_physical_log_start:.2f} s",
f"Algorithms | color correction: {self.anti_instagram} | preparation: {self.image_prep} | "
f"detector: {self.line_detector} | filter: {self.lane_filter}",
]
res = dtu.write_bgr_images_as_jpgs(res,
dirname=None,
bgcolor=bgcolor)
cv_image = res["all"]
for head in reversed(headers):
max_height = 35
cv_image = dtu.add_header_to_bgr(cv_image,
head,
max_height=max_height)
otopic = "all"
omsg = dru.d8_compressed_image_from_cv_image(
cv_image, same_timestamp_as=mp.msg)
t = rospy.Time.from_sec(mp.time_absolute)
dtu.logger.info(f"written {otopic!r} at t = {t.to_sec()}")
bag_out.write(prefix_out + "/" + otopic, omsg, t=t)
for name, value in list(stats.items()):
utils.write_stat(prefix_out + "/" + name, value, t=t)