def popup_fetch_image(self, region, returnkey):
'''handle popup menu fetchImage'''
if region is None:
return
fullres = (returnkey == 'fetchImageFull')
frame_time = cuav_util.parse_frame_time(region.filename)
self.image_requests[frame_time] = fullres
def add_regions(self, regions, thumbs, filename, pos=None):
'''add some regions'''
for i in range(len(regions)):
r = regions[i]
(x1,y1,x2,y2) = r.tuple()
latlon = r.latlon
if latlon is None:
latlon = (None,None)
(lat, lon) = latlon
if self.boundary:
if (lat, lon) == (None,None):
# its pointing into the sky
continue
# if cuav_util.polygon_outside((lat,lon), self.boundary):
# # this region is outside the search boundary
# continue
# the thumbnail we have been given will be bigger than the size we want to
# display on the mosaic. Extract the middle of it for display
full_thumb = thumbs[i]
rsize = max(x2+1-x1,y2+1-y1)
tsize = cuav_util.image_width(full_thumb)
if rsize < tsize:
thumb = cuav_util.SubImage(full_thumb, ((tsize-self.thumb_size)//2,
(tsize-self.thumb_size)//2,
self.thumb_size,
self.thumb_size))
else:
thumb = cv.CreateImage((self.thumb_size, self.thumb_size),8,3)
cv.Resize(full_thumb, thumb)
ridx = len(self.regions)
self.regions.append(MosaicRegion(ridx, r, filename, pos, thumbs[i], thumb, latlon=(lat,lon)))
self.regions_sorted.append(self.regions[-1])
max_page = (len(self.regions_sorted)-1) / self.display_regions
self.image_mosaic.set_title("Mosaic (Page %u of %u)" % (self.page+1, max(max_page+1, 1)))
frame_time = cuav_util.parse_frame_time(filename)
if not frame_time in self.ridx_by_frame_time:
self.ridx_by_frame_time[frame_time] = [ridx]
else:
self.ridx_by_frame_time[frame_time].append(ridx)
self.display_mosaic_region(len(self.regions_sorted)-1)
if (lat,lon) != (None,None):
self.slipmap.add_object(mp_slipmap.SlipThumbnail("region %u" % ridx, (lat,lon),
img=thumb,
layer=2, border_width=1, border_colour=(255,0,0),
popup_menu=self.popup_menu))
self.image_mosaic.set_image(self.mosaic, bgr=True)
def add_regions(self, regions, thumbs, filename, pos=None):
'''add some regions'''
for i in range(len(regions)):
r = regions[i]
(x1,y1,x2,y2) = r.tuple()
latlon = r.latlon
if latlon is None:
latlon = (None,None)
(lat, lon) = latlon
if self.boundary:
if (lat, lon) == (None,None):
# its pointing into the sky
continue
# if cuav_util.polygon_outside((lat,lon), self.boundary):
# # this region is outside the search boundary
# continue
# the thumbnail we have been given will be bigger than the size we want to
# display on the mosaic. Extract the middle of it for display
full_thumb = thumbs[i]
rsize = max(x2+1-x1,y2+1-y1)
tsize = cuav_util.image_width(full_thumb)
if rsize < tsize:
thumb = cuav_util.SubImage(full_thumb, ((tsize-self.thumb_size)//2,
(tsize-self.thumb_size)//2,
self.thumb_size,
self.thumb_size))
else:
thumb = cv.CreateImage((self.thumb_size, self.thumb_size),8,3)
cv.Resize(full_thumb, thumb)
ridx = len(self.regions)
self.regions.append(MosaicRegion(ridx, r, filename, pos, thumbs[i], thumb, latlon=(lat,lon)))
self.regions_sorted.append(self.regions[-1])
frame_time = cuav_util.parse_frame_time(filename)
if not frame_time in self.ridx_by_frame_time:
self.ridx_by_frame_time[frame_time] = [ridx]
else:
self.ridx_by_frame_time[frame_time].append(ridx)
self.display_mosaic_region(len(self.regions_sorted)-1)
if (lat,lon) != (None,None):
self.slipmap.add_object(mp_slipmap.SlipThumbnail("region %u" % ridx, (lat,lon),
img=thumb,
layer=2, border_width=1, border_colour=(255,0,0),
popup_menu=self.popup_menu))
self.image_mosaic.set_image(self.mosaic, bgr=True)
def scan_image_directory(dirname):
'''scan a image directory, extracting frame_time and filename
as a list of tuples'''
ret = []
if opts.jpeg:
pattern = '*.jpg'
else:
pattern = '*.pgm'
for f in glob.iglob(os.path.join(dirname, pattern)):
ret.append(ImageFile(cuav_util.parse_frame_time(f), f))
ret.sort(key=lambda f: f.frame_time)
return ret
def capture(h, timeout, img):
global continuous_mode, trigger_time, frame_rate, frame_counter, fake, last_frame_time
tnow = time.time()
due = trigger_time + (1.0/frame_rate)
if tnow < due:
time.sleep(due - tnow)
timeout -= int(due*1000)
# wait for a new image to appear
filename = os.path.realpath(fake)
frame_time = cuav_util.parse_frame_time(filename)
while frame_time == last_frame_time and timeout > 0:
timeout -= 10
time.sleep(0.01)
filename = os.path.realpath(fake)
frame_time = cuav_util.parse_frame_time(filename)
if last_frame_time == frame_time:
raise chameleon.error("timeout waiting for fake image")
last_frame_time = frame_time
try:
fake_img = load_image(filename)
except Exception, msg:
raise chameleon.error('missing %s' % fake)
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")
for f in files:
frame_time = cuav_util.parse_frame_time(f)
if mpos:
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_full(im_8bit, im_full)
im_640 = numpy.zeros((480, 640, 3), dtype="uint8")
scanner.downsample(im_full, im_640)
else:
im_full = cv.LoadImage(f)
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640)
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_full(im_full)
else:
regions = scanner.scan(img_scan)
count += 1
regions = cuav_region.RegionsConvert(regions)
t1 = time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore)
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, quality=opts.quality
)
chameleon.save_file("composite.jpg", composite)
thumbs = cuav_mosaic.ExtractThumbs(cv.LoadImage("composite.jpg"), 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()
if opts.fullres:
x1 *= 2
y1 *= 2
x2 *= 2
y2 *= 2
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
print ("%s scan %.1f fps %u regions [%u/%u]" % (f, count / total_time, region_count, scan_count, num_files))
def add_regions(self, regions, thumbs, filename, pos=None):
'''add some regions'''
for i in range(len(regions)):
r = regions[i]
latlon = r.latlon
if latlon is None:
latlon = (None,None)
(lat, lon) = latlon
if self.boundary:
if (lat, lon) == (None,None):
# its pointing into the sky
continue
# if cuav_util.polygon_outside((lat,lon), self.boundary):
# # this region is outside the search boundary
# continue
# the thumbnail we have been given will be bigger than the size we want to
# display on the mosaic. Extract the middle of it for display
full_thumb = thumbs[i]
thumb = self.make_thumb(full_thumb, r, self.thumb_size)
ridx = len(self.regions)
self.regions.append(MosaicRegion(ridx, r, filename, pos, thumbs[i], thumb, latlon=(lat,lon)))
self.regions_sorted.append(self.regions[-1])
max_page = (len(self.regions_sorted)-1) / self.display_regions
self.image_mosaic.set_title("Mosaic (Page %u of %u)" % (self.page+1, max(max_page+1, 1)))
frame_time = cuav_util.parse_frame_time(filename)
if not frame_time in self.ridx_by_frame_time:
self.ridx_by_frame_time[frame_time] = [ridx]
else:
self.ridx_by_frame_time[frame_time].append(ridx)
self.display_mosaic_region(len(self.regions_sorted)-1)
if (lat,lon) != (None,None):
mapthumb = thumb
if self.map_thumb_size != self.thumb_size:
mapthumb = self.make_thumb(full_thumb,
r,
self.map_thumb_size)
slobj = mp_slipmap.SlipThumbnail("region %u" % ridx, (lat,lon),
img=cv2.cvtColor(mapthumb, cv2.COLOR_RGB2BGR),
layer=2,
border_width=1,
border_colour=(255,0,0),
popup_menu=self.popup_menu)
self.slipmap.add_object(slobj)
self.image_mosaic.set_image(self.mosaic)
if self.autorefresh:
self.re_sort(printsort=False)
self.redisplay_mosaic()
if self.topfifty:
self.re_sort(printsort=False)
self.redisplay_mosaic()
self.topfiftyonly()
def add_regions(self, regions, thumbs, filename, pos=None):
'''add some regions'''
for i in range(len(regions)):
r = regions[i]
latlon = r.latlon
if latlon is None:
latlon = (None, None)
(lat, lon) = latlon
if self.boundary:
if (lat, lon) == (None, None):
# its pointing into the sky
continue
# if cuav_util.polygon_outside((lat,lon), self.boundary):
# # this region is outside the search boundary
# continue
# the thumbnail we have been given will be bigger than the size we want to
# display on the mosaic. Extract the middle of it for display
full_thumb = thumbs[i]
thumb = self.make_thumb(full_thumb, r, self.thumb_size)
ridx = len(self.regions)
self.regions.append(
MosaicRegion(ridx,
r,
filename,
pos,
thumbs[i],
thumb,
latlon=(lat, lon)))
self.regions_sorted.append(self.regions[-1])
max_page = (len(self.regions_sorted) - 1) / self.display_regions
self.image_mosaic.set_title("Mosaic (Page %u of %u)" %
(self.page + 1, max(max_page + 1, 1)))
frame_time = cuav_util.parse_frame_time(filename)
if not frame_time in self.ridx_by_frame_time:
self.ridx_by_frame_time[frame_time] = [ridx]
else:
self.ridx_by_frame_time[frame_time].append(ridx)
self.display_mosaic_region(len(self.regions_sorted) - 1)
if (lat, lon) != (None, None):
mapthumb = thumb
if self.map_thumb_size != self.thumb_size:
mapthumb = self.make_thumb(full_thumb, r,
self.map_thumb_size)
slobj = mp_slipmap.SlipThumbnail(
"region %u" % ridx, (lat, lon),
img=cv2.cvtColor(mapthumb, cv2.COLOR_RGB2BGR),
layer=2,
border_width=1,
border_colour=(255, 0, 0),
popup_menu=self.popup_menu)
for m in self.allmaps:
m.add_object(slobj)
self.image_mosaic.set_image(self.mosaic)
if self.autorefresh:
self.re_sort(printsort=False)
self.redisplay_mosaic()
if not self.have_selected_region:
self.show_region(self.regions_sorted[0].ridx)
if self.topfifty:
self.re_sort(printsort=False)
self.redisplay_mosaic()
self.topfiftyonly()