def test(self):
rest = ImagingInterface(host='127.0.0.1', port='5000', isDebug=False)
# feed a timestamp that has no way of existing in the table
result = rest.getStateByTs(12345.6)
self.assertIsNone(result)
# test a timestamp that should be exactly equal to
# the first record inserted by setup_db_for_client_tests.py
result = rest.getStateByTs(lowerTs)
self.assertIsNotNone(result)
lowerId = result.id
self.assertNotEqual(lowerId, -1)
self.assertEqual(result.roll, 40.111)
self.assertEqual(result.pitch, 111.222)
self.assertEqual(result.yaw, 12.3)
self.assertEqual(result.time_stamp, lowerTs)
# something right in between the two inserted timestamps
# will still return the lower
result = rest.getStateByTs((lowerTs + upperTs) / 2)
self.assertIsNotNone(result)
self.assertEqual(lowerId, result.id)
result = rest.getStateByTs(upperTs + 1.0)
self.assertIsNotNone(result)
self.assertNotEqual(lowerId, result.id)
self.assertEqual(result.time_stamp, upperTs)
self.assertEqual(result.roll, 40.222)
self.assertEqual(result.pitch, 111.333)
self.assertEqual(result.yaw, 34.5)
def test(self):
rest = ImagingInterface(host='127.0.0.1', port='5000', isDebug=False)
self.assertIsNone(rest.getStateById(-1))
# get id for the lower TS value that we know
result = rest.getStateByTs(lowerTs)
self.assertIsNotNone(result)
lowerId = result.id
result = rest.getStateByTs(upperTs)
self.assertIsNotNone(result)
upperId = result.id
result = None
result = rest.getStateById(lowerId)
self.assertIsNotNone(result)
self.assertNotEqual(lowerId, -1)
self.assertEqual(result.roll, 40.111)
self.assertEqual(result.pitch, 111.222)
self.assertEqual(result.yaw, 12.3)
self.assertEqual(result.time_stamp, lowerTs)
result = rest.getStateById(upperId)
self.assertIsNotNone(result)
self.assertNotEqual(lowerId, result.id)
self.assertEqual(result.time_stamp, upperTs)
self.assertEqual(result.roll, 40.222)
self.assertEqual(result.pitch, 111.333)
self.assertEqual(result.yaw, 34.5)
class AutonomousManager():
def __init__(self,
serverHost,
serverPort,
detection=True,
classification=True,
img_start=None,
submit_interval=120,
show=False):
"""
Initialize a top-level autonomous manager
@param serverHost: Local ip address of the machine the imaging server is running on
@param serverPort: Port the server is running on. Default 5000
@param detection: Whether the detector should be run by this manager. Default: True
@param classification: Whether the classifiers should be run by this manager. Default: False
"""
print("Autonomous Startup")
self._should_shutdown = False
self.client = ImagingInterface(serverHost,
serverPort,
isDebug=False,
isManual=False)
self.submit_interval = submit_interval
self.show = show
# for manually specifying which image in the server to start detection on
self.img_start = img_start
self.img_num = img_start
# we give the option of having a machine thats running this Manager run
# ONLY the detection algorithm, or ONLY the classification algorithm,
# or both
self.doDetection = detection
self.doClassification = classification
if detection and classification:
self.detector = AutonomousDetection()
self.classifier = AutonomousClassification()
elif not detection:
print("Turning off classification for this autonomous process")
self.detector = AutonomousDetection()
self.doClassification = False
self.doDetection = True
elif not classification:
print("Turning off detection for this autonomous process")
self.classifier = AutonomousClassification()
self.doDetection = False
self.doClassification = True
if not classification and not detection:
print("ERROR:: Cant disable both detection and classification!")
exit(1)
def submitTargets(self):
"""
submit all pending autonomous targets
"""
print("Submitting all pending targets...")
self.client.postSubmitAllTargets()
def runClassification(self):
"""
If this autonomous manager is set todo so, run classification on an available
cropped image, if any.
"""
toClassify = self.client.getNextCroppedImage()
if toClassify is not None:
imgToClassify = np.array(toClassify[0])[:, :, ::-1]
cropId = toClassify[1]
cropInfo = self.client.getCroppedImageInfo(cropId)
if cropInfo is None:
print("Failed to get cropped image info!")
return # couldnt get info on the cropped image? weird..
rawInfo = self.client.getImageInfo(cropInfo.imgId)
stateMeas = None
if rawInfo is None:
print(
"Failed to get raw image info while attempting to classify!"
)
else:
# get the state measurement closest to the raw image timestamp
stateMeas = self.client.getStateByTs(rawInfo.time_stamp)
classified = None
if stateMeas is not None:
# if we were able to get a state measurement close to our raw img timestamp use it to try and decide orientation
classified = self.classifier.classify(imgToClassify,
show=False,
yaw=stateMeas.yaw)
else:
# attempt to classify without orientation data
classified = self.classifier.classify(imgToClassify,
show=False)
# print("Crop #: %i" % (cropId))
if self.show:
to_display = self.classifier.blur_crop.copy()
cv2.putText(to_display, str(cropId), (5, 50),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1,
cv2.LINE_AA)
cv2.imshow('Crop', to_display)
key = cv2.waitKey(1) & 0xFF
if classified is not None:
print("Successfully classified crop {}!".format(cropId))
print(
"\tshape={},letter={},shapeClr={}letterClr={},orientation={}"
.format(classified['shape'], classified['letter'],
classified['shapeColor'],
classified['letterColor'],
classified['orientation']))
# TODO: Always assuming standard target for now..
toPost = Classification(cropId,
"standard",
orientation=classified['orientation'],
shape=classified['shape'],
bgColor=classified['shapeColor'],
alpha=classified['letter'],
alphaColor=classified['letterColor'])
self.client.postClass(toPost)
else:
print("Crop # %i rejected as false positive" % (cropId))
def runDetection(self):
"""
If this autonomous manager is set todo so, run detection on an available
raw image, if any.
One issue here is client_rest expects/returns a PIL image and the
detector expects/returns an opencv image (aka numpy array). So
this method has to deal with converting between the two
"""
if self.img_start is not None:
toDetect = self.client.getRawImage(
self.img_num) #returns None if the image id doesn't exist
if toDetect is not None:
self.img_num += 1
else:
toDetect = self.client.getNextRawImage(
) # returns tuple of (image, image_id)
# if there are new raw images to process
if toDetect is not None:
imgToDetect = np.array(toDetect[0])[:, :, ::-1]
imgId = toDetect[1]
results = self.detector.detect(imgToDetect, 0)
print('Img #: %i' % (imgId), ' Results: %i' % (len(results)))
print(hasattr(self.detector, 'keypoints_image'))
if self.show: # and hasattr(self.detector, 'keypoints_image'):
to_display = self.detector.keypoints_image.copy()
cv2.putText(to_display, str(imgId), (10, 50),
cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 1,
cv2.LINE_AA)
cv2.imshow('Detected', to_display)
key = cv2.waitKey(1) & 0xFF
# if the detector actually returned something that's not an empty list
if results is not None and results:
# then lets post each of its cropped images to the server
for detectedTarget in results:
pilCrop = cv2.cvtColor(detectedTarget.crop,
cv2.COLOR_BGR2RGB)
pilCrop = Image.fromarray(pilCrop)
self.client.postCroppedImage(imgId, pilCrop,
detectedTarget.topLeft,
detectedTarget.bottomRight)
def run(self):
"""
Sit and spin, checking for new images and processing them as necessary
"""
last_submit = time.time()
while 1:
if not self.client.ping(
): # confirm we can still connect to the server
print("WARN:: Cannot connect to server")
time.sleep(5)
if self.doDetection:
self.runDetection()
if self.doClassification:
self.runClassification()
if (time.time() - last_submit) > self.submit_interval:
self.submitTargets()
last_submit = time.time()
time.sleep(0.1)
def shutdown(self):
self._should_shutdown = True