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 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 save_file(filename, bytes): return chameleon.save_file(filename, bytes)
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))