def check_video_out(self):
# return immediately if video has already been started
if not self.writer is None:
return
# start video once vehicle is armed
if self.vehicle.armed:
self.writer = balloon_video.open_video_writer()
def check_video_out(self):
# return immediately if video has already been started
if not self.writer is None:
return
# start video once vehicle is armed
if self.vehicle.armed:
self.writer = balloon_video.open_video_writer()
def main(self):
web = Webserver(balloon_config.config.parser, (lambda: self.frame))
# initialise camera
balloon_video.init_camera()
video_writer = balloon_video.open_video_writer()
# get start time
start_time = time.time()
# loop for 10 seconds looking for circles
while (time.time() - start_time < 20):
# Take each frame
frame = balloon_video.capture_image()
self.frame = frame
# is there the x & y position in frame of the largest balloon
found_in_image, xpos, ypos, size = self.analyse_frame(frame)
# display image
cv2.imshow('frame', frame)
# write the frame
video_writer.write(frame)
# exit if user presses ESC
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
print "exiting..."
web.close()
# uncomment line below if window with real-time video was displayed
cv2.destroyAllWindows()
# release camera
balloon_video.close_camera()
def main(self):
web = Webserver(balloon_config.config.parser, (lambda : self.frame))
# initialise camera
balloon_video.init_camera()
video_writer = balloon_video.open_video_writer()
# get start time
start_time = time.time()
# loop for 10 seconds looking for circles
while(time.time() - start_time < 20):
# Take each frame
frame = balloon_video.capture_image()
self.frame = frame
# is there the x & y position in frame of the largest balloon
found_in_image, xpos, ypos, size = self.analyse_frame(frame)
# display image
cv2.imshow('frame',frame)
# write the frame
video_writer.write(frame)
# exit if user presses ESC
k = cv2.waitKey(5) & 0xFF
if k == 27:
break
print "exiting..."
web.close()
# uncomment line below if window with real-time video was displayed
cv2.destroyAllWindows()
# release camera
balloon_video.close_camera()
def run(self):
sc_logger.text(sc_logger.GENERAL, 'running {0}'.format(self.name()))
#start a video capture
'''
if(self.simulator):
sc_logger.text(sc_logger.GENERAL, 'Using simulator')
sim.set_target_location(veh_control.get_home())
#sim.set_target_location(Location(0,0,0))
else:'''
sc_video.start_capture(self.camera_index)
#camera = balloon_video.get_camera()
video_writer = balloon_video.open_video_writer()
#create an image processor
detector = CircleDetector()
#create a queue for images
imageQueue = Queue.Queue()
#create a queue for vehicle info
vehicleQueue = Queue.Queue()
while veh_control.is_connected():
#get info from autopilot
location = veh_control.get_location()
attitude = veh_control.get_attitude()
print location
print attitude
# Take each frame
#_, frame = camera.read()
#update how often we dispatch a command
sc_dispatcher.calculate_dispatch_schedule()
# grab an image
capStart = current_milli_time()
frame = sc_video.get_image()
capStop = current_milli_time()
#frame = sc_video.undisort_image(frame)
#cv2.imshow('frame',frame)
# write the frame
video_writer.write(frame)
#update capture time
sc_dispatcher.update_capture_time(capStop-capStart)
#Process image
#We schedule the process as opposed to waiting for an available core
#This brings consistancy and prevents overwriting a dead process before
#information has been grabbed from the Pipe
if sc_dispatcher.is_ready():
#queue the image for later use: displaying image, overlays, recording
imageQueue.put(frame)
#queue vehicle info for later use: position processing
vehicleQueue.put((location,attitude))
#the function must be run directly from the class
#######
sc_dispatcher.dispatch(target=balloon_finder.analyse_frame, args=(frame,))
#retreive results
if sc_dispatcher.is_available():
sc_logger.text(sc_logger.GENERAL, 'Frame {0}'.format(self.frame_count))
self.frame_count += 1
#results of image processor
results = sc_dispatcher.retreive()
# get image that was passed with the image processor
img = imageQueue.get()
#get vehicle position that was passed with the image processor
location, attitude = vehicleQueue.get()
#overlay gui
#rend_Image = gui.add_target_highlights(img, results[3])
#show/record images
sc_logger.image(sc_logger.RAW, img)
#sc_logger.image(sc_logger.GUI, rend_Image)
#display/log data
sc_logger.text(sc_logger.ALGORITHM,'found: {0} x: {1} y: {2} radius: {3}'.format(results[0],results[1],results[2],results[3]))
def run(self):
sc_logger.text(sc_logger.GENERAL, 'running {0}'.format(self.name()))
#start a video capture
if(self.simulator):
sc_logger.text(sc_logger.GENERAL, 'Using simulator')
sim.set_target_location(veh_control.get_home())
#sim.set_target_location(Location(0,0,0))
else:
sc_video.start_capture(self.camera_index)
#camera = balloon_video.get_camera()
video_writer = balloon_video.open_video_writer()
#create an image processor
detector = CircleDetector()
#create a queue for images
imageQueue = Queue.Queue()
#create a queue for vehicle info
vehicleQueue = Queue.Queue()
while veh_control.is_connected():
'''
#kill camera for testing
if(cv2.waitKey(2) == 1113938):
self.kill_camera = not self.kill_camera
'''
#Reintialize the landing program when entering a landing mode
if veh_control.controlling_vehicle():
if not self.in_control:
if(self.allow_reset):
sc_logger.text(sc_logger.GENERAL, 'Program initialized to start state')
self.initialize_landing()
self.in_control = True
else:
self.in_control = False
#we are in the landing zone or in a landing mode and we are still running the landing program
#just because the program is running does not mean it controls the vehicle
#i.e. in the landing area but not in a landing mode
#FIXME add inside_landing_area() back to conditional
if (self.in_control or self.always_run) and self.pl_enabled:
#update how often we dispatch a command
sc_dispatcher.calculate_dispatch_schedule()
#get info from autopilot
location = veh_control.get_location()
attitude = veh_control.get_attitude()
'''
#get info from autopilot
location = Location(0.000009,0,location.alt)
attitude = Attitude(0,0,0)
'''
#update simulator
if(self.simulator):
sim.refresh_simulator(location,attitude)
# grab an image
capStart = current_milli_time()
frame = self.get_frame()
capStop = current_milli_time()
'''
if(self.kill_camera):
frame[:] = (0,255,0)
'''
# write the frame
video_writer.write(frame)
#update capture time
sc_dispatcher.update_capture_time(capStop-capStart)
#Process image
#We schedule the process as opposed to waiting for an available core
#This brings consistancy and prevents overwriting a dead process before
#information has been grabbed from the Pipe
if sc_dispatcher.is_ready():
#queue the image for later use: displaying image, overlays, recording
imageQueue.put(frame)
#queue vehicle info for later use: position processing
vehicleQueue.put((location,attitude))
#the function must be run directly from the class
sc_dispatcher.dispatch(balloon_finder.analyse_frame, args=(frame,))
#retreive results
if sc_dispatcher.is_available():
sc_logger.text(sc_logger.GENERAL, 'Frame {0}'.format(self.frame_count))
self.frame_count += 1
#results of image processor
results = sc_dispatcher.retreive()
# get image that was passed with the image processor
img = imageQueue.get()
#get vehicle position that was passed with the image processor
location, attitude = vehicleQueue.get()
#overlay gui
#rend_Image = gui.add_target_highlights(img, results[3])
#show/record images
sc_logger.image(sc_logger.RAW, img)
#sc_logger.image(sc_logger.GUI, rend_Image)
#display/log data
sc_logger.text(sc_logger.ALGORITHM,'found: {0} x: {1} y: {2} radius: {3}'.format(results[0],results[1],results[2],results[3]))
#send commands to autopilot
self.control(results,attitude,location)
else:
if(self.pl_enabled == False):
sc_logger.text(sc_logger.GENERAL, 'Landing disabled')
else:
sc_logger.text(sc_logger.GENERAL, 'Not in landing mode or Landing Area')
#terminate program
sc_logger.text(sc_logger.GENERAL, 'Vehicle disconnected, Program Terminated')
if(self.simulator == False):
sc_video.stop_capture()
def run(self):
sc_logger.text(sc_logger.GENERAL, 'running {0}'.format(self.name()))
#start a video capture
if(self.simulator):
sc_logger.text(sc_logger.GENERAL, 'Using simulator')
#-35.362664, 149.166803 -35.362902 149.166249
sim.set_target_location(Location(-35.363134 ,149.165429,0))
#sim.set_target_location(Location(0,0,0))
else:
sc_video.start_capture(self.camera_index)
#camera = balloon_video.get_camera()
video_writer = balloon_video.open_video_writer()
#create an image processor
detector = CircleDetector()
#create a queue for images
imageQueue = Queue.Queue()
#create a queue for vehicle info
vehicleQueue = Queue.Queue()
while veh_control.is_connected():
'''
#kill camera for testing
if(cv2.waitKey(2) == 1113938):
self.kill_camera = not self.kill_camera
'''
#Reintialize the landing program when entering a landing mode
if veh_control.controlling_vehicle():
if not self.in_control:
if(self.allow_reset):
sc_logger.text(sc_logger.GENERAL, 'Program initialized to start state')
self.initialize_landing()
self.in_control = True
else:
self.in_control = False
# seach
if(self.flag==False):
# has issues
#search in area
if(self.point==1):
point1 = Location(self.point1_lat, self.point1_lon, 5, is_relative=True)
#point1 = Location(30.264233, 120.118813, 3, is_relative=True)
self.vehicle.commands.goto(point1)
self.vehicle.flush()
if(veh_control.get_location().lon>=self.point1_lon):
self.point=2
if(self.point==2):
point2 = Location(self.point2_lat, self.point2_lon, 5, is_relative=True)
#point1 = Location(30.264233, 120.118813, 3, is_relative=True)
self.vehicle.commands.goto(point2)
self.vehicle.flush()
if(veh_control.get_location().lat>=self.point1_lat):
self.point=3
if(self.point==3):
point3 = Location(self.point3_lat, self.point3_lon, 5, is_relative=True)
#point1 = Location(30.264233, 120.118813, 3, is_relative=True)
self.vehicle.commands.goto(point3)
self.vehicle.flush()
if(veh_control.get_location().lon>=self.point3_lon):
self.point=4
if(self.point==4):
point4 = Location(self.point4_lat, self.point4_lon, 5, is_relative=True)
#point1 = Location(30.264233, 120.118813, 3, is_relative=True)
self.vehicle.commands.goto(point4)
self.vehicle.flush()
if(veh_control.get_location().lat>=self.point4_lat):
self.point=1
'''
print "Going to first point..."
#30.264233, 120.118813 -35.362664, 149.166803
point1 = Location(30.264233, 120.118813, 4, is_relative=True)
self.vehicle.commands.goto(point1)
self.vehicle.flush()
'''
#we are in the landing zone or in a landing mode and we are still running the landing program
#just because the program is running does not mean it controls the vehicle
#i.e. in the landing area but not in a landing mode
#FIXME add inside_landing_area() back to conditional
if (self.in_control or self.always_run) and self.pl_enabled:
#update how often we dispatch a command
sc_dispatcher.calculate_dispatch_schedule()
#get info from autopilot
location = veh_control.get_location()
attitude = veh_control.get_attitude()
#update simulator
if(self.simulator):
sim.refresh_simulator(location,attitude)
# grab an image
capStart = current_milli_time()
frame = self.get_frame()
capStop = current_milli_time()
# write the frame
video_writer.write(frame)
#update capture time
sc_dispatcher.update_capture_time(capStop-capStart)
#Process image
#We schedule the process as opposed to waiting for an available core
#This brings consistancy and prevents overwriting a dead process before
#information has been grabbed from the Pipe
if sc_dispatcher.is_ready():
#queue the image for later use: displaying image, overlays, recording
imageQueue.put(frame)
#queue vehicle info for later use: position processing
vehicleQueue.put((location,attitude))
#the function must be run directly from the class
sc_dispatcher.dispatch(target=detector.analyze_frame, args=(frame,attitude,))
#retreive results
if sc_dispatcher.is_available():
sc_logger.text(sc_logger.GENERAL, 'Frame {0}'.format(self.frame_count))
self.frame_count += 1
#results of image processor
results = sc_dispatcher.retreive()
# get image that was passed with the image processor
img = imageQueue.get()
#get vehicle position that was passed with the image processor
location, attitude = vehicleQueue.get()
#overlay gui
rend_Image = gui.add_target_highlights(img, results[3])
#show/record images
sc_logger.image(sc_logger.RAW, img)
sc_logger.image(sc_logger.GUI, rend_Image)
#display/log data
sc_logger.text(sc_logger.ALGORITHM,'RunTime: {0} Center: {1} Distance: {2} Raw Target: {3}'.format(results[0],results[1],results[2],results[3]))
sc_logger.text(sc_logger.AIRCRAFT,attitude)
sc_logger.text(sc_logger.AIRCRAFT,location)
#send commands to autopilot
if(results[2]!=-1):
self.flag = True
if(self.flag==True):
self.control(results,attitude,location)
else:
if(self.pl_enabled == False):
sc_logger.text(sc_logger.GENERAL, 'Landing disabled')
else:
sc_logger.text(sc_logger.GENERAL, 'Not in landing mode or Landing Area')
#terminate program
sc_logger.text(sc_logger.GENERAL, 'Vehicle disconnected, Program Terminated')
if(self.simulator == False):
sc_video.stop_capture()
