def test_filter_boundary():
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
regions = []
regOne = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regOne.latlon=(-26.6398870, 151.8220000)
regOne.score = 20
regions.append(regOne)
regTwo = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regTwo.score = 32
regTwo.latlon=(-26.6418700, 151.8709260)
regions.append(regTwo)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
ret = cuav_region.filter_boundary(regions, OBC_boundary, pos)
assert len(ret) == 2
assert ret[0].score == 0
assert ret[1].score == 32
def test_filter_boundary():
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
regions = []
regOne = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regOne.latlon=(-26.6398870, 151.8220000)
regOne.score = 20
regions.append(regOne)
regTwo = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regTwo.score = 32
regTwo.latlon=(-26.6418700, 151.8709260)
regions.append(regTwo)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
ret = cuav_region.filter_boundary(regions, OBC_boundary, pos)
assert len(ret) == 2
assert ret[0].score == 0
assert ret[1].score == 32
def transmit_thread():
"""thread for image transmit to GCS"""
state = mpstate.camera_state
tx_count = 0
skip_count = 0
bsend = block_xmit.BlockSender(0, bandwidth=state.settings.bandwidth, debug=False)
state.bsocket = MavSocket(mpstate.mav_master[0])
state.bsend2 = block_xmit.BlockSender(
mss=96, sock=state.bsocket, dest_ip="mavlink", dest_port=0, backlog=5, debug=False
)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
while not state.unload.wait(0.02):
bsend.tick(packet_count=1000, max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000, max_queue=state.settings.maxqueue2)
check_commands()
if state.transmit_queue.empty():
continue
(frame_time, regions, im_full, im_640) = state.transmit_queue.get()
if state.settings.roll_stabilised:
roll = 0
else:
roll = None
pos = get_plane_position(frame_time, roll=roll)
# this adds the latlon field to the regions
log_joe_position(pos, frame_time, regions)
# filter out any regions outside the boundary
if state.boundary_polygon:
regions = cuav_region.filter_boundary(regions, state.boundary_polygon, pos)
regions = cuav_region.filter_regions(
im_full, regions, min_score=state.settings.minscore, filter_type=state.settings.filter_type
)
state.xmit_queue = bsend.sendq_size()
state.xmit_queue2 = state.bsend2.sendq_size()
state.efficiency = bsend.get_efficiency()
state.bandwidth_used = bsend.get_bandwidth_used()
state.rtt_estimate = bsend.get_rtt_estimate()
jpeg = None
if len(regions) > 0:
lowscore = 0
highscore = 0
for r in regions:
lowscore = min(lowscore, r.score)
highscore = max(highscore, r.score)
if state.settings.transmit:
# send a region message with thumbnails to the ground station
thumb = None
if state.settings.send1:
thumb_img = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions, thumb_size=state.settings.thumbsize
)
thumb = scanner.jpeg_compress(numpy.ascontiguousarray(cv.GetMat(thumb_img)), state.settings.quality)
pkt = ThumbPacket(frame_time, regions, thumb, state.frame_loss, state.xmit_queue, pos)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
bsend.set_bandwidth(state.settings.bandwidth)
bsend.set_packet_loss(state.settings.packet_loss)
bsend.send(buf, dest=(state.settings.gcs_address, state.settings.gcs_view_port), priority=1)
# also send thumbnails via 900MHz telemetry
if state.settings.send2 and highscore >= state.settings.minscore2:
if thumb is None or lowscore < state.settings.minscore2:
# remove some of the regions
regions = cuav_region.filter_regions(
im_full, regions, min_score=state.settings.minscore2, filter_type=state.settings.filter_type
)
thumb_img = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions, thumb_size=state.settings.thumbsize
)
thumb = scanner.jpeg_compress(
numpy.ascontiguousarray(cv.GetMat(thumb_img)), state.settings.quality
)
pkt = ThumbPacket(frame_time, regions, thumb, state.frame_loss, state.xmit_queue, pos)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
state.bsend2.send(buf, priority=highscore)
# Base how many images we send on the send queue size
send_frequency = state.xmit_queue // 3
if send_frequency == 0 or (tx_count + skip_count) % send_frequency == 0:
jpeg = scanner.jpeg_compress(im_640, state.settings.quality)
if jpeg is None:
skip_count += 1
continue
# keep filtered image size
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(jpeg)
tx_count += 1
if state.settings.gcs_address is None:
continue
bsend.set_packet_loss(state.settings.packet_loss)
bsend.set_bandwidth(state.settings.bandwidth)
pkt = ImagePacket(frame_time, jpeg, state.xmit_queue, pos)
str = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
bsend.send(str, dest=(state.settings.gcs_address, state.settings.gcs_view_port))
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(glob.glob(os.path.join(a, '*.pgm')))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if opts.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.boundary:
boundary = cuav_util.polygon_load(opts.boundary)
else:
boundary = None
if opts.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('planetracker.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
C_params = cam_params.CameraParams(lens=opts.lens)
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..',
'cuav', 'data', 'chameleon1_arecont0.json')
C_params.load(path)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if opts.joe:
joes = cuav_util.polygon_load(opts.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if opts.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
for f in files:
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if opts.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, opts.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print e
pos = None
else:
pos = None
# check for any events from the map
if opts.mosaic:
slipmap.check_events()
mosaic.check_events()
if f.endswith('.pgm'):
pgm = cuav_util.PGM(f)
im = pgm.array
if pgm.eightbit:
im_8bit = im
else:
im_8bit = numpy.zeros((960,1280,1),dtype='uint8')
if opts.gamma != 0:
scanner.gamma_correct(im, im_8bit, opts.gamma)
else:
scanner.reduce_depth(im, im_8bit)
im_full = numpy.zeros((960,1280,3),dtype='uint8')
scanner.debayer(im_8bit, im_full)
im_640 = numpy.zeros((480,640,3),dtype='uint8')
scanner.downsample(im_full, im_640)
else:
im_orig = cv.LoadImage(f)
(w,h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
img_scan = im_640
t0=time.time()
for i in range(opts.repeat):
if opts.fullres:
regions = scanner.scan(im_full)
regions = cuav_region.RegionsConvert(regions, 1280, 960)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions)
count += 1
t1=time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore,
filter_type=opts.filter_type)
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and opts.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(opts.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(opts.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=1280, height=960, altitude=opts.altitude)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if opts.mosaic and len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.compress:
jpeg = scanner.jpeg_compress(im_full, opts.quality)
jpeg_filename = f[:-4] + '.jpg'
if os.path.exists(jpeg_filename):
print('jpeg %s already exists' % jpeg_filename)
continue
chameleon.save_file(jpeg_filename, jpeg)
if opts.view:
if opts.fullres:
img_view = im_full
else:
img_view = img_scan
mat = cv.fromarray(img_view)
for r in regions:
(x1,y1,x2,y2) = r.tuple()
(w,h) = cuav_util.image_shape(img_view)
x1 = x1*w//1280
x2 = x2*w//1280
y1 = y1*h//960
y2 = y2*h//960
cv.Rectangle(mat, (max(x1-2,0),max(y1-2,0)), (x2+2,y2+2), (255,0,0), 2)
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
def scan_threadfunc(self):
'''image scanning thread'''
while not self.unload_event.wait(0.05):
if self.scan_queue.empty():
continue
(frame_time,im) = self.scan_queue.get()
scan_parms = {}
for name in self.image_settings.list():
scan_parms[name] = self.image_settings.get(name)
scan_parms['BlueEmphasis'] = float(self.camera_settings.blue_emphasis)
if self.terrain_alt is not None:
altitude = self.terrain_alt
if altitude < self.camera_settings.minalt:
altitude = self.camera_settings.minalt
scan_parms['MetersPerPixel'] = cuav_util.pixel_width(altitude,
self.c_params.xresolution,
self.c_params.lens,
self.c_params.sensorwidth)
t1 = time.time()
try:
img_scan = cv2.imread(im, -1)
except Exception:
continue
if img_scan is None:
continue
(h, w) = img_scan.shape[:2]
if self.camera_settings.rotate180:
M = cv2.getRotationMatrix2D(center, angle180, scale)
img_scan = cv2.warpAffine(img_scan, M, (w, h))
im_numpy = numpy.ascontiguousarray(img_scan)
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(img_scan))
t2 = time.time()
self.scan_fps = 1.0 / (t2-t1)
self.scan_count += 1
regions = cuav_region.filter_regions(img_scan, regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
self.region_count += len(regions)
# possibly send a preview image
self.send_preview(img_scan)
if self.camera_settings.roll_stabilised:
roll=0
else:
roll=None
pos = self.get_plane_position(frame_time, roll=roll)
if pos is not None:
self.posmapping[str(frame_time)] = pos
# this adds the latlon field to the regions (georeferencing)
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(r, pos, w, h, altitude=None, C=self.c_params)
if self.joelog:
self.log_joe_position(pos, frame_time, regions)
# filter out any regions outside the target radius
if self.camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(regions,
(self.camera_settings.target_latitude,
self.camera_settings.target_longitude),
self.camera_settings.target_radius)
# filter out any regions outside the boundary
if self.boundary_polygon:
regions = cuav_region.filter_boundary(regions, self.boundary_polygon, pos)
#filter by minscore
regions = cuav_region.filter_regions(img_scan, regions, min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
high_score = 1
for r in regions:
if r.score > high_score:
high_score = r.score
if len(regions) > 0 and pos is not None:
for r in regions:
self.lz.checkaddregion(r, pos)
try:
lzresult = self.lz.calclandingzone()
except Exception as ex:
print("calclandingzone failed: ", ex)
continue
if lzresult:
self.transmit_queue.put((lzresult, 100000, None))
if self.msend:
self.transmit_queue.put((lzresult, 100000, 'msend'))
if len(regions) > 0 and self.camera_settings.transmit:
# send a region message with thumbnails to the ground station
thumb_img = cuav_region.CompositeThumbnail(img_scan, regions,
thumb_size=self.camera_settings.thumbsize)
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
(result, thumb) = cv2.imencode('.jpg', thumb_img, encode_param)
pkt = cuav_command.ThumbPacket(frame_time, regions, thumb, pos)
if self.transmit_queue.qsize() < 100:
self.transmit_queue.put((pkt, None, None))
if self.msend is not None and high_score >= self.camera_settings.m_minscore:
self.transmit_queue.put((pkt, None, 'msend'))
else:
self.send_message("Warning: image Tx queue too long")
print("Warning: image Tx queue too long")
def transmit_thread():
'''thread for image transmit to GCS'''
state = mpstate.camera_state
tx_count = 0
skip_count = 0
bsend = block_xmit.BlockSender(0, bandwidth=state.settings.bandwidth, debug=False)
state.bsocket = MavSocket(mpstate.mav_master[0])
state.bsend2 = block_xmit.BlockSender(mss=96, sock=state.bsocket, dest_ip='mavlink', dest_port=0, backlog=5, debug=False)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
while not state.unload.wait(0.02):
bsend.tick(packet_count=1000, max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000, max_queue=state.settings.maxqueue2)
check_commands()
if state.transmit_queue.empty():
continue
(frame_time, regions, im_full, im_640) = state.transmit_queue.get()
if state.settings.roll_stabilised:
roll=0
else:
roll=None
pos = get_plane_position(frame_time, roll=roll)
# this adds the latlon field to the regions
log_joe_position(pos, frame_time, regions)
# filter out any regions outside the boundary
if state.boundary_polygon:
regions = cuav_region.filter_boundary(regions, state.boundary_polygon, pos)
regions = cuav_region.filter_regions(im_full, regions, min_score=state.settings.minscore)
state.xmit_queue = bsend.sendq_size()
state.xmit_queue2 = state.bsend2.sendq_size()
state.efficiency = bsend.get_efficiency()
state.bandwidth_used = bsend.get_bandwidth_used()
state.rtt_estimate = bsend.get_rtt_estimate()
jpeg = None
if len(regions) > 0:
lowscore = 0
highscore = 0
for r in regions:
lowscore = min(lowscore, r.score)
highscore = max(highscore, r.score)
if state.settings.transmit:
# send a region message with thumbnails to the ground station
thumb = None
if state.settings.send1:
thumb_img = cuav_mosaic.CompositeThumbnail(cv.GetImage(cv.fromarray(im_full)),
regions,
thumb_size=state.settings.thumbsize)
thumb = scanner.jpeg_compress(numpy.ascontiguousarray(cv.GetMat(thumb_img)), state.settings.quality)
pkt = ThumbPacket(frame_time, regions, thumb, state.frame_loss, state.xmit_queue, pos)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
bsend.set_bandwidth(state.settings.bandwidth)
bsend.set_packet_loss(state.settings.packet_loss)
bsend.send(buf,
dest=(state.settings.gcs_address, state.settings.gcs_view_port),
priority=1)
# also send thumbnails via 900MHz telemetry
if state.settings.send2 and highscore >= state.settings.minscore2:
if thumb is None or lowscore < state.settings.minscore2:
# remove some of the regions
regions = cuav_region.filter_regions(im_full, regions, min_score=state.settings.minscore2)
thumb_img = cuav_mosaic.CompositeThumbnail(cv.GetImage(cv.fromarray(im_full)),
regions,
thumb_size=state.settings.thumbsize)
thumb = scanner.jpeg_compress(numpy.ascontiguousarray(cv.GetMat(thumb_img)), state.settings.quality)
pkt = ThumbPacket(frame_time, regions, thumb, state.frame_loss, state.xmit_queue, pos)
buf = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
state.bsend2.send(buf, priority=highscore)
# Base how many images we send on the send queue size
send_frequency = state.xmit_queue // 3
if send_frequency == 0 or (tx_count+skip_count) % send_frequency == 0:
jpeg = scanner.jpeg_compress(im_640, state.settings.quality)
if jpeg is None:
skip_count += 1
continue
# keep filtered image size
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(jpeg)
tx_count += 1
if state.settings.gcs_address is None:
continue
bsend.set_packet_loss(state.settings.packet_loss)
bsend.set_bandwidth(state.settings.bandwidth)
pkt = ImagePacket(frame_time, jpeg, state.xmit_queue, pos)
str = cPickle.dumps(pkt, cPickle.HIGHEST_PROTOCOL)
bsend.send(str,
dest=(state.settings.gcs_address, state.settings.gcs_view_port))
def scan_threadfunc(self):
'''image scanning thread'''
while not self.unload_event.wait(0.05):
if self.scan_queue.empty():
continue
(frame_time, im) = self.scan_queue.get()
scan_parms = {}
for name in self.image_settings.list():
scan_parms[name] = self.image_settings.get(name)
scan_parms['BlueEmphasis'] = float(
self.camera_settings.blue_emphasis)
if self.terrain_alt is not None:
altitude = self.terrain_alt
if altitude < self.camera_settings.minalt:
altitude = self.camera_settings.minalt
scan_parms['MetersPerPixel'] = cuav_util.pixel_width(
altitude, self.c_params.xresolution, self.c_params.lens,
self.c_params.sensorwidth)
t1 = time.time()
try:
img_scan = cv2.imread(im, -1)
except Exception:
continue
if img_scan is None:
continue
(h, w) = img_scan.shape[:2]
if self.camera_settings.rotate180:
M = cv2.getRotationMatrix2D(center, angle180, scale)
img_scan = cv2.warpAffine(img_scan, M, (w, h))
im_numpy = numpy.ascontiguousarray(img_scan)
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(
regions, cuav_util.image_shape(img_scan),
cuav_util.image_shape(img_scan))
t2 = time.time()
self.scan_fps = 1.0 / (t2 - t1)
self.scan_count += 1
regions = cuav_region.filter_regions(
img_scan,
regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
self.region_count += len(regions)
# possibly send a preview image
self.send_preview(img_scan)
if self.camera_settings.roll_stabilised:
roll = 0
else:
roll = None
pos = self.get_plane_position(frame_time, roll=roll)
if pos is not None:
self.posmapping[str(frame_time)] = pos
# this adds the latlon field to the regions (georeferencing)
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=None, C=self.c_params)
if self.joelog:
self.log_joe_position(pos, frame_time, regions)
# filter out any regions outside the target radius
if self.camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (self.camera_settings.target_latitude,
self.camera_settings.target_longitude),
self.camera_settings.target_radius)
# filter out any regions outside the boundary
if self.boundary_polygon:
regions = cuav_region.filter_boundary(regions,
self.boundary_polygon,
pos)
#filter by minscore
regions = cuav_region.filter_regions(
img_scan,
regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
high_score = 1
for r in regions:
if r.score > high_score:
high_score = r.score
if len(regions) > 0 and pos is not None:
for r in regions:
self.lz.checkaddregion(r, pos)
try:
lzresult = self.lz.calclandingzone()
except Exception as ex:
print("calclandingzone failed: ", ex)
continue
if lzresult:
self.transmit_queue.put((lzresult, 100000, None))
if self.msend:
self.transmit_queue.put((lzresult, 100000, 'msend'))
if len(regions) > 0 and self.camera_settings.transmit:
# send a region message with thumbnails to the ground station
thumb_img = cuav_region.CompositeThumbnail(
img_scan,
regions,
thumb_size=self.camera_settings.thumbsize)
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
(result, thumb) = cv2.imencode('.jpg', thumb_img, encode_param)
pkt = cuav_command.ThumbPacket(frame_time, regions, thumb, pos)
if self.transmit_queue.qsize() < 100:
self.transmit_queue.put((pkt, None, None))
if self.msend is not None and high_score >= self.camera_settings.m_minscore:
self.transmit_queue.put((pkt, None, 'msend'))
else:
self.send_message("Warning: image Tx queue too long")
print("Warning: image Tx queue too long")
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = scan_image_directory(args.imagedir)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if args.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=args.gps_lag)
mpos.set_logfile(args.mavlog)
else:
mpos = None
if args.boundary:
boundary = cuav_util.polygon_load(args.boundary)
else:
boundary = None
if args.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
im_orig = cv2.imread(files[0])
(w,h) = cuav_util.image_shape(im_orig)
C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth, xresolution=w, yresolution=h)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if args.joe:
joes = cuav_util.polygon_load(args.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if args.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
scan_parms = {
'MinRegionArea' : args.min_region_area,
'MaxRegionArea' : args.max_region_area,
'MinRegionSize' : args.min_region_size,
'MaxRegionSize' : args.max_region_size,
'MaxRarityPct' : args.max_rarity_pct,
'RegionMergeSize' : args.region_merge,
'SaveIntermediate' : float(0),
#'SaveIntermediate' : float(args.debug),
'MetersPerPixel' : args.meters_per_pixel100 * args.altitude / 100.0
}
filenum = 0
for f in files:
filenum += 1
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if args.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, args.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print(e)
pos = None
else:
pos = None
# check for any events from the map
if args.mosaic:
slipmap.check_events()
mosaic.check_events()
im_orig = cv2.imread(f)
(w,h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_half = cv2.resize(im_orig, (0,0), fx=0.5, fy=0.5)
im_half = numpy.ascontiguousarray(im_half)
im_full = numpy.ascontiguousarray(im_full)
count = 0
total_time = 0
if args.fullres:
img_scan = im_full
else:
img_scan = im_half
t0=time.time()
for i in range(args.repeat):
regions = scanner.scan(img_scan, scan_parms)
regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full))
count += 1
t1=time.time()
if args.filter:
regions = cuav_region.filter_regions(im_full, regions, min_score=args.minscore,
filter_type=args.filter_type)
if len(regions) > 0 and args.debug:
composite = cuav_region.CompositeThumbnail(im_full, regions, thumb_size=args.thumb_size)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
thumb_num = 0
for thumb in thumbs:
print("thumb %u score %f" % (thumb_num, regions[thumb_num].score))
cv2.imwrite('%u_thumb%u.jpg' % (filenum,thumb_num), thumb)
thumb_num += 1
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and args.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(args.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(args.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=args.altitude, C=C_params)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if args.mosaic and len(regions) > 0 and pos:
composite = cuav_region.CompositeThumbnail(im_full, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
if args.fullres:
img_view = im_full
else:
img_view = img_scan
#mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(img_view, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB)
viewer.set_image(img_view)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
