def search_static_objects():
global search_ptz_p
global search_ptz_t
global ptz_set_count
print(os.path.basename(__file__), utils.get_function_name())
while flag_pause is not True:
#if count_birds_from_panoramic() > 0:
#return [], None
module_camera.set_ptz(search_ptz_p, search_ptz_t, default_ptz_z) # search_ptz_p, search_ptz_t, zoom
ptz_set_count += 1
search_ptz_p += ptz_p_delta
if search_ptz_p > ptz_p_max:
search_ptz_t += ptz_t_delta
search_ptz_p = ptz_p_min
if search_ptz_t > ptz_t_max: break
time_stamp = time.time()
ret, img = module_camera.get_image(ptz_channel, flip=False)
if ret:
rois = module_panoramic.get_split_bbox(img, dst_rows_min=1000, dst_cols_min=1000)
objs = module_panoramic.detect_objs_in_rois(img, rois)
if show_flag == 'yes' or show_flag == 'true':
module_result.show_image(win_name, img, objs)
dx, dy = calc_objs_shift(objs, img, limit=0.8)
if dx is not None and dy is not None:
return objs, img
search_ptz_p, search_ptz_t = ptz_p_min, ptz_t_min # reset ptz state to default
print('ptz_set_count = %d' % ptz_set_count)
ptz_set_count = 0
return [], None
def proc_panoramic_moving(name, param_delay):
global static_images
print(os.path.basename(__file__), utils.get_function_name())
for k in [1, 2]:
while static_images_old[k] is None:
print('waiting for static image ready')
time.sleep(param_delay)
while True:
while flag_pause is True:
time.sleep(param_delay)
for k in [1, 2]:
time_stamp = time.time()
with lock:
img_static = static_images[k].copy()
img_static_old = static_images_old[k].copy()
objs_static = static_objects[k].copy()
ret, img = module_camera.get_image(k)
if ret:
objs_moving = detect_moving_objects(
[img_static_old, img_static, img],
time_stamp=time_stamp,
channel=k)
objs_moving_confirmed = confirm_moving_objects(
img, objs_moving)
objs_moving_confirmed = filter_moving_objects(
img, objs_moving_confirmed)
objs_final = merge_objects(objs_static, objs_moving,
objs_moving_confirmed)
objs_final = filter_moving_objects(img, objs_final)
with lock:
moving_images[k] = img.copy()
moving_objects[k] = objs_moving_confirmed.copy()
final_objects[k] = objs_final.copy()
with module_result.lock:
module_result.result['panoramic'] = objs_final.copy()
if show_flag == 'yes' or show_flag == 'true':
win_name = 'module_panoramic channel-%d' % k
module_result.show_image(win_name, img, objs_final)
def proc_panoramic_static(name, param_delay):
global static_images
print(os.path.basename(__file__), utils.get_function_name())
while True:
while flag_pause is True:
time.sleep(param_delay)
for channel in [1, 2]:
ret, img = module_camera.get_image(channel)
if ret:
objs = detect_static_objects(img, channel)
with lock:
static_images_old[channel] = static_images[channel]
static_images[channel] = img.copy()
static_objects[channel] = objs.copy()
#show the static result of panoramic
with module_result.lock:
module_result.result['panoramic'] = objs.copy
if show_flag == 'yes' or show_flag == 'true':
win_name = 'module_panoramic channel-%d' % channel
module_result.show_image(win_name, img, objs)
time.sleep(0.1)
list_delta_pan = []
list_delta_tilt = []
for zoom in range(1,129,1):
print('-'*80)
print('zoom =', zoom)
ptz_p0 = 10
ptz_t0 = 8.5
ptz_dp = 0.5
ptz_dt = 0.5
module_camera.set_ptz(ptz_p0, ptz_t0, zoom)
time.sleep(1)
r0, p0, t0, z0 = module_camera.get_ptz()
print('p0, t0, z0 =', p0, t0, z0)
r0, img0 = module_camera.get_image(flip=False)
module_camera.set_ptz(ptz_p0+ptz_dp, ptz_t0+ptz_dt, zoom)
time.sleep(1)
r1, p1, t1, z1 = module_camera.get_ptz()
print('p1, t1, z1 =', p1, t1, z1)
r1, img1 = module_camera.get_image(flip=False)
try:
shift_x, shift_y = calc_shift(img0, img1)
except:
print('calc shift failed!!!')
shift_x, shift_y = 0, 0
print('shift x,y = ', shift_x, shift_y)
list_zoom.append((z0+z1)/2)
def track_moving_birds(objs, img):
if objs is None: return
if len(objs) <= 0: return
print(os.path.basename(__file__), utils.get_function_name())
ptz_ret, ptz_p, ptz_t, ptz_z = module_camera.get_ptz()
err_p, err_t = calc_rotate_angle(objs, img, ptz_p, ptz_t, ptz_z)
ptz_p = ptz_p + err_p
ptz_t = ptz_t + err_t
module_camera.set_ptz(ptz_p, ptz_t, default_ptz_z,
block=True, err_p_max=1.0, err_t_max=1.0)
err_p = [0, 0]
err_t = [0, 0]
time_stamp = [time.time()] * 2
no_obj_count = 0
while flag_pause is not True and ptz_ret == 0:
ret, img = module_camera.get_image(ptz_channel, flip=False)
if ret:
rows = img.shape[0]
cols = img.shape[1]
rois = module_panoramic.get_split_bbox(img, dst_rows_min=rows, dst_cols_min=cols)
objs = module_panoramic.detect_objs_in_rois(img, rois)
if len(objs) == 0:
no_obj_count += 1
if no_obj_count > 5:
print('no object detect, tracking over.')
return
else:
no_obj_count = 0
err_p[1] = err_p[0]
err_t[1] = err_t[0]
err_p[0], err_t[0] = calc_rotate_angle(objs, img, ptz_p, ptz_t, ptz_z)
time_stamp[1] = time_stamp[0]
time_stamp[0] = time.time()
time_span = time_stamp[0] - time_stamp[1]
if time_span > 1.0: time_span = 1.0
print('time_span: ', time_span)
# ptz_p = ptz_p + time_span*(pid_i*err_p[0] + pid_p*(err_p[0]-err_p[1]))
# ptz_t = ptz_t + time_span*(pid_i*err_t[0] + pid_p*(err_t[0]-err_t[1]))
# module_camera.set_ptz(ptz_p, ptz_t, default_ptz_z, block=False)
ptz_p = ptz_p + err_p[0]
ptz_t = ptz_t + err_t[0]
module_camera.set_ptz(ptz_p, ptz_t, default_ptz_z,
block=True, err_p_max=0.2, err_t_max=0.2)
time.sleep(0.05)
if show_flag == 'yes' or show_flag == 'true':
module_result.show_image(win_name, img, objs)
if flag_pause:
print('module_ptz is paused.')
return