print('python sensorview [-i <inTopic>] [-p <plotInterval>]' +
rdf.manifoldArgs)
print('\nDefaults:')
print(' -i %s\n -p 1.0\n' % (inTopic))
print(rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-i':
inTopic = arg
if opt == '-p':
plotInterval = int(arg)
# start ManifoldPython running
ManifoldPython.start("avview", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("sensorview starting...")
sys.stdout.flush()
topicMap[inTopic] = srecs.SensorRecords(inTopic, plotInterval)
# start up the plotter
sensorPlot = splot.sensorplot()
# lastPlotTime is used to control plot updates
print(rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-i':
ttyInTopic = arg
if opt == '-o':
ttyOutTopic = arg
if opt == 'p':
ttyPort = arg
if opt == 'r':
ttyRate = int(arg)
# start ManifoldPython running
ManifoldPython.start("tty", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("tty starting...")
sys.stdout.flush()
# Activate the service endpoint
ttyOutPort = ManifoldPython.addE2EService(ttyOutTopic)
if (ttyOutPort == -1):
print("Failed to activate E2E service endpoint")
ManifoldPython.stop()
sys.exit()
for opt, arg in opts:
if opt == '-h':
cameraHeight = int(arg)
if opt == '-n':
cameraIndex = int(arg)
if opt == '-r':
cameraRate = int(arg)
if opt == '-v':
outTopic = arg
if opt == '-w':
cameraWidth = int(arg)
# start ManifoldPython running
ManifoldPython.start("uvccam", sys.argv, True)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the source stream
sourcePort = ManifoldPython.addMulticastSource(outTopic)
if (sourcePort == -1):
print("Failed to activate stream service")
ManifoldPython.stop()
sys.exit()
# Open the camera device
if (not ManifoldPython.vidCapOpen(cameraIndex, cameraWidth, cameraHeight,
cameraRate)):
print("Failed to open vidcap")
except:
print('python modet [-i <inTopic>] [-o <outTopic>]' + rdf.manifoldArgs)
print('\nDefaults:')
print(' -i %s\n -o modet' % inTopic)
print(rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-i':
inTopic = arg
if opt == '-o':
outTopic = arg
# start ManifoldPython running
ManifoldPython.start("modet", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("modet starting...")
sys.stdout.flush()
# Tuning factors. The default values seem to work well at 1280 x 720 frame size, 30fps.
# This is how much to scale down the image before background subtraction. Bigger images need bigger factors
scaleFactor = 6
# This controls the length of the history used by the background subtractor - adjust for frame rate
bgHistory = 200
print('\nDefaults:')
print(' -p audio/audio\n -n 1\n -r 16000')
print(rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-p':
audioTopic = arg
if opt == '-n':
audioChannels = int(arg)
if opt == '-r':
audioRate = int(arg)
# start ManifoldPython running
ManifoldPython.start("audio", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the source stream
sourcePort = ManifoldPython.addMulticastSource(audioTopic)
if (sourcePort == -1):
print("Failed to activate stream service")
ManifoldPython.stop()
sys.exit()
# wake up the console
print("audio starting...")
sys.stdout.flush()
for opt, arg in opts:
if opt == '-h':
cameraHeight = int(arg)
if opt == '-n':
cameraIndex = int(arg)
if opt == '-r':
cameraRate = int(arg)
if opt == '-v':
outTopic = arg
if opt == '-w':
cameraWidth = int(arg)
# start ManifoldPython running
ManifoldPython.start("picam", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the source stream
sourcePort = ManifoldPython.addMulticastSource(outTopic)
if (sourcePort == -1):
print("Failed to activate stream service")
ManifoldPython.stop()
sys.exit()
# wake up the console
print("picam starting...")
sys.stdout.flush()
print (' -c ' + completionTopic)
print (' -m ' + testText)
print (' -t ' + textTopic)
sys.exit(2)
for opt, arg in opts:
if opt == '-c':
completionTopic = arg
if opt == '-m':
testText = arg
elif opt == '-t':
textTopic = arg
# start ManifoldPython running
ManifoldPython.start("ttstest", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("ttstest starting...")
sys.stdout.flush()
# Activate the client endpoint
clientPort = ManifoldPython.addE2EClient(textTopic)
if (clientPort == -1):
print("Failed to activate E2E client endpoint")
ManifoldPython.stop()
sys.exit()
print('python sensehat [-i <sampleInterval>] [-o <outTopic>]' +
rdf.manifoldArgs)
print('\nDefaults:')
print(' -i 0.1\n -o sensor')
print(rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-i':
sampleInterval = float(arg)
if opt == '-o':
outTopic = arg
# start ManifoldPython running
ManifoldPython.start("sensors", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the source stream
sourcePort = ManifoldPython.addMulticastSource(outTopic)
if (sourcePort == -1):
print("Failed to activate stream service")
ManifoldPython.stop()
sys.exit()
initSensors()
# wake up the console
print("sensors starting...")
def forwardThread():
global processingForward, forwardMessage, forwardImage, forwardTS, forwardThreadExit, inPort
# start ManifoldPython running
ManifoldPython.start("facerec", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# Activate the input stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate input stream")
ManifoldPython.stop()
sys.exit()
# Activate the output stream
outPort = ManifoldPython.addMulticastSource(outTopic)
if (outPort == -1):
print("Failed to activate output stream")
ManifoldPython.stop()
sys.exit()
while not forwardThreadExit:
time.sleep(0.01)
processReceivedMessage()
if not processingForward:
continue
try:
image = forwardImage
inJpeg = np.frombuffer(image, dtype=np.uint8)
cv2Image = cv2.imdecode(inJpeg, cv2.IMREAD_COLOR)
except:
print ("Forward jpeg error", sys.exc_info()[0],sys.exc_info()[1])
try:
dataLock.acquire()
for detectedData in globalDetectedData:
name = detectedData['name']
namepos = detectedData['namepos']
cv2.putText(cv2Image, name, namepos,
cv2.FONT_HERSHEY_SIMPLEX, fontScale=0.75,
color=(152, 255, 204), thickness=2)
landMarks = detectedData['landmarks']
for landMark in landMarks:
cv2.circle(cv2Image, center=landMark, radius=3,
color=(102, 204, 255), thickness=-1)
except:
pass
dataLock.release()
# generate the output jpeg
retVal, outJpeg = cv2.imencode('.jpeg', cv2Image)
forwardMessage[rtndefs.TOPIC] = outTopic
if ManifoldPython.isServiceActive(outPort) and ManifoldPython.isClearToSend(outPort):
ManifoldPython.sendMulticastData(outPort, json.dumps(forwardMessage), outJpeg, forwardTS)
processingForward = False
ManifoldPython.removeService(inPort)
ManifoldPython.removeService(outPort)
ManifoldPython.stop()
except:
print ('python imageproc [-i <iniFile>] [-o <outTopic>]' + rdf.manifoldArgs)
print ('\nDefaults:')
print (' -i RTIMULib\n -o imageproc')
print (rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-i':
iniFile = arg
if opt == '-o':
outTopic = arg
# start ManifoldPython running
ManifoldPython.start("imu", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("imu starting...")
sys.stdout.flush()
# Activate the output stream
outPort = ManifoldPython.addMulticastSource(outTopic)
if (outPort == -1):
print("Failed to activate output stream")
ManifoldPython.stop()
sys.exit()
except:
print ('python imageproc [-i <inTopic>] [-o <outTopic>]' + rdf.manifoldArgs)
print ('\nDefaults:')
print (' -i %s\n -o imageproc' % inTopic)
print (rdf.manifoldArgsDefaults)
sys.exit(2)
for opt, arg in opts:
if opt == '-i':
inTopic = arg
if opt == '-o':
outTopic = arg
# start ManifoldPython running
ManifoldPython.start("imageproc", sys.argv, False)
# this delay is necessary to allow Qt startup to complete
time.sleep(1.0)
# wake up the console
print("imageproc starting...")
sys.stdout.flush()
# Activate the input stream
inPort = ManifoldPython.addMulticastSink(inTopic)
if (inPort == -1):
print("Failed to activate input stream")
ManifoldPython.stop()
sys.exit()