def detection_pipeline(log, args=None):
"""
Detection main function
:param log:
:param args:
:return:
"""
config = Config(log)
img_archive_dir = config.img_archive_dir
if not os.path.exists(img_archive_dir):
os.makedirs(img_archive_dir)
father_dir = os.path.abspath(os.path.dirname(os.path.dirname(__file__)))
'''would need a starting time for video'''
config.st = datetime.datetime.now()
if config.socket_enable:
config.start_status_report_timer()
if config.reupload_enbale:
config.re_upload_cache()
config.start_log_upload_timer()
# Initialize for each camera
if args[1] in ['use_onboard_camera', 'use_local_rtsp']:
camera = Camera(log, args[1], local=False, cfg_path=father_dir + '/camera_info.txt')
elif args[1] == 'use_captured_video':
camera = Camera(log, args[1], local=True, cfg_path=father_dir + '/camera_info.txt')
else:
log.logger.error('Unrecognized execution mode argument {}'.format(args[1]))
exit()
dnn_model = DnnModel(log, config)
for cam_id in camera.info:
motion_roi = camera.info[cam_id]['coord']['bounding_rect']
cov_roi, spot_roi1, spot_roi2 = camera.info[cam_id]['coord']['roi_rects']
parking_ids = camera.info[cam_id]['parking_ids']
transformation_matrix = camera.info[cam_id]['transformation_matrix']
# convert to (left, top, right, bottom), may change in yaml file later.
motion_roi = [motion_roi[0], motion_roi[1], motion_roi[0] + motion_roi[2], motion_roi[1] + motion_roi[3]]
cov_roi = [cov_roi[0], cov_roi[1], cov_roi[0] + cov_roi[2], cov_roi[1] + cov_roi[3]]
spot_roi1 = [spot_roi1[0], spot_roi1[1], spot_roi1[0] + spot_roi1[2], spot_roi1[1] + spot_roi1[3]]
spot_roi2 = [spot_roi2[0], spot_roi2[1], spot_roi2[0] + spot_roi2[2], spot_roi2[1] + spot_roi2[3]]
# trace_roi are used for backtrace
trace_roi = [cov_roi[0] * 2 - cov_roi[2], cov_roi[1], cov_roi[0], cov_roi[3]]
# set parameters for different cameras
if int(cam_id) == 1:
distance_thres = [-0.2, 0.9]
elif int(cam_id) == 2:
distance_thres = [-0.3, 0.9]
elif int(cam_id) == 3:
distance_thres = [-0.3, 0.9]
else:
distance_thres = [-0.3, 0.9]
parking_spot = ParkingSpot(log, config, cov_roi, spot_roi1, spot_roi2, parking_ids, trace_roi, distance_thres,
camera.info[cam_id]['initial_state'])
logic = B_logic(log, 8)
motion = Motion(log, motion_roi, dnn_model, parking_spot, logic, transformation_matrix)
camera.info[cam_id]['ParkingSpot'] = motion
if args[1] == 'use_onboard_camera' or args[1] == 'use_local_rtsp':
camera.capture_pic_multithread()
while config.cap_on is True:
# camera robin-round
for cam_id in camera.info:
motion = camera.info[cam_id]['ParkingSpot']
parking_draw = camera.info[cam_id]['parking_draw']
# Read frame-by-frame
if args[1] == 'use_onboard_camera' or args[1] == 'use_local_rtsp':
ret, video_cur_frame, video_cur_time, video_cur_cnt = camera.get_frame_from_queue(cam_id)
else:
cap = camera.info[cam_id]['video_cap']
if cap is None:
continue
# Current position of the video file in seconds, indicate current time
video_cur_time = cap.get(cv2.CAP_PROP_POS_MSEC) / 1000.0
# Index of the frame to be decoded/captured next
video_cur_cnt = cap.get(cv2.CAP_PROP_POS_FRAMES)
ret, video_cur_frame = cap.read()
if ret is False:
log.logger.info('Video Analysis Finished!')
config.cap_on = False
break
elif ret is None:
continue
'''run each ParkingSpot'''
frame_info = {'cur_frame': video_cur_frame, 'cur_time': video_cur_time, 'cur_cnt': video_cur_cnt}
if video_cur_cnt % motion.read_step == 0:
# frame_for_display is returned for debug, need to change later
frame_for_display = detection_flow(log, motion, dnn_model, frame_info)
# the rest is added only for debug
show_camera(motion, frame_for_display, parking_draw)
camera.release_video_cap()
config.stop_status_report_timer()
config.ftp_upload_enable = False
