def test_filter_boundary():
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
regions = []
regOne = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regOne.latlon=(-26.6398870, 151.8220000)
regOne.score = 20
regions.append(regOne)
regTwo = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regTwo.score = 32
regTwo.latlon=(-26.6418700, 151.8709260)
regions.append(regTwo)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
ret = cuav_region.filter_boundary(regions, OBC_boundary, pos)
assert len(ret) == 2
assert ret[0].score == 0
assert ret[1].score == 32
def test_filter_boundary():
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
regions = []
regOne = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regOne.latlon=(-26.6398870, 151.8220000)
regOne.score = 20
regions.append(regOne)
regTwo = cuav_region.Region(1020, 658, 1050, 678, (30, 30))
regTwo.score = 32
regTwo.latlon=(-26.6418700, 151.8709260)
regions.append(regTwo)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=None)
ret = cuav_region.filter_boundary(regions, OBC_boundary, pos)
assert len(ret) == 2
assert ret[0].score == 0
assert ret[1].score == 32
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 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 cmd_camera(args):
"""camera commands"""
state = mpstate.camera_state
if args[0] == "start":
state.capture_count = 0
state.error_count = 0
state.error_msg = None
state.running = True
if state.capture_thread is None:
state.capture_thread = start_thread(capture_thread)
state.save_thread = start_thread(save_thread)
state.scan_thread1 = start_thread(scan_thread)
state.scan_thread2 = start_thread(scan_thread)
state.transmit_thread = start_thread(transmit_thread)
print ("started camera running")
elif args[0] == "stop":
state.running = False
print ("stopped camera capture")
elif args[0] == "status":
print (
"Cap imgs:%u err:%u scan:%u regions:%u jsize:%.0f xmitq:%u/%u lst:%u sq:%.1f eff:%.2f"
% (
state.capture_count,
state.error_count,
state.scan_count,
state.region_count,
state.jpeg_size,
state.xmit_queue,
state.xmit_queue2,
state.frame_loss,
state.scan_queue.qsize(),
state.efficiency,
)
)
if state.bsend2:
state.bsend2.report(detailed=False)
elif args[0] == "queue":
print (
"scan %u save %u transmit %u eff %.1f bw %.1f rtt %.1f"
% (
state.scan_queue.qsize(),
state.save_queue.qsize(),
state.transmit_queue.qsize(),
state.efficiency,
state.bandwidth_used,
state.rtt_estimate,
)
)
elif args[0] == "view":
if mpstate.map is None:
print ("Please load map module first")
return
if not state.viewing:
print ("Starting image viewer")
if state.view_thread is None:
state.view_thread = start_thread(view_thread)
state.viewing = True
elif args[0] == "noview":
if state.viewing:
print ("Stopping image viewer")
state.viewing = False
elif args[0] == "set":
if len(args) < 3:
state.settings.show_all()
else:
state.settings.set(args[1], args[2])
elif args[0] == "boundary":
if len(args) != 2:
print ("boundary=%s" % state.boundary)
else:
state.boundary = args[1]
state.boundary_polygon = cuav_util.polygon_load(state.boundary)
if mpstate.map is not None:
mpstate.map.add_object(
mp_slipmap.SlipPolygon("boundary", state.boundary_polygon, layer=1, linewidth=2, colour=(0, 0, 255))
)
else:
print ("usage: camera <start|stop|status|view|noview|boundary|set>")
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 cmd_camera(args):
'''camera commands'''
state = mpstate.camera_state
if args[0] == "start":
state.capture_count = 0
state.error_count = 0
state.error_msg = None
state.running = True
if state.capture_thread is None:
state.capture_thread = start_thread(capture_thread)
state.save_thread = start_thread(save_thread)
state.scan_thread1 = start_thread(scan_thread)
state.scan_thread2 = start_thread(scan_thread)
state.transmit_thread = start_thread(transmit_thread)
print("started camera running")
elif args[0] == "stop":
state.running = False
print("stopped camera capture")
elif args[0] == "status":
print("Cap imgs:%u err:%u scan:%u regions:%u jsize:%.0f xmitq:%u/%u lst:%u sq:%.1f eff:%.2f" % (
state.capture_count, state.error_count, state.scan_count, state.region_count,
state.jpeg_size,
state.xmit_queue, state.xmit_queue2, state.frame_loss, state.scan_queue.qsize(), state.efficiency))
if state.bsend2:
state.bsend2.report(detailed=False)
elif args[0] == "queue":
print("scan %u save %u transmit %u eff %.1f bw %.1f rtt %.1f" % (
state.scan_queue.qsize(),
state.save_queue.qsize(),
state.transmit_queue.qsize(),
state.efficiency,
state.bandwidth_used,
state.rtt_estimate))
elif args[0] == "view":
if mpstate.map is None:
print("Please load map module first")
return
if not state.viewing:
print("Starting image viewer")
if state.view_thread is None:
state.view_thread = start_thread(view_thread)
state.viewing = True
elif args[0] == "noview":
if state.viewing:
print("Stopping image viewer")
state.viewing = False
elif args[0] == "set":
if len(args) < 3:
state.settings.show_all()
else:
state.settings.set(args[1], args[2])
elif args[0] == "boundary":
if len(args) != 2:
print("boundary=%s" % state.boundary)
else:
state.boundary = args[1]
state.boundary_polygon = cuav_util.polygon_load(state.boundary)
if mpstate.map is not None:
mpstate.map.add_object(mp_slipmap.SlipPolygon('boundary', state.boundary_polygon, layer=1, linewidth=2, colour=(0,0,255)))
else:
print("usage: camera <start|stop|status|view|noview|boundary|set>")
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 test_Mosaic():
#slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
#mocked_slipmap.return_value = 1
#monkeypatch.setattr('slipmap', lambda x: 1)
mocked_slipmap = mock.MagicMock(return_value=1)
C_params = CameraParams(lens=4.0, sensorwidth=5.0, xresolution=1280, yresolution=960)
mosaic = cuav_mosaic.Mosaic(mocked_slipmap, C=C_params)
mosaic.set_mosaic_size((200, 200))
assert mosaic.mosaic.shape == (175, 175, 3)
f = os.path.join(os.getcwd(), 'tests', 'testdata', 'raw2016111223465120Z.png')
img = cv2.imread(f)
pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time=1478994408.76)
regions = []
regions.append(cuav_region.Region(1020, 658, 1050, 678, (30, 30), scan_score=20))
regions.append(cuav_region.Region(30, 54, 50, 74, (20, 20), scan_score=15))
regions.append(cuav_region.Region(30, 54, 55, 79, (25, 25), scan_score=10))
for i in range(40):
regions.append(cuav_region.Region(200, 600, 220, 620, (20, 20), scan_score=45))
composite = cuav_region.CompositeThumbnail(img, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
mosaic.add_image(1478994408.76, f, pos)
mosaic.show_region(0)
mosaic.view_imagefile(f)
assert mosaic.find_image_idx(f) == 0
mosaic.view_imagefile_by_idx(0)
mocked_key = mock.MagicMock(return_value=1)
mocked_key.objkey = "region 1"
assert mosaic.show_selected(mocked_key) == True
mosaic.show_closest((-30, 145), mocked_key)
mosaic.view_image.terminate()
#mosaic.map_menu_callback
#mosaic.map_callback
OBC_boundary = cuav_util.polygon_load(os.path.join(os.getcwd(), 'tests', 'testdata', 'OBC_boundary.txt'))
mosaic.set_boundary(OBC_boundary)
mosaic.change_page(1)
mosaic.hide_page()
assert len(mosaic.regions_sorted) == 25
mosaic.unhide_all()
assert len(mosaic.regions_sorted) == 43
for i in ['Score', 'ScoreReverse', 'Distinctiveness', 'Whiteness', 'Time']:
mosaic.sort_type = i
mosaic.re_sort()
#mosaic.menu_event
assert mosaic.started() == True
mosaic.popup_show_image(mosaic.regions[2])
mosaic.popup_fetch_image(mosaic.regions[2], 'fetchImageFull')
assert len(mosaic.get_image_requests()) == 1
mosaic.view_image.terminate()
#mosaic.menu_event_view
mocked_pos = mock.MagicMock(return_value=1)
mocked_pos.x = 10
mocked_pos.y = 10
assert mosaic.pos_to_region(mocked_pos) == mosaic.regions[0]
assert mosaic.objkey_to_region(mocked_key) == mosaic.regions[1]
#mosaic.mouse_event
#mosaic.mouse_event_view
mosaic.key_event(1)
assert mosaic.region_on_page(2, 0) == True
assert mosaic.region_on_page(2000, 20) == False
mosaic.mouse_region = mosaic.regions[0]
mosaic.display_mosaic_region(0)
mosaic.redisplay_mosaic()
assert mosaic.make_thumb(img, regions[0], 8).shape == (8, 8, 3)
assert mosaic.make_thumb(img, regions[0], 30).shape == (30, 30, 3)
mosaic.tag_image(1478994408.76)
#mosaic.check_events
mosaic.image_mosaic.terminate()
