def run(*args):
logger().info('Open')
while (True):
# for i in range(1):
time.sleep(0.1)
message = ''
with open('./data/message_2.json') as f:
message = f.read()
ws.send(message)
logger().debug('Sent:{}'.format(message))
ws.close()
logger().info('Thread terminating...')
def run():
logger().info('run')
# 黄色
car_monitor = CarMonitor([[20, 10, 180], [50, 255, 255]])
# 緑
car_monitor_2 = CarMonitor([[60, 50, 90], [100, 255, 255]])
while(True):
# for i in range(1):
#time.sleep(0.1)
degree, distance = car_monitor.get_car_dests(False)
degree_2, distance_2 = car_monitor_2.get_car_dests(False)
logger().info('degree, distance: {}, {}'.format(degree, distance))
logger().info('degree_2, distance_2: {}, {}'.format(degree_2, distance_2))
message_dict_1 = get_message_dict(degree, distance,
(degree_2 != CarMonitor.INVALID_DEGREE))
with open('./data/message_1.json', 'w') as f:
json.dump(message_dict_1, f)
message_dict_2 = get_message_dict(degree_2, distance_2, False)
with open('./data/message_2.json', 'w') as f:
json.dump(message_dict_2, f)
logger().info('Thread terminating...')
def message_received(client, server, message):
logger().info('Message has been received from {}:{}'.format(client['address'][0], client['address'][1]))
try:
message_dict = json.loads(message)
if message_dict['type'] == 'color':
try:
client_list[str(client['id'])]['color'] = [[message_dict.get('color', {}).get('H', {}).get('min', 0),
message_dict.get('color', {}).get('H', {}).get('max', 0)],
[message_dict.get('color', {}).get('S', {}).get('min', 0),
message_dict.get('color', {}).get('S', {}).get('max', 0)],
[message_dict.get('color', {}).get('V', {}).get('min', 0),
message_dict.get('color', {}).get('V', {}).get('max', 0)]]
except AttributeError:
logger().info('faild to get color data')
client_list[str(client['id'])]['color'] = [[0, 0], [0, 0], [0, 0]]
car_monitor_list[str(client['id'])] = CarMonitor([[client_list[str(client['id'])]['color'][0][0],
client_list[str(client['id'])]['color'][1][0],
client_list[str(client['id'])]['color'][2][0]],
[client_list[str(client['id'])]['color'][0][1],
client_list[str(client['id'])]['color'][1][1],
client_list[str(client['id'])]['color'][2][1]]])
except json.JSONDecodeError:
logger().info('faild to decode message to json')
logger().info('client_list : {}'.format(client_list))
def send_order(server):
for k, v in car_monitor_list.items():
degree, distance = v.get_car_dests()
logger().info('degree, distance: {}, {}'.format(degree, distance))
def client_left(client, server):
logger().info('Client {}:{} has left.'.format(client['address'][0], client['address'][1]))
def new_client(client, server):
logger().info('New client {}:{} has joined.'.format(client['address'][0], client['address'][1]))
client_list[str(client['id'])] = {}
client_list[str(client['id'])]['client'] = client
# coding: UTF-8
from multiprocessing import Process
from debug import logger
# import monitor_main
import socket_main
if __name__ == '__main__':
logger().info('main line')
# p_monitor = Process(target=monitor_main.run, args=())
p_socket_1 = Process(target=socket_main.run_socket_1, args=())
p_socket_2 = Process(target=socket_main.run_socket_2, args=())
# p_monitor.start()
# logger().info('p_monitor started')
p_socket_1.start()
logger().info('p_socket_1 started')
p_socket_2.start()
logger().info('p_socket_2 started')
# p_monitor.join()
p_socket_1.join()
p_socket_2.join()
def __init__(self, back_color_hsv, camera_device_num=0):
logger().debug('CarMonitor init() start')
self._device_num = camera_device_num
self._back_color_hsv = back_color_hsv
self._cap = cv2.VideoCapture(self._device_num)
logger().debug('CarMonitor init() end')
def get_car_dests(self, save_img=False, path='img'):
"""
calculate angle between car and station entrance
Args:
save_img (bool): True -> save intermediate picture as png file (debug function)
path (string): directory path to save image
Returns:
float: angle[degree]
float: distance
"""
readable, img = self._get_img()
if save_img:
cv2.imwrite(path + '/origin.png', img)
hsv_img = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv_img, np.array(self._back_color_hsv[0]),
np.array(self._back_color_hsv[1]))
contours, _ = cv2.findContours(mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
trim_mask = np.zeros_like(img)
convex_hull_list = []
for contour in contours:
approx = cv2.approxPolyDP(contour,
0.01 * cv2.arcLength(contour, True),
True)
# 四角形に近い形のみ扱う
if 3 < len(approx) < 10:
M = cv2.moments(approx)
if M['m00'] > CarMonitor.DETECT_AREA_SIZE:
convex_hull_list.append({'approx': approx, 'moment': M})
cv2.fillConvexPoly(trim_mask,
approx,
color=(255, 255, 255))
if save_img:
cv2.imwrite(path + '/trim_mask.png', trim_mask)
bg_color = (255, 255, 255)
bg_img = np.full_like(img, bg_color)
trim_img = np.where(trim_mask == 255, img, bg_img)
marker_mask = cv2.inRange(trim_img, np.array([0, 0, 0]),
np.array([255, 255, 100]))
if save_img:
cv2.imwrite(path + '/marker_mask.png', marker_mask)
marker_contours, _ = cv2.findContours(marker_mask, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
m_convex_hull_list = []
for contour in marker_contours:
approx = cv2.approxPolyDP(contour,
0.01 * cv2.arcLength(contour, True),
True)
# 四角形に近い形のみ扱う
if 3 < len(approx) < 10:
M = cv2.moments(approx)
if M['m00'] > CarMonitor.DETECT_AREA_SIZE / 20:
m_convex_hull_list.append({'approx': approx, 'moment': M})
cx = int(M['m10'] / M['m00'])
cy = int(M['m01'] / M['m00'])
self._draw_marker(trim_img, cx, cy, (0, 0, 255))
p1 = [-1, -1]
p2 = [-1, -1]
if len(m_convex_hull_list) > 1:
m_convex_hull_list.sort(key=lambda x: x['moment']['m00'],
reverse=True)
p1 = [
int(m_convex_hull_list[0]['moment']['m10'] /
m_convex_hull_list[0]['moment']['m00']),
int(m_convex_hull_list[0]['moment']['m01'] /
m_convex_hull_list[0]['moment']['m00'])
]
p2 = [
int(m_convex_hull_list[1]['moment']['m10'] /
m_convex_hull_list[1]['moment']['m00']),
int(m_convex_hull_list[1]['moment']['m01'] /
m_convex_hull_list[1]['moment']['m00'])
]
logger().debug('p1: {}, p2: {}'.format(p1, p2))
degree_car = degrees(atan2(p2[1] - p1[1], p1[0] - p2[0]))
degree_station = degrees(
atan2(((p1[1] + p2[1]) / 2) - CarMonitor.STATION_POINT[1],
CarMonitor.STATION_POINT[0] - ((p1[0] + p2[0]) / 2)))
degree = self._compress_degree_in_180(degree_car - degree_station,
360)
a = np.array(
[CarMonitor.STATION_POINT[0], CarMonitor.STATION_POINT[1]])
b = np.array([(p1[0] + p2[0]) / 2, (p1[1] + p2[1]) / 2])
u = b - a
distance = np.linalg.norm(u)
else:
degree = CarMonitor.INVALID_DEGREE
distance = CarMonitor.INVALID_DISTANCE
if save_img:
cv2.imwrite(path + '/result_mask.png', trim_img)
self._draw_marker(img, CarMonitor.STATION_POINT[0],
CarMonitor.STATION_POINT[1], (255, 0, 0))
if p1[0] != -1:
self._draw_marker(img, (p1[0] + p2[0]) / 2,
(p1[1] + p2[1]) / 2, (255, 0, 0))
cv2.line(img,
tuple(p1),
tuple(p2),
color=(0, 0, 255),
thickness=2)
cv2.line(img, (int(
(p1[0] + p2[0]) / 2), int((p1[1] + p2[1]) / 2)),
(int(CarMonitor.STATION_POINT[0]),
int(CarMonitor.STATION_POINT[1])),
color=(0, 255, 0),
thickness=2)
cv2.putText(img,
'angle[deg]: ' + str(degree), (30, 100),
cv2.FONT_HERSHEY_SIMPLEX,
1.0, (255, 255, 255),
thickness=2)
cv2.putText(img,
'distance: ' + str(distance), (30, 150),
cv2.FONT_HERSHEY_SIMPLEX,
1.0, (255, 255, 255),
thickness=2)
cv2.imwrite(path + '/result.png', img)
return degree, distance
def __init__(self, back_color_hsv):
logger().debug('CarMonitor init() start')
self._back_color_hsv = back_color_hsv
logger().debug('CarMonitor init() end')
def on_message(ws, message):
logger().info('Received:{}'.format(message))
def on_close(ws):
logger().info('Close')
def on_error(ws, error):
logger().info('Error:{}'.format(error))
