def worker(index,inqueue,outqueue):
"""
Main function to process an image; performed in the context
of a subprocess
"""
done = False
print "Worker Started: ",index
sys.stdout.flush()
while not done:
msg = inqueue.get()
if (msg[0] <= 0.0):
done = True
break
#valid request; decode the message
timestamp = msg[0]
img = msg[1]
outline = msg[2]
threshold = msg[3]
# process the image and queue the results
targets = ft.processImage(img,0,threshold,outline[0],outline[1])
retMsg = [timestamp,targets]
outqueue.put(retMsg)
sys.stdout.flush()
def displayResults(targets,img):
"""
Debug display of the results
"""
if (targets != None) :
dispTargets = targets
else:
dispTargets = []
if len(dispTargets) > 0:
for t in targets:
ft.printTgt(t)
ft.displayThresholdTimeout = 0;
ft.showImages = True
ft.drawAnnotatedImage(img,dispTargets)
done = False
startTime = ft.currentTimeMs()
while not done:
ch = 0xFF & cv2.waitKey(1)
if ch == 27:
done = True
curTime = ft.currentTimeMs()
if (curTime - startTime) > 1000:
done = True
def main():
"""
Main program that loops forever
"""
time.sleep(0.1)
args = getArgs()
sendReports = True
ft.debugPrint = args['debugPrint']
ft.showImages = args['showVideo']
ft.showDebugImages = args['showDebugVideo']
resolution = args['resolution'].split(',') # Convert from string in the format '(w,h)'
resolution = int(resolution[0][1:]),int(resolution[1][:-1])
cameraInit = False
networkInit = False
while not cameraInit or not networkInit:
if not cameraInit:
try:
camera = PiCamera()
# initialize the camera and grab a reference to the raw camera capture
camera.resolution = resolution
camera.framerate = int(args['frameRate'])
rawCapture = PiRGBArray(camera, size=resolution)
cameraInit = True
except:
print "Camera Exception"
if not networkInit:
try:
hostPort = args['ds'].split(':')
ds.init(hostPort[0],int(hostPort[1]))
hostPort = args['robot'].split(':')
ft.reportSetup(hostPort[0],int(hostPort[1]))
broadcastSocket = socket.socket(socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
broadcastSocket.setsockopt(socket.SOL_SOCKET,
socket.SO_REUSEADDR,1)
broadcastPort = args['bport']
listen_addr = ("",broadcastPort)
broadcastSocket.bind(listen_addr)
broadcastSocket.setblocking(False)
print "brodcast Port: ",broadcastPort
print "Socket Setup: ",broadcastSocket
networkInit = True
except:
print "Network Exception"
# allow the camera to warmup
time.sleep(0.1)
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
collectTime = ft.currentTimeMs()
# Simplest color processing
# TODO: add tracking, adaptive processing that includes light control
if ft.targetOn:
targets = ft.processImage(image,[],-ft.detectThreshold,0,0)
else:
targets = []
if sendReports:
ft.sendReport(collectTime,targets)
# show the frame (and forward to drivers station)
ft.drawAnnotatedImage(image,targets)
key = cv2.waitKey(1) & 0xFF
# Perform message processing
try:
msg, addr = broadcastSocket.recvfrom(512)
if (msg == ds.BroadcastData): # 'driverstation138'
newIP = addr[0]
if newIP != ds.UDP_IP:
print "Changing Video address= ",newIP
ds.init(newIP,ds.UDP_PORT,ds.messageResolution)
if (msg == 'robot138'):
newIP = addr[0]
if newIP != ft.UDP_IP:
print "Changing Report address= ",newIP
ft.reportSetup(newIP,ft.UDP_PORT)
if (msg == 'targetOn'):
ft.targetOn = True
if (msg == 'targetOff'):
ft.targetOn = False
if msg.find('detectThreshold') >= 0:
fields = msg.split('=')
thr = float(fields[1])
if (thr >= 0.80) and (thr <= 0.99):
ft.detectThreshold = thr
if msg.find('showThreshold') >= 0:
fields = msg.split('=')
if (fields[1] == None):
timeout = 15
else:
timeout = int(fields[1])
if (timeout >= 0) and (timeout <= 30):
ft.displayThresholdMode(timeout*1000)
except:
pass
# clear the stream in preparation for the next frame
rawCapture.truncate(0)
# if the `q` key was pressed, break from the loop
if key == ord("q"):
break
found = True
return found,best
if __name__ == '__main__':
"""
Test program
"""
init()
makeProcesses(3)
print "Workers Ready"
imgDir = 'C:\\Users\\jeffrey.f.bryant\\Desktop\\FirstRobotics\\vision\\Images\\'
imgInput = cv2.imread(imgDir + '5.JPG')
imgCopy = imgInput.copy()
collectTime = ft.currentTimeMs()
targets = completeImage(collectTime,imgInput)
displayResults(targets,imgInput)
print
print '-----------------------Track --------------------'
print
found, best = bestTarget(targets)
if (found):
for k in range(4):
imgInput = imgCopy.copy()
collectTime = ft.currentTimeMs()
targets = track(collectTime,best,imgInput)
def wpiTest(imgdir, maxSize, resize):
"""
Perform an analysis on all the .jpg files in a directory
"""
results = []
onlyfiles = [f for f in listdir(imgdir) if isfile(join(imgdir, f))]
for fn in onlyfiles:
path = join(imgdir, fn)
if fn[-4:].lower() == '.jpg':
imgInput = cv2.imread(path)
#Resise the image if desired
if (imgInput.shape[0] > maxSize[0]) and (imgInput.shape[1] >
maxSize[1]) and resize:
imgResized = cv2.resize(imgInput, maxSize)
else:
imgResized = imgInput
print 20 * '=', fn, imgResized.shape
collectTime = ft.currentTimeMs()
#targets,colors = ft.fullColorSearch(imgResized,0,0,True)
targets = ft.subImageSearch(imgResized, True)
ft.sendReport(collectTime, targets)
if len(targets) > 0:
ft.printTgt(targets[0])
ft.drawAnnotatedImage(imgResized, targets)
results.append((fn, targets)) # fast execution
ch = 0xFF & cv2.waitKey(100)
if ch == 27:
break
elif (ch == ord('t')):
ft.displayThresholdMode(10000)
elif (ch == ord('u')):
ft.displayThresholdMode(10000)
ft.detectThreshold = ft.detectThreshold + 0.01
elif (ch == ord('d')):
ft.detectThreshold = ft.detectThreshold - 0.01
ft.displayThresholdMode(10000)
if __name__ == '__main__':
"""
Main test program
"""
print "OpenCV Version:", cv2.__version__
ft.showImages = True
ft.showDebugImages = False
trackTargets = False
resize = True
maxSize = (640, 480)
batchTest = True
fullColorTest = False
subImageTest = True
ft.reportSetup('loopback', 5802)
ft.printReport = False
ds.init('loopback', 5800)
ft.debugPrint = True
# Read and resize the image
#imgDir = 'C:\\Users\\jeffrey.f.bryant\\Desktop\\First2016\\'
imgDir = 'C:\\Users\\jeffrey.f.bryant\\Desktop\\First2016\\RealFullField\\'
#imgDir = 'C:\\Users\\jeffrey.f.bryant\\Desktop\\First2016\\CalShots\\'
if (batchTest):
wpiTest(imgDir, maxSize, resize)
if (fullColorTest or subImageTest):
imgInput = cv2.imread(imgDir + 'IMG_1087.JPG')