def save_thread():
"""thread for saving files"""
try:
os.mkdir("tmp")
except Exception:
pass
while True:
frame_time, im, is_jpeg = state.save_queue.get()
if is_jpeg:
filename = "tmp/i%s.jpg" % cuav_util.frame_time(frame_time)
chameleon.save_file(filename, im)
else:
filename = "tmp/i%s.pgm" % cuav_util.frame_time(frame_time)
chameleon.save_pgm(filename, im)
def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
if mpstate.continue_mode:
mode = 'a'
else:
mode = 'w'
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), mode=mode)
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.settings.depth == 16:
im = numpy.zeros((960, 1280), dtype='uint16')
else:
im = numpy.zeros((960, 1280), dtype='uint8')
if last_gamma != state.settings.gamma:
chameleon.set_gamma(h, state.settings.gamma)
last_gamma = state.settings.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter + 1)
gammalog.write('%f %f %f %s %u %u\n' %
(frame_time, frame_time + base_time, capture_time,
cuav_util.frame_time(frame_time + base_time),
frame_counter, state.settings.gamma))
gammalog.flush()
state.save_queue.put((base_time + frame_time, im))
state.scan_queue.put((base_time + frame_time, im))
state.capture_count += 1
state.fps = 1.0 / (frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
except chameleon.error, msg:
state.error_count += 1
state.error_msg = msg
def run_capture():
"""the main capture loop"""
print("Getting base frame time")
h, base_time, last_frame_time = get_base_time()
if not opts.trigger:
print("Starting continuous trigger")
chameleon.trigger(h, True)
frame_loss = 0
num_captured = 0
last_frame_counter = 0
print("Starting main capture loop")
while True:
im = numpy.zeros((960, 1280), dtype="uint8" if opts.depth == 8 else "uint16")
try:
if opts.trigger:
chameleon.trigger(h, False)
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
except chameleon.error:
print("failed to capture")
continue
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
frame_loss += frame_counter - (last_frame_counter + 1)
if opts.compress or opts.scan:
state.bayer_queue.put((base_time + frame_time, im))
if opts.save and not opts.compress:
state.save_queue.put((base_time + frame_time, im, False))
print(
"Captured %s shutter=%f tdelta=%f ft=%f loss=%u qsave=%u qbayer=%u qcompress=%u scan=%u"
% (
cuav_util.frame_time(base_time + frame_time),
shutter,
frame_time - last_frame_time,
frame_time,
frame_loss,
state.save_queue.qsize(),
state.bayer_queue.qsize(),
state.compress_queue.qsize(),
state.scan_queue.qsize(),
)
)
last_frame_time = frame_time
last_frame_counter = frame_counter
num_captured += 1
if num_captured == opts.num_frames:
break
print("Closing camera")
time.sleep(2)
chameleon.close(h)
def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), "w")
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.depth == 16:
im = numpy.zeros((960,1280),dtype='uint16')
else:
im = numpy.zeros((960,1280),dtype='uint8')
if last_gamma != state.gamma:
chameleon.set_gamma(h, state.gamma)
last_gamma = state.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter+1)
gammalog.write('%f %f %f %s %u %u\n' % (frame_time,
frame_time+base_time,
capture_time,
cuav_util.frame_time(frame_time+base_time),
frame_counter,
state.gamma))
gammalog.flush()
state.save_queue.put((base_time+frame_time,im))
state.scan_queue.put((base_time+frame_time,im))
state.capture_count += 1
state.fps = 1.0/(frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
except chameleon.error, msg:
state.error_count += 1
state.error_msg = msg
def save_thread():
'''image save thread'''
state = mpstate.camera_state
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
while not state.unload.wait(0.02):
if state.save_queue.empty():
continue
(frame_time,im) = state.save_queue.get()
rawname = "raw%s" % cuav_util.frame_time(frame_time)
if state.save_pgm:
chameleon.save_pgm('%s/%s.pgm' % (raw_dir, rawname), im)
def save_thread():
'''image save thread'''
state = mpstate.camera_state
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
while not state.unload.wait(0.02):
if state.save_queue.empty():
continue
(frame_time, im) = state.save_queue.get()
rawname = "raw%s" % cuav_util.frame_time(frame_time)
if state.save_pgm:
chameleon.save_pgm('%s/%s.pgm' % (raw_dir, rawname), im)
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.gcs_view_port, state.bandwidth)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
while not state.unload.wait(0.02):
if state.viewing:
bsend.tick(packet_count=1000)
cv.WaitKey(1)
if not view_window:
view_window = True
key = cv.WaitKey(1)
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map, lens=state.lens)
if state.boundary is not None:
boundary = cuav_util.polygon_load(state.boundary)
mosaic.set_boundary(boundary)
buf = bsend.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
thumb_total_bytes += len(buf)
# save the thumbnails
filename = '%s/v%s.jpg' % (thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.thumb)
composite = cv.LoadImage(filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
pos = get_plane_position(obj.frame_time)
log_joe_position(pos, obj.frame_time, obj.regions, filename)
# update the mosaic and map
mosaic.add_regions(obj.regions, thumbs, obj.latlon_list, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost', 'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions', 'Regions %u' % region_count)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % (thumb_total_bytes/thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
# save it to disk
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
# work out where we were at the time
try:
pos = state.mpos.position(obj.frame_time, 0)
except mav_position.MavInterpolatorException, msg:
print msg
pos = None
if pos:
mosaic.add_image(filename, img, pos)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
cv.ConvertScale(display_img, display_img, scale=state.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status('JPGSize', 'JPG Size %.0f' % (jpeg_total_bytes/image_count))
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % (image_total_bytes/image_count))
else:
if view_window:
view_window = False
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.settings.gcs_view_port,
bandwidth=state.settings.bandwidth)
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)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
thumbs_received = set()
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
ack_time = time.time()
while not state.unload.wait(0.02):
if state.viewing:
tnow = time.time()
if tnow - ack_time > 0.1:
bsend.tick(packet_count=1000,
max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000,
max_queue=state.settings.maxqueue2)
if state.bsend_slave is not None:
state.bsend_slave.tick(packet_count=1000)
ack_time = tnow
if not view_window:
view_window = True
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map,
C=state.c_params)
if state.boundary_polygon is not None:
mosaic.set_boundary(state.boundary_polygon)
if mpstate.continue_mode:
reload_mosaic(mosaic)
# check for keyboard events
mosaic.check_events()
buf = bsend.recv(0)
if buf is None:
buf = state.bsend2.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if state.settings.gcs_slave is not None:
if state.bsend_slave is None:
state.bsend_slave = block_xmit.BlockSender(
0,
bandwidth=state.settings.bandwidth * 10,
debug=False)
state.bsend_slave.send(buf,
dest=(state.settings.gcs_slave,
state.settings.gcs_view_port),
priority=1)
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
if obj.frame_time in thumbs_received:
continue
thumbs_received.add(obj.frame_time)
thumb_total_bytes += len(buf)
# save the thumbnails
thumb_filename = '%s/v%s.jpg' % (
thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(thumb_filename, obj.thumb)
composite = cv.LoadImage(thumb_filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
pos = obj.pos
log_joe_position(pos, obj.frame_time, obj.regions, filename,
thumb_filename)
# update the mosaic and map
mosaic.set_brightness(state.settings.brightness)
mosaic.add_regions(obj.regions, thumbs, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost',
'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions',
'Regions %u' % region_count)
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status(
'ThumbSize',
'ThumbSize %.0f' % (thumb_total_bytes / thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
state.xmit_queue = obj.xmit_queue
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
# save it to disk
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
mosaic.add_image(obj.frame_time, filename, obj.pos)
cv.ConvertScale(display_img,
display_img,
scale=state.settings.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status(
'JPGSize',
'JPG Size %.0f' % (jpeg_total_bytes / image_count))
mpstate.console.set_status(
'ImageSize',
'ImageSize %.0f' % (image_total_bytes / image_count))
if isinstance(obj, CommandResponse):
print('REMOTE: %s' % obj.response)
else:
if view_window:
view_window = False
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.settings.gcs_view_port, state.settings.bandwidth)
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)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
thumbs_received = set()
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
ack_time = time.time()
while not state.unload.wait(0.02):
if state.viewing:
tnow = time.time()
if tnow - ack_time > 0.1:
bsend.tick(packet_count=1000, max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000, max_queue=state.settings.maxqueue2)
ack_time = tnow
if not view_window:
view_window = True
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map, C=state.c_params)
if state.boundary_polygon is not None:
mosaic.set_boundary(state.boundary_polygon)
if mpstate.continue_mode:
reload_mosaic(mosaic)
# check for keyboard events
mosaic.check_events()
buf = bsend.recv(0)
if buf is None:
buf = state.bsend2.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
if obj.frame_time in thumbs_received:
continue
thumbs_received.add(obj.frame_time)
thumb_total_bytes += len(buf)
# save the thumbnails
thumb_filename = '%s/v%s.jpg' % (thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(thumb_filename, obj.thumb)
composite = cv.LoadImage(thumb_filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
pos = obj.pos
log_joe_position(pos, obj.frame_time, obj.regions, filename, thumb_filename)
# update the mosaic and map
mosaic.add_regions(obj.regions, thumbs, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost', 'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions', 'Regions %u' % region_count)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % (thumb_total_bytes/thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
state.xmit_queue = obj.xmit_queue
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
# save it to disk
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
mosaic.add_image(obj.frame_time, filename, obj.pos)
cv.ConvertScale(display_img, display_img, scale=state.settings.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status('JPGSize', 'JPG Size %.0f' % (jpeg_total_bytes/image_count))
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % (image_total_bytes/image_count))
if isinstance(obj, CommandResponse):
print('REMOTE: %s' % obj.response)
else:
if view_window:
view_window = False
def save_thread():
global save_queue
while True:
(frame_time, im) = save_queue.get()
filename = '%s/%s.pgm' % (opts.output, cuav_util.frame_time(frame_time))
chameleon.save_pgm(filename, im)
def rawname(self): '''return raw filename''' return 'raw%s.pgm' % cuav_util.frame_time(self.frame_time)
def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
if mpstate.continue_mode:
mode = 'a'
else:
mode = 'w'
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), mode=mode)
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.depth == 16:
im = numpy.zeros((600,800,3),dtype='uint16')
else:
im = numpy.zeros((600,800,3),dtype='uint8')
#im = numpy.zeros((600,800),dtype='uint16')
if last_gamma != state.gamma:
chameleon.set_gamma(h, state.gamma)
last_gamma = state.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
#cv.SaveImage("/home/root/opencv/blob/captures/downsampled.jpg",cv.fromarray(im))
#cv.cvSaveImage("/tmp/test.jpg",im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter+1)
gammalog.write('%f %f %f %s %u %u\n' % (frame_time,
frame_time+base_time,
capture_time,
cuav_util.frame_time(frame_time+base_time),
frame_counter,
state.gamma))
gammalog.flush()
state.save_queue.put((base_time+frame_time,im))
state.scan_queue.put((base_time+frame_time,im))
state.capture_count += 1
state.fps = 1.0/(frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
#except chameleon.error, msg:
except Exception, msg:
state.error_count += 1
state.error_msg = msg
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.gcs_view_port, state.bandwidth)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
while not state.unload.wait(0.02):
if state.viewing:
bsend.tick(packet_count=1000)
cv.WaitKey(1)
if not view_window:
view_window = True
key = cv.WaitKey(1)
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map,
lens=state.lens)
if state.boundary is not None:
boundary = cuav_util.polygon_load(state.boundary)
mosaic.set_boundary(boundary)
buf = bsend.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
thumb_total_bytes += len(buf)
# save the thumbnails
filename = '%s/v%s.jpg' % (
thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.thumb)
composite = cv.LoadImage(filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
pos = get_plane_position(obj.frame_time)
log_joe_position(pos, obj.frame_time, obj.regions, filename)
# update the mosaic and map
mosaic.add_regions(obj.regions,
thumbs,
obj.latlon_list,
filename,
pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost',
'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions',
'Regions %u' % region_count)
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status(
'ThumbSize',
'ThumbSize %.0f' % (thumb_total_bytes / thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
# save it to disk
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
# work out where we were at the time
try:
pos = state.mpos.position(obj.frame_time, 0)
except mav_position.MavInterpolatorException, msg:
print msg
pos = None
if pos:
mosaic.add_image(filename, img, pos)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
cv.ConvertScale(display_img,
display_img,
scale=state.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status(
'JPGSize',
'JPG Size %.0f' % (jpeg_total_bytes / image_count))
mpstate.console.set_status(
'ImageSize',
'ImageSize %.0f' % (image_total_bytes / image_count))
else:
if view_window:
view_window = False
