def test_JoeLog_JoeIterator():
joelog = cuav_joe.JoeLog(os.path.join('.', 'joe.log'), False)
regions = []
frame_time = 1478954763.0
C = CameraParams(lens=4.0,
sensorwidth=5.0,
xresolution=1024,
yresolution=768)
regions.append(cuav_region.Region(10, 10, 25, 23, None, scan_score=450))
regions.append(cuav_region.Region(200, 205, 252, 236, None,
scan_score=420))
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345,
frame_time)
joelog.add_regions(frame_time, regions, pos, 'img2017111312451230Z.png')
joeread = cuav_joe.JoeIterator(os.path.join('.', 'joe.log'))
joeret = joeread.getjoes()
assert len(joeret) == 2
assert joeret[
0] == "JoePosition(lat=-30.000235 lon=144.999639 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (10, 10, 25, 23) latlon=(-30.000235126851315, 144.9996388367703) score=None Sat Nov 12 23:46:03 2016 2016111212460300Z)" or "JoePosition(lat=-30.000235 lon=144.999639 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (10, 10, 25, 23) latlon=(-30.000235126851315, 144.9996388367703) score=None Sat Nov 12 12:46:03 2016 2016111212460300Z)"
assert joeret[
1] == "JoePosition(lat=-30.000367 lon=144.999711 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (200, 205, 252, 236) latlon=(-30.000366794010567, 144.9997107272955) score=None Sat Nov 12 23:46:03 2016 2016111212460300Z)" or "JoePosition(lat=-30.000367 lon=144.999711 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (200, 205, 252, 236) latlon=(-30.000366794010567, 144.9997107272955) score=None Sat Nov 12 12:46:03 2016 2016111212460300Z)"
os.remove(os.path.join('.', 'joe.log'))
def cmd_camera(self, args):
'''camera commands'''
usage = "usage: camera <status|view|boundary|set>"
if len(args) == 0:
print(usage)
return
elif args[0] == "status":
#print("Cap imgs: regions:%u" % (self.region_count))
#request status update from air module
pkt = cuav_command.CommandPacket('status')
self.send_packet(pkt)
pkt = cuav_command.CommandPacket('queue')
self.send_packet(pkt)
elif args[0] == "view":
#check cam params
if not self.check_camera_parms():
print("Error - incorrect camera params")
return
if self.mpstate.map is None:
print("Error - load map module first")
return
if not self.viewing:
print("Starting image viewer")
self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir,
'joe_ground.log'),
append=self.continue_mode)
if self.view_thread is None:
self.view_thread = self.start_thread(self.view_threadfunc)
self.viewing = True
elif args[0] == "set":
self.camera_settings.command(args[1:])
elif args[0] == "boundary":
if len(args) != 2:
print("boundary=%s" % self.boundary)
else:
self.boundary = args[1]
self.boundary_polygon = cuav_util.polygon_load(self.boundary)
if self.mpstate.map is not None:
self.mpstate.map.add_object(
mp_slipmap.SlipPolygon('boundary',
self.boundary_polygon,
layer=1,
linewidth=2,
colour=(0, 0, 255)))
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if self.mpstate.status.watch in [
"camera", "queue"
] and time.time() > self.last_watch + 1:
self.last_watch = time.time()
self.cmd_camera([
"status" if self.mpstate.status.watch == "camera" else "queue"
])
# update position interpolator
self.mpos.add_msg(m)
if m.get_type(
) == 'SYSTEM_TIME' and self.camera_settings.clock_sync and self.capture_thread is not None:
# optionally sync system clock on the capture side
self.sync_gps_clock(m.time_unix_usec)
if m.get_type(
) == 'VFR_HUD' and self.airstart_triggered and not self.running:
#if the airstart is triggered and we're flying, then start capture
if m.airspeed > self.camera_settings.minspeed or m.groundspeed > self.camera_settings.minspeed:
self.running = True
self.joelog = cuav_joe.JoeLog(os.path.join(
os.path.dirname(self.camera_settings.imagefile),
'joe_air.log'),
append=self.continue_mode)
self.capture_thread = self.start_thread(
self.capture_threadfunc)
self.scan_thread = self.start_thread(self.scan_threadfunc)
self.send_message("Started cuav running")
print("Started cuav running")
if m.get_type() == "TERRAIN_REPORT":
self.terrain_alt = m.current_height
if m.get_type(
) == "HEARTBEAT" and m.type != mavutil.mavlink.MAV_TYPE_GCS:
was_armed = self.is_armed
self.is_armed = (m.base_mode
& mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0
if not self.is_armed and was_armed:
stopfile = self.camera_settings.imagefile + ".stop"
if not os.path.exists(stopfile):
print("Creating stop file")
open(stopfile, "w").write("")
if m.get_type() in ['DATA16', 'DATA32', 'DATA64', 'DATA96']:
if self.msocket is not None:
self.msocket.incoming.append(m)
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(glob.glob(os.path.join(a, '*.pgm')))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if opts.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.boundary:
boundary = cuav_util.polygon_load(opts.boundary)
else:
boundary = None
if opts.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('planetracker.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
C_params = cam_params.CameraParams(lens=opts.lens)
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..',
'cuav', 'data', 'chameleon1_arecont0.json')
C_params.load(path)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if opts.joe:
joes = cuav_util.polygon_load(opts.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if opts.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
for f in files:
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if opts.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, opts.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print e
pos = None
else:
pos = None
# check for any events from the map
if opts.mosaic:
slipmap.check_events()
mosaic.check_events()
if f.endswith('.pgm'):
pgm = cuav_util.PGM(f)
im = pgm.array
if pgm.eightbit:
im_8bit = im
else:
im_8bit = numpy.zeros((960,1280,1),dtype='uint8')
if opts.gamma != 0:
scanner.gamma_correct(im, im_8bit, opts.gamma)
else:
scanner.reduce_depth(im, im_8bit)
im_full = numpy.zeros((960,1280,3),dtype='uint8')
scanner.debayer(im_8bit, im_full)
im_640 = numpy.zeros((480,640,3),dtype='uint8')
scanner.downsample(im_full, im_640)
else:
im_orig = cv.LoadImage(f)
(w,h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
img_scan = im_640
t0=time.time()
for i in range(opts.repeat):
if opts.fullres:
regions = scanner.scan(im_full)
regions = cuav_region.RegionsConvert(regions, 1280, 960)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions)
count += 1
t1=time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore,
filter_type=opts.filter_type)
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and opts.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(opts.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(opts.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=1280, height=960, altitude=opts.altitude)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if opts.mosaic and len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.compress:
jpeg = scanner.jpeg_compress(im_full, opts.quality)
jpeg_filename = f[:-4] + '.jpg'
if os.path.exists(jpeg_filename):
print('jpeg %s already exists' % jpeg_filename)
continue
chameleon.save_file(jpeg_filename, jpeg)
if opts.view:
if opts.fullres:
img_view = im_full
else:
img_view = img_scan
mat = cv.fromarray(img_view)
for r in regions:
(x1,y1,x2,y2) = r.tuple()
(w,h) = cuav_util.image_shape(img_view)
x1 = x1*w//1280
x2 = x2*w//1280
y1 = y1*h//960
y2 = y2*h//960
cv.Rectangle(mat, (max(x1-2,0),max(y1-2,0)), (x2+2,y2+2), (255,0,0), 2)
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
if os.path.isdir(args.directory):
files.extend(file_list(args.directory, ['jpg', 'pgm', 'png']))
else:
if args.directory.find('*') != -1:
files.extend(glob.glob(args.directory))
else:
files.append(args.directory)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=args.service,
elevation=True,
title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
for flag in args.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = slipmap.icon(icon)
slipmap.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
if args.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(args.mission.name)
plist = wp.polygon_list()
if len(plist) > 0:
for i in range(len(plist)):
slipmap.add_object(
mp_slipmap.SlipPolygon('Mission-%s-%u' %
(args.mission.name, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
if args.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(args.mavlog.name)
else:
mpos = None
if args.gammalog is not None:
gamma = parse_gamma_log(args.gammalog)
else:
gamma = None
if args.kmzlog:
kmzpos = mav_position.KmlPosition(args.kmzlog.name)
else:
kmzpos = None
if args.triggerlog:
triggerpos = mav_position.TriggerPosition(args.triggerlog.name)
else:
triggerpos = None
# create a simple lens model using the focal length
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
C_params = cam_params.CameraParams(lens=args.lens,
sensorwidth=args.sensorwidth,
xresolution=args.xresolution,
yresolution=args.yresolution)
if args.target:
target = args.target.split(',')
else:
target = [0, 0, 0]
camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, args.roll_stabilised,
'Roll Stabilised'),
MPSetting('altitude',
int,
args.altitude,
'Altitude',
range=(0, 10000),
increment=1),
MPSetting(
'minalt', int, 30, 'MinAltitude', range=(0, 10000), increment=1),
MPSetting('mpp100',
float,
0.0977,
'MPPat100m',
range=(0, 10000),
increment=0.001),
MPSetting('rotate180', bool, args.rotate_180, 'rotate180'),
MPSetting('filter_type',
str,
'compactness',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('target_lattitude',
float,
float(target[0]),
'target latitude',
increment=1.0e-7),
MPSetting('target_longitude',
float,
float(target[1]),
'target longitude',
increment=1.0e-7),
MPSetting('target_radius',
float,
float(target[2]),
'target radius',
increment=1),
MPSetting('quality',
int,
75,
'Compression Quality',
range=(1, 100),
increment=1),
MPSetting('thumbsize',
int,
args.thumbsize,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
args.minscore,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display'),
],
title='Camera Settings')
image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.05,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
4.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.02,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('BlueEmphasis', bool, args.blue_emphasis),
MPSetting('SaveIntermediate', bool, args.debug)
],
title='Image Settings')
mosaic = cuav_mosaic.Mosaic(slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True,
classify=args.categories,
thumb_size=args.mosaic_thumbsize)
joelog = cuav_joe.JoeLog(None)
if args.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
start_time = time.time()
for f in files:
if not mosaic.started():
print("Waiting for startup")
if args.start:
mosaic.has_started = True
while not mosaic.started():
mosaic.check_events()
time.sleep(0.01)
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
if gamma is not None:
frame_time = parse_gamma_time(f, gamma)
else:
frame_time = cuav_util.parse_frame_time(f)
frame_time += args.time_offset
if camera_settings.roll_stabilised:
roll = 0
else:
roll = None
try:
pos = mpos.position(frame_time, roll=roll)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += args.time_offset
# update the plane icon on the map
if pos is not None:
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
if camera_settings.altitude > 0:
pos.altitude = camera_settings.altitude
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
im_orig = cuav_util.LoadImage(f, rotate180=camera_settings.rotate180)
if im_orig is None:
continue
(w, h) = cuav_util.image_shape(im_orig)
if False:
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = im_orig
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
t0 = time.time()
img_scan = im_full
scan_parms = {}
for name in image_settings.list():
scan_parms[name] = image_settings.get(name)
scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate'])
scan_parms['BlueEmphasis'] = float(scan_parms['BlueEmphasis'])
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
altitude = pos.altitude
if altitude < camera_settings.minalt:
altitude = camera_settings.minalt
scan_parms[
'MetersPerPixel'] = camera_settings.mpp100 * altitude / 100.0
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full))
count += 1
t1 = time.time()
frame_time = pos.time
if pos:
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=altitude, C=C_params)
if camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (camera_settings.target_lattitude,
camera_settings.target_longitude),
camera_settings.target_radius)
regions = cuav_region.filter_regions(
im_full,
regions,
frame_time=frame_time,
min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type)
scan_count += 1
if pos and len(regions) > 0:
altitude = camera_settings.altitude
if altitude <= 0:
altitude = None
joelog.add_regions(frame_time,
regions,
pos,
f,
width=w,
height=h,
altitude=altitude)
mosaic.add_image(pos.time, f, pos)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(mat, (255, 0, 0))
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
viewer.set_title('Image: ' + os.path.basename(f))
if args.saveview:
cv.CvtColor(mat, mat, cv.CV_RGB2BGR)
cv.SaveImage('view-' + os.path.basename(f), mat)
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))
#raw_input("hit ENTER when ready")
print("All images processed (%u seconds)" % (time.time() - start_time))
while True:
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
time.sleep(0.2)
def __init__(self):
self.running = False
self.unload = threading.Event()
self.unload.clear()
self.capture_thread = None
self.save_thread = None
self.scan_thread1 = None
self.scan_thread2 = None
self.transmit_thread = None
self.view_thread = None
self.settings = mp_settings.MPSettings(
[ ('depth', int, 8),
('gcs_address', str, None),
('gcs_view_port', int, 7543),
('bandwidth', int, 40000),
('bandwidth2', int, 2000),
('capture_brightness', int, 150),
('gamma', int, 950),
('brightness', float, 1.0),
('quality', int, 75),
('save_pgm', int, 1),
('transmit', int, 1),
('roll_stabilised', int, 1),
('minscore', int, 75),
('minscore2', int, 500),
('altitude', int, None),
('send1', int, 1),
('send2', int, 1),
('maxqueue1', int, None),
('maxqueue2', int, 30),
('thumbsize', int, 60),
('packet_loss', int, 0),
('gcs_slave', str, None)
]
)
self.capture_count = 0
self.scan_count = 0
self.error_count = 0
self.error_msg = None
self.region_count = 0
self.fps = 0
self.scan_fps = 0
self.cam = None
self.save_queue = Queue.Queue()
self.scan_queue = Queue.Queue()
self.transmit_queue = Queue.Queue()
self.viewing = False
self.c_params = CameraParams(lens=4.0)
self.jpeg_size = 0
self.xmit_queue = 0
self.xmit_queue2 = 0
self.efficiency = 1.0
self.last_watch = 0
self.frame_loss = 0
self.boundary = None
self.boundary_polygon = None
self.bandwidth_used = 0
self.rtt_estimate = 0
self.bsocket = None
self.bsend2 = None
self.bsend_slave = None
# setup directory for images
self.camera_dir = os.path.join(os.path.dirname(mpstate.logfile_name),
"camera")
cuav_util.mkdir_p(self.camera_dir)
self.mpos = mav_position.MavInterpolator(backlog=5000, gps_lag=0.3)
self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, 'joe.log'), append=mpstate.continue_mode)
# load camera params
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..',
'cuav', 'data', 'chameleon1_arecont0.json')
self.c_params.load(path)
def cmd_camera(self, args):
'''camera commands'''
usage = "usage: camera <start|airstart|stop|status|queue|set>"
if len(args) == 0:
print(usage)
return
if args[0] == "start":
self.capture_count = 0
self.error_count = 0
self.error_msg = None
#check cam params
if not self.check_camera_parms():
print("Error - incorrect camera params " +
str(self.camera_settings.camparms))
return
if self.running == False:
self.running = True
self.joelog = cuav_joe.JoeLog(os.path.join(
os.path.dirname(self.camera_settings.imagefile),
'joe_air.log'),
append=self.continue_mode)
self.capture_thread = self.start_thread(
self.capture_threadfunc)
self.scan_thread = self.start_thread(self.scan_threadfunc)
self.transmit_thread = self.start_thread(
self.transmit_threadfunc)
time.sleep(0.1)
self.send_message("Started cuav running")
print("Started cuav running")
else:
self.send_message("cuav already running")
print("cuav already running")
elif args[0] == "stop":
self.running = False
self.airstart_triggered = False
print("Stopped cuav")
self.send_message("Stopped cuav")
elif args[0] == "status":
ret = "Cap imgs:%u err:%u scan:%u regions:%u jsize:%.0f xmitq:%s sq:%u eff:%s" % (
self.capture_count, self.error_count, self.scan_count,
self.region_count, self.jpeg_size, self.xmit_queue,
self.scan_queue.qsize(), self.efficiency)
print(ret)
self.send_message(ret)
elif args[0] == "queue":
ret = "scan %u transmit %u eff %s bw %s rtt %s" % (
self.scan_queue.qsize(), self.transmit_queue.qsize(),
self.efficiency, self.bandwidth_used, self.rtt_estimate)
print(ret)
elif args[0] == "set":
self.camera_settings.command(args[1:])
elif args[0] == "airstart":
#just keep the block xmit going for now
self.capture_count = 0
self.error_count = 0
self.error_msg = None
#check cam params
if not self.check_camera_parms():
print("Error - incorrect camera params " +
str(self.camera_settings.camparms))
return
if self.airstart_triggered == False:
self.airstart_triggered = True
self.joelog = cuav_joe.JoeLog(os.path.join(
os.path.dirname(self.camera_settings.imagefile),
'joe_air.log'),
append=self.continue_mode)
self.transmit_thread = self.start_thread(
self.transmit_threadfunc)
time.sleep(0.1)
self.send_message("cuav airstart ready")
print("cuav airstart ready")
else:
self.send_message("cuav airstart already running")
print("cuav airstart already running")
else:
print(usage)
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(file_list(a, ['jpg', 'pgm', 'png']))
else:
if a.find('*') != -1:
files.extend(glob.glob(a))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=opts.service,
elevation=True,
title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if opts.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(opts.mission)
boundary = wp.polygon()
slipmap.add_object(
mp_slipmap.SlipPolygon('mission',
boundary,
layer=1,
linewidth=1,
colour=(255, 255, 255)))
if opts.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.kmzlog:
kmzpos = mav_position.KmlPosition(opts.kmzlog)
else:
kmzpos = None
if opts.triggerlog:
triggerpos = mav_position.TriggerPosition(opts.triggerlog)
else:
triggerpos = None
# create a simple lens model using the focal length
C_params = cam_params.CameraParams(lens=opts.lens,
sensorwidth=opts.sensorwidth)
if opts.camera_params:
C_params.load(opts.camera_params)
camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, True, 'Roll Stabilised'),
MPSetting(
'altitude', int, 0, 'Altitude', range=(0, 10000), increment=1),
MPSetting('filter_type',
str,
'simple',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('fullres', bool, False, 'Full Resolution'),
MPSetting('quality',
int,
75,
'Compression Quality',
range=(1, 100),
increment=1),
MPSetting('thumbsize',
int,
60,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
75,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display')
],
title='Camera Settings')
image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
2.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.1,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting(
'MaxRegionSize', float, 2, range=(0, 100), increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('SaveIntermediate', bool, False)
],
title='Image Settings')
mosaic = cuav_mosaic.Mosaic(slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True)
joelog = cuav_joe.JoeLog(None)
if opts.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
if camera_settings.filter_type == 'compactness':
calculate_compactness = True
print("Using compactness filter")
else:
calculate_compactness = False
for f in files:
if not mosaic.started():
print("Waiting for startup")
while not mosaic.started():
mosaic.check_events()
time.sleep(0.01)
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
frame_time = cuav_util.parse_frame_time(f) + opts.time_offset
if camera_settings.roll_stabilised:
roll = 0
else:
roll = None
try:
pos = mpos.position(frame_time, roll=roll)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += opts.time_offset
# update the plane icon on the map
if pos is not None:
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
if camera_settings.altitude > 0:
pos.altitude = camera_settings.altitude
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
im_orig = cuav_util.LoadImage(f)
(w, h) = cuav_util.image_shape(im_orig)
if not opts.camera_params:
C_params.set_resolution(w, h)
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
t0 = time.time()
if camera_settings.fullres:
img_scan = im_full
else:
img_scan = im_640
scan_parms = {}
for name in image_settings.list():
scan_parms[name] = image_settings.get(name)
scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate'])
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
mpp = cuav_util.meters_per_pixel(pos, C=C_params)
if mpp is not None:
scan_parms['MetersPerPixel'] = mpp * (w / float(sw))
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full),
calculate_compactness)
count += 1
t1 = time.time()
frame_time = pos.time
regions = cuav_region.filter_regions(
im_full,
regions,
frame_time=frame_time,
min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type)
scan_count += 1
mosaic.add_image(pos.time, f, pos)
if pos and len(regions) > 0:
altitude = camera_settings.altitude
if altitude <= 0:
altitude = None
joelog.add_regions(frame_time,
regions,
pos,
f,
width=w,
height=h,
altitude=altitude)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(mat, (255, 0, 0))
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
viewer.set_title('Image: ' + os.path.basename(f))
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = scan_image_directory(args.imagedir)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if args.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=args.gps_lag)
mpos.set_logfile(args.mavlog)
else:
mpos = None
if args.boundary:
boundary = cuav_util.polygon_load(args.boundary)
else:
boundary = None
if args.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
im_orig = cv2.imread(files[0])
(w,h) = cuav_util.image_shape(im_orig)
C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth, xresolution=w, yresolution=h)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if args.joe:
joes = cuav_util.polygon_load(args.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if args.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
scan_parms = {
'MinRegionArea' : args.min_region_area,
'MaxRegionArea' : args.max_region_area,
'MinRegionSize' : args.min_region_size,
'MaxRegionSize' : args.max_region_size,
'MaxRarityPct' : args.max_rarity_pct,
'RegionMergeSize' : args.region_merge,
'SaveIntermediate' : float(0),
#'SaveIntermediate' : float(args.debug),
'MetersPerPixel' : args.meters_per_pixel100 * args.altitude / 100.0
}
filenum = 0
for f in files:
filenum += 1
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if args.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, args.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print(e)
pos = None
else:
pos = None
# check for any events from the map
if args.mosaic:
slipmap.check_events()
mosaic.check_events()
im_orig = cv2.imread(f)
(w,h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_half = cv2.resize(im_orig, (0,0), fx=0.5, fy=0.5)
im_half = numpy.ascontiguousarray(im_half)
im_full = numpy.ascontiguousarray(im_full)
count = 0
total_time = 0
if args.fullres:
img_scan = im_full
else:
img_scan = im_half
t0=time.time()
for i in range(args.repeat):
regions = scanner.scan(img_scan, scan_parms)
regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full))
count += 1
t1=time.time()
if args.filter:
regions = cuav_region.filter_regions(im_full, regions, min_score=args.minscore,
filter_type=args.filter_type)
if len(regions) > 0 and args.debug:
composite = cuav_region.CompositeThumbnail(im_full, regions, thumb_size=args.thumb_size)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
thumb_num = 0
for thumb in thumbs:
print("thumb %u score %f" % (thumb_num, regions[thumb_num].score))
cv2.imwrite('%u_thumb%u.jpg' % (filenum,thumb_num), thumb)
thumb_num += 1
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and args.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(args.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(args.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=args.altitude, C=C_params)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if args.mosaic and len(regions) > 0 and pos:
composite = cuav_region.CompositeThumbnail(im_full, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
if args.fullres:
img_view = im_full
else:
img_view = img_scan
#mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(img_view, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB)
viewer.set_image(img_view)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(file_list(a, ['jpg', 'pgm', 'png']))
else:
if a.find('*') != -1:
files.extend(glob.glob(a))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=opts.service,
elevation=True,
title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if opts.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(opts.mission)
boundary = wp.polygon()
slipmap.add_object(
mp_slipmap.SlipPolygon('mission',
boundary,
layer=1,
linewidth=1,
colour=(255, 255, 255)))
if opts.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.kmzlog:
kmzpos = mav_position.KmlPosition(opts.kmzlog)
else:
kmzpos = None
if opts.triggerlog:
triggerpos = mav_position.TriggerPosition(opts.triggerlog)
else:
triggerpos = None
# create a simple lens model using the focal length
C_params = cam_params.CameraParams(lens=opts.lens,
sensorwidth=opts.sensorwidth)
if opts.camera_params:
C_params.load(opts.camera_params)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
joelog = cuav_joe.JoeLog(None)
if opts.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
scan_parms = {
'MinRegionArea': opts.min_region_area,
'MaxRegionArea': opts.max_region_area,
'MinRegionSize': opts.min_region_size,
'MaxRegionSize': opts.max_region_size,
'MaxRarityPct': opts.max_rarity_pct,
'RegionMergeSize': opts.region_merge
}
for f in files:
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
frame_time = cuav_util.parse_frame_time(f) + opts.time_offset
if opts.roll_stabilised:
roll = 0
else:
roll = None
try:
pos = mpos.position(frame_time, roll=roll)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += opts.time_offset
# update the plane icon on the map
if pos is not None:
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
im_orig = cuav_util.LoadImage(f)
(w, h) = cuav_util.image_shape(im_orig)
if not opts.camera_params:
C_params.set_resolution(w, h)
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
t0 = time.time()
if opts.fullres:
img_scan = im_full
else:
img_scan = im_640
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
mpp = cuav_util.meters_per_pixel(pos, C=C_params)
if mpp is not None:
scan_parms['MetersPerPixel'] = mpp * (w / float(sw))
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full))
count += 1
t1 = time.time()
frame_time = pos.time
regions = cuav_region.filter_regions(im_full,
regions,
frame_time=frame_time,
min_score=opts.minscore,
filter_type=opts.filter_type)
scan_count += 1
mosaic.add_image(pos.time, f, pos)
if pos and len(regions) > 0:
joelog.add_regions(frame_time,
regions,
pos,
f,
width=w,
height=h,
altitude=opts.altitude)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(mat, (255, 0, 0))
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
viewer.set_title('Image: ' + os.path.basename(f))
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))