class Tracker(object):
def __init__(self, method, src):
self.color = True
self.motorsOn = False
### Sensitivity of tracker params
self._sampleFreq = 0.1 #in sec
### Set Camera params
#self.resolution = (640, 480 )
self.resolution = (1280, 960)
source = {
0: 0,
1: 1,
2: 'led_move1.avi',
3: 'screencast.avi',
4: 'screencast 1.avi',
5: 'shortNoBox.avi',
6: 'longNoBox.avi',
7: 'H299.avi',
8: 'testRec.avi',
9: 'longDemo.avi'
}
self.captureSource = source[int(src)]
### Timing initialization
self._startTime = time.time()
self._lastCheck = self._startTime - self._sampleFreq
### Display params
self.mirroredPreview = False
### Initialize Objects
##### Windows
self._rawWindow = WindowManager('RawFeed', self.onKeypress)
### Capture -- resolution set here
self._cap = CaptureManager(cv2.VideoCapture(self.captureSource),
self._rawWindow, self.mirroredPreview,
self.resolution)
actualCols, actualRows = self._cap.getResolution()
self.centerPt = utils.Point(actualCols / 2, actualRows / 2)
## from here on out use this resolution
boundCols = 600
boundRows = 600
### Arguments for finder
# --> Pairs are always COLS, ROWS !!!!!!!
self.finderArgs = {
'method': method,
'gsize': 45,
'gsig': 9,
'window': 3,
'MAXONEFRAME': 500,
'REFPING': 600000,
'MAXREF': 1000,
'captureSize': utils.Rect(actualCols, actualRows, self.centerPt),
'cropRegion': utils.Rect(100, 100, self.centerPt),
'decisionBoundary': utils.Rect(boundCols, boundRows,
self.centerPt),
'color': self.color,
'motorsOn': self.motorsOn
}
self._wormFinder = WormFinder(**self.finderArgs)
##### Debugging
# self._gaussianWindow = WindowManager('Gaussian', self.onKeypress)
self._overlayWindow = WindowManager('Overlay', self.onKeypress)
def run(self):
# Show windows
self._rawWindow.createWindow()
self._overlayWindow.createWindow()
i = 0
while self._rawWindow.isWindowCreated:
self._cap.enterFrame()
frame = self._cap.frame
# Probably not useful, removes errors when playing from video
# if not self._captureManager.gotFrame:
# self.shutDown()
# break
# Display raw frame to rawWindow
t1 = time.time()
# Get frame
frame = self._cap.frame
# Show frame to raw feed
self._rawWindow.show(frame)
# If tracking is enabled or motors are on, start tracking
if time.time() - self._lastCheck >= self._sampleFreq:
if self.finderArgs['method'] in ['lazyc', 'lazyd', 'lazy']:
self.gaussian = self._wormFinder.processFrame(frame)
self.overlayImage = copy.deepcopy(frame)
if self.motorsOn:
self._wormFinder.decideMove()
self._lastCheck = time.time()
self._wormFinder.drawDebugCropped(self.overlayImage)
self._wormFinder.drawTextStatus(self.overlayImage,
self._cap.isWritingVideo,
self.motorsOn)
self._overlayWindow.show(self.overlayImage)
# if self.gaussian is not None:
# self._gaussianWindow.show(self.gaussian)
# cv2.imwrite('g-%d.jpg' % i, self.gaussian )
# cv2.imwrite('o-%d.jpg' % i, self.overlayImage )
if self.finderArgs['method'] in ['test', 'conf']:
# self.overlayImage = copy.deepcopy(frame)
self._wormFinder.drawTest(frame) #self.overlayImage)
# self._overlayWindow.show(self.overlayImage)
i += 1
self._cap.exitFrame()
self._rawWindow.processEvents()
logt.info('processing: %0.6f' % (time.time() - t1))
@property
def isDebug(self):
return logt.getEffectiveLevel() <= logging.INFO
def shutDown(self):
self._rawWindow.destroyWindow()
if self._cap.isWritingVideo:
self._cap.stopWritingVideo()
try:
self._wormFinder.servos.disableMotors()
self._wormFinder.servos.closeSerial()
except Exception as e:
logt.exception(str(e))
def onKeypress(self, keycode):
'''
Keypress options
<SPACE> --- Motors On
< TAB > --- start/stop recording screencast
< ESC > --- quit
'''
if keycode == 32: #space
if self.motorsOn:
self.motorsOn = False #_captureManager.writeImage('screenshot.png')
if not self.isDebug:
self._wormFinder.servos.disableMotors()
else:
self.motorsOn = True
self._wormFinder.launch = 0
if not self.isDebug:
self._wormFinder.servos.enableMotors()
self._wormFinder.launch = 0
time.sleep(2)
elif keycode == 9: #tab
if not self._cap.isWritingVideo:
self._cap.startWritingVideo(
'worm%s.avi' % time.strftime("%Y_%m_%d-%H-%M-%S",
time.localtime(time.time())),
cv2.cv.CV_FOURCC(*'MJPG'))
else:
self._cap.stopWritingVideo()
elif keycode == 27: #escape
self.shutDown()
class Tracker ( object ):
def __init__( self, method, src ):
### Sensitivity of tracker params
self._sampleFreq = 0.1 #in sec
### Set Camera params
#self.resolution = (640, 480 )
self.resolution = (1280, 960)
source = {
0:0,
1:1,
2:'led_move1.avi',
3:'screencast.avi',
4:'screencast 1.avi',
5: 'shortNoBox.avi',
6: 'longNoBox.avi',
7: 'H299.avi',
8: 'testRec.avi',
9: 'longDemo.avi',
10: 'worm2014_05_05-12-44-53.avi'
}
self.color = True
self.captureSource = source[int(src)]
### Timing initialization
self._startTime = time.time()
self._lastCheck = self._startTime - self._sampleFreq
### Display params
self.mirroredPreview = False
### Initialize Objects
##### Windows
self._rawWindow = WindowManager( 'RawFeed', self.onKeypress )
### Capture -- resolution set here
self._cap = CaptureManager(
cv2.VideoCapture(self.captureSource),
self._rawWindow,
self.mirroredPreview, self.resolution)
actualCols, actualRows = self._cap.getResolution()
## from here on out use this resolution
### Arguments for finder
self.finderArgs = {
'method' : method,
'gsize' : 45,
'gsig' : 9,
'window' : 3,
'boundBoxRow' : 150,
'boundBoxCol' : 150,
'limRow' : 100,
'limCol' : 100,
'MAXONEFRAME': 500,
'REFPING' : 600000,
'MAXREF': 1000,
'capCols':actualCols,
'capRows': actualRows,
'color' : self.color
}
self._wormFinder = WormFinder( **self.finderArgs )
##### Debugging
self._overlayWindow = WindowManager( 'Overlay', self.onKeypress )
self.motorsOn = False
def run( self ):
# Show windows
self._rawWindow.createWindow()
self._overlayWindow.createWindow()
while self._rawWindow.isWindowCreated:
self._cap.enterFrame()
frame = self._cap.frame
# Probably not useful, removes errors when playing from video
# if not self._captureManager.gotFrame:
# self.shutDown()
# break
# Display raw frame to rawWindow
t1 = time.time()
# Get frame
frame = self._cap.frame
# Show frame to raw feed
self._rawWindow.show(frame)
# If tracking is enabled or motors are on, start tracking
if time.time() - self._lastCheck >= self._sampleFreq:
if self.finderArgs['method'] in ['lazyc', 'lazyd']:
self.gaussian = self._wormFinder.processFrame( frame )
self.overlayImage = copy.deepcopy(frame)
if self.motorsOn:
self._wormFinder.decideMove()
self._lastCheck = time.time()
self._wormFinder.drawDebugCropped( self.overlayImage)
self._wormFinder.drawTextStatus(self.overlayImage,self._cap.isWritingVideo, self.motorsOn)
self._overlayWindow.show(self.overlayImage)
if self.finderArgs['method'] in ['test','conf']:
self._wormFinder.drawTest( frame )
self._cap.exitFrame()
self._rawWindow.processEvents()
logt.debug('frame processing took: %0.6f' % (time.time() - t1))
@property
def isDebug( self ):
return logt.getEffectiveLevel() <= logging.INFO
def shutDown( self ):
self._rawWindow.destroyWindow()
#if not self.isDebug:
if self._cap.isWritingVideo:
self._cap.stopWritingVideo()
try:
# self._wormFinder.writeOut('%s-%s' % (self.finderArgs['method'], self.captureSource))
self._wormFinder.servos.disableMotors()
self._wormFinder.servos.closeSerial()
except Exception as e:
logt.exception(str(e))
def onKeypress ( self, keycode ):
'''
Keypress options
<SPACE> --- Motors On
< TAB > --- start/stop recording screencast
< ESC > --- quit
'''
if keycode == 32: #space
if self.motorsOn:
self.motorsOn = False#_captureManager.writeImage('screenshot.png')
if not self.isDebug:
self._wormFinder.servos.disableMotors()
#cv2.displayOverlay('Overlay','Motors disabled', 0)
else:
self.motorsOn = True
self._wormFinder.launch = 0
if not self.isDebug:
self._wormFinder.servos.enableMotors()
self._wormFinder.launch = 0
time.sleep(2)
#cv2.displayOverlay('Overlay','Motors enabled', 0)
elif keycode == 9: #tab
if not self._cap.isWritingVideo:
self._cap.startWritingVideo(
'worm%s.avi' % time.strftime("%Y_%m_%d-%H-%M-%S", time.localtime(time.time())),
cv2.cv.CV_FOURCC(*'MJPG'))
# cv2.displayOverlay('Overlay','Writing Video', 0)
else:
self._cap.stopWritingVideo()
# cv2.displayOverlay('Overlay','Not writing Video', 0)
elif keycode == 27: #escape
self.shutDown()
class Tracker(object):
def __init__(self, method, src):
self.color = True
self.motorsOn = False
### Sensitivity of tracker params
self._sampleFreq = 0.1 # in sec
### Set Camera params
# self.resolution = (640, 480 )
self.resolution = (1280, 960)
source = {
0: 0,
1: 1,
2: "led_move1.avi",
3: "screencast.avi",
4: "screencast 1.avi",
5: "shortNoBox.avi",
6: "longNoBox.avi",
7: "H299.avi",
8: "testRec.avi",
9: "longDemo.avi",
}
self.captureSource = source[int(src)]
### Timing initialization
self._startTime = time.time()
self._lastCheck = self._startTime - self._sampleFreq
### Display params
self.mirroredPreview = False
### Initialize Objects
##### Windows
self._rawWindow = WindowManager("RawFeed", self.onKeypress)
### Capture -- resolution set here
self._cap = CaptureManager(
cv2.VideoCapture(self.captureSource), self._rawWindow, self.mirroredPreview, self.resolution
)
actualCols, actualRows = self._cap.getResolution()
self.centerPt = utils.Point(actualCols / 2, actualRows / 2)
## from here on out use this resolution
boundCols = 600
boundRows = 600
### Arguments for finder
# --> Pairs are always COLS, ROWS !!!!!!!
self.finderArgs = {
"method": method,
"gsize": 45,
"gsig": 9,
"window": 3,
"MAXONEFRAME": 500,
"REFPING": 600000,
"MAXREF": 1000,
"captureSize": utils.Rect(actualCols, actualRows, self.centerPt),
"cropRegion": utils.Rect(100, 100, self.centerPt),
"decisionBoundary": utils.Rect(boundCols, boundRows, self.centerPt),
"color": self.color,
"motorsOn": self.motorsOn,
}
self._wormFinder = WormFinder(**self.finderArgs)
##### Debugging
# self._gaussianWindow = WindowManager('Gaussian', self.onKeypress)
self._overlayWindow = WindowManager("Overlay", self.onKeypress)
def run(self):
# Show windows
self._rawWindow.createWindow()
self._overlayWindow.createWindow()
i = 0
while self._rawWindow.isWindowCreated:
self._cap.enterFrame()
frame = self._cap.frame
# Probably not useful, removes errors when playing from video
# if not self._captureManager.gotFrame:
# self.shutDown()
# break
# Display raw frame to rawWindow
t1 = time.time()
# Get frame
frame = self._cap.frame
# Show frame to raw feed
self._rawWindow.show(frame)
# If tracking is enabled or motors are on, start tracking
if time.time() - self._lastCheck >= self._sampleFreq:
if self.finderArgs["method"] in ["lazyc", "lazyd", "lazy"]:
self.gaussian = self._wormFinder.processFrame(frame)
self.overlayImage = copy.deepcopy(frame)
if self.motorsOn:
self._wormFinder.decideMove()
self._lastCheck = time.time()
self._wormFinder.drawDebugCropped(self.overlayImage)
self._wormFinder.drawTextStatus(self.overlayImage, self._cap.isWritingVideo, self.motorsOn)
self._overlayWindow.show(self.overlayImage)
# if self.gaussian is not None:
# self._gaussianWindow.show(self.gaussian)
# cv2.imwrite('g-%d.jpg' % i, self.gaussian )
# cv2.imwrite('o-%d.jpg' % i, self.overlayImage )
if self.finderArgs["method"] in ["test", "conf"]:
# self.overlayImage = copy.deepcopy(frame)
self._wormFinder.drawTest(frame) # self.overlayImage)
# self._overlayWindow.show(self.overlayImage)
i += 1
self._cap.exitFrame()
self._rawWindow.processEvents()
logt.info("processing: %0.6f" % (time.time() - t1))
@property
def isDebug(self):
return logt.getEffectiveLevel() <= logging.INFO
def shutDown(self):
self._rawWindow.destroyWindow()
if self._cap.isWritingVideo:
self._cap.stopWritingVideo()
try:
self._wormFinder.servos.disableMotors()
self._wormFinder.servos.closeSerial()
except Exception as e:
logt.exception(str(e))
def onKeypress(self, keycode):
"""
Keypress options
<SPACE> --- Motors On
< TAB > --- start/stop recording screencast
< ESC > --- quit
"""
if keycode == 32: # space
if self.motorsOn:
self.motorsOn = False # _captureManager.writeImage('screenshot.png')
if not self.isDebug:
self._wormFinder.servos.disableMotors()
else:
self.motorsOn = True
self._wormFinder.launch = 0
if not self.isDebug:
self._wormFinder.servos.enableMotors()
self._wormFinder.launch = 0
time.sleep(2)
elif keycode == 9: # tab
if not self._cap.isWritingVideo:
self._cap.startWritingVideo(
"worm%s.avi" % time.strftime("%Y_%m_%d-%H-%M-%S", time.localtime(time.time())),
cv2.cv.CV_FOURCC(*"MJPG"),
)
else:
self._cap.stopWritingVideo()
elif keycode == 27: # escape
self.shutDown()
