def YOLO():
global metaMain, netMain, altNames
configPath = "/home/marco/dev/alexeyab/darknet/cfg/obj.cfg"
weightPath = "/home/marco/dev/alexeyab/darknet/backup/fourthTry/obj_130000.weights"
metaPath = "/home/marco/dev/alexeyab/darknet/obj.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath) + "`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath) + "`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath) + "`")
if netMain is None:
netMain = darknet.load_net(configPath.encode("ascii"),
weightPath.encode("ascii"), 0,
1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
cap = cv2.VideoCapture(0)
cap2 = cv2.VideoCapture(1)
#cap = cv2.VideoCapture("/home/marco/Schreibtisch/testvideos/test_logitech1.avi")
#cap.set(3, 1280)
#cap.set(4, 720)
#out = cv2.VideoWriter(
# "output.avi", cv2.VideoWriter_fourcc(*"MJPG"), 10.0,
# (darknet.network_width(netMain), darknet.network_height(netMain)))
#print("Starting the YOLO loop...")
width1 = int(cap.get(3)) # float
height1 = int(cap.get(4)) # float
width2 = int(cap2.get(3)) # float
height2 = int(cap2.get(4)) # float
# Create an image we reuse for each detect
darknet_image = darknet.make_image(darknet.network_width(netMain),
darknet.network_height(netMain), 3)
while True:
prev_time = time.time()
ret, frame_read = cap.read()
ret2, frame_read2 = cap2.read()
frame_rgb = cv2.cvtColor(frame_read, cv2.COLOR_BGR2RGB)
frame_rgb2 = cv2.cvtColor(frame_read2, cv2.COLOR_BGR2RGB)
#x_start = 9
#x_end = 440
#y_start = 0
#y_end = width
frame_rgb = imutils.rotate(frame_rgb, 90)
frame_rgb2 = imutils.rotate(frame_rgb2, 90)
#frame_rgb = frame_rgb[x_start:x_end, y_start:y_end]
#frame_rgb = cv2.resize(frame_rgb, (width, height))
#frame = imutils.rotate(frame, 90)
#frame2 = imutils.rotate(frame2, 90)
finalframe = np.concatenate((frame_rgb, frame_rgb2), axis=1)
frame_resized = cv2.resize(
finalframe,
(darknet.network_width(netMain), darknet.network_height(netMain)),
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image, frame_resized.tobytes())
detections = darknet.detect_image(netMain,
metaMain,
darknet_image,
thresh=0.05)
position = (-1, -1)
if not (len(detections) is 0):
position = (int(detections[0][2][0]), int(detections[0][2][1]))
pts.appendleft(position)
# loop over the set of tracked points
for i in xrange(1, len(pts)):
# if either of the tracked points are None, ignore
# them
if pts[i - 1] is None or pts[i] is None:
continue
# otherwise, compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(200 / float(i + 1)) * 2)
cv2.line(frame_resized, pts[i - 1], pts[i], (0, 255, 0), thickness)
actualPointX = position[0]
actualPointY = position[1]
print("1|" + str(time.time()) + "|" + str(actualPointX) + "|" +
str(actualPointY))
print("2|" + str(time.time()) + "|-1|-1")
image = cvDrawBall(detections, frame_resized)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
cv2.imshow('Demo', image)
cv2.waitKey(3)
cap.release()
out.release()
def gen(camera):
#start mqttclient
client = mqtt.Client()
client.on_connect = on_connect
mqttport = 1883
client.connect("localhost", mqttport, 60)
client.loop_start()
pts = deque(maxlen=bufferSize)
global metaMain, netMain, altNames
configPath = "/home/marco/dev/alexeyab/darknet/cfg/obj.cfg"
weightPath = "/home/marco/dev/alexeyab/darknet/backup/fourthTry/obj_130000.weights"
metaPath = "/home/marco/dev/alexeyab/darknet/obj.data"
if not os.path.exists(configPath):
raise ValueError("Invalid config path `" +
os.path.abspath(configPath)+"`")
if not os.path.exists(weightPath):
raise ValueError("Invalid weight path `" +
os.path.abspath(weightPath)+"`")
if not os.path.exists(metaPath):
raise ValueError("Invalid data file path `" +
os.path.abspath(metaPath)+"`")
if netMain is None:
netMain = darknet.load_net(configPath.encode(
"ascii"), weightPath.encode("ascii"), 0, 1) # batch size = 1
if metaMain is None:
metaMain = darknet.load_meta(metaPath.encode("ascii"))
if altNames is None:
try:
with open(metaPath) as metaFH:
metaContents = metaFH.read()
import re
match = re.search("names *= *(.*)$", metaContents,
re.IGNORECASE | re.MULTILINE)
if match:
result = match.group(1)
else:
result = None
try:
if os.path.exists(result):
with open(result) as namesFH:
namesList = namesFH.read().strip().split("\n")
altNames = [x.strip() for x in namesList]
except TypeError:
pass
except Exception:
pass
# Create an image we reuse for each detect
darknet_image = darknet.make_image(darknet.network_width(netMain),
darknet.network_height(netMain),3)
while True:
prev_time = time.time()
ret, frame_read = camera.frame.read()
frame_rgb = cv2.cvtColor(frame_read, cv2.COLOR_BGR2RGB)
# cut out values for the fisheye lense, dirty hack during COM
x_start = 9
x_end = 440
y_start = 0
y_end = camera.width
frame_rgb = frame_rgb[x_start:x_end, y_start:y_end]
frame_rgb = cv2.resize(frame_rgb, (camera.width, camera.height))
frame_resized = cv2.resize(frame_rgb,
(darknet.network_width(netMain),
darknet.network_height(netMain)),
interpolation=cv2.INTER_LINEAR)
darknet.copy_image_from_bytes(darknet_image,frame_resized.tobytes())
detections = darknet.detect_image(netMain, metaMain, darknet_image, thresh=0.05)
position = (-1,-1)
if not (len(detections) is 0):
idOfDetection = getIDHighestDetection(detections)
position = (int(detections[idOfDetection][2][0]), int(detections[idOfDetection][2][1]))
pts.appendleft(position)
#else:
# pts.append(None)
# loop over the set of tracked points
for i in xrange(1, len(pts)):
# if either of the tracked points are None, ignore
# them
if pts[i - 1] is None or pts[i] is None:
continue
# otherwise, compute the thickness of the line and
# draw the connecting lines
thickness = int(np.sqrt(200 / float(i + 1)) * 2)
cv2.line(frame_resized, pts[i - 1], pts[i], (0, 255, 0), thickness)
if(position[0]==-1):
relPointX = position[0]
relPointY = position[1]
else:
relPointX = float(position[0])/frame_resized.shape[1]
relPointY = float(position[1])/frame_resized.shape[0]
client.publish("ball/position/rel", str(relPointX) + "," + str(relPointY))
image = frame_resized
if not (len(detections) is 0):
image = cvDrawBall(detections[idOfDetection], frame_resized)
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
#image = cv2.resize(image, (1145,680))
image = cv2.resize(image, (800,525))
if args["record"] is not 'empty':
out.write(image)
cv2.imshow('Demo', image)
cv2.moveWindow("Demo", 1025,490);
ret, jpeg = cv2.imencode('.jpg', image)
frame = jpeg.tobytes()
yield (b'--frame\r\n'
b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n\r\n')
cap.release()
out.release()