def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
if mpstate.continue_mode:
mode = 'a'
else:
mode = 'w'
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), mode=mode)
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.settings.depth == 16:
im = numpy.zeros((960, 1280), dtype='uint16')
else:
im = numpy.zeros((960, 1280), dtype='uint8')
if last_gamma != state.settings.gamma:
chameleon.set_gamma(h, state.settings.gamma)
last_gamma = state.settings.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter + 1)
gammalog.write('%f %f %f %s %u %u\n' %
(frame_time, frame_time + base_time, capture_time,
cuav_util.frame_time(frame_time + base_time),
frame_counter, state.settings.gamma))
gammalog.flush()
state.save_queue.put((base_time + frame_time, im))
state.scan_queue.put((base_time + frame_time, im))
state.capture_count += 1
state.fps = 1.0 / (frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
except chameleon.error, msg:
state.error_count += 1
state.error_msg = msg
def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), "w")
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.depth == 16:
im = numpy.zeros((960,1280),dtype='uint16')
else:
im = numpy.zeros((960,1280),dtype='uint8')
if last_gamma != state.gamma:
chameleon.set_gamma(h, state.gamma)
last_gamma = state.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter+1)
gammalog.write('%f %f %f %s %u %u\n' % (frame_time,
frame_time+base_time,
capture_time,
cuav_util.frame_time(frame_time+base_time),
frame_counter,
state.gamma))
gammalog.flush()
state.save_queue.put((base_time+frame_time,im))
state.scan_queue.put((base_time+frame_time,im))
state.capture_count += 1
state.fps = 1.0/(frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
except chameleon.error, msg:
state.error_count += 1
state.error_msg = msg
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.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.depth = 8
self.gcs_address = None
self.gcs_view_port = 7543
self.bandwidth = 120000
self.capture_brightness = 150
self.gamma = 950
self.lens = 5.0
self.brightness = 1.0
self.quality = 75
self.jpeg_size = 0
self.xmit_queue = 0
self.efficiency = 1.0
self.last_watch = 0
self.frame_loss = 0
self.colour = 1
self.boundary = None
self.packet_loss = 0
self.save_pgm = True
self.bandwidth_used = 0
self.rtt_estimate = 0
self.transmit = True
# 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)
self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, 'joe.log'))
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.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.depth = 8
self.gcs_address = None
self.gcs_view_port = 7543
self.bandwidth = 120000
self.capture_brightness = 150
self.gamma = 950
self.lens = 5.0
self.brightness = 1.0
self.quality = 75
self.jpeg_size = 0
self.xmit_queue = 0
self.efficiency = 1.0
self.last_watch = 0
self.frame_loss = 0
self.colour = 1
self.boundary = None
self.packet_loss = 0
self.save_pgm = True
self.bandwidth_used = 0
self.rtt_estimate = 0
self.transmit = True
# 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)
self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, 'joe.log'))
def save_thread():
'''image save thread'''
state = mpstate.camera_state
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
while not state.unload.wait(0.02):
if state.save_queue.empty():
continue
(frame_time,im) = state.save_queue.get()
rawname = "raw%s" % cuav_util.frame_time(frame_time)
if state.save_pgm:
chameleon.save_pgm('%s/%s.pgm' % (raw_dir, rawname), im)
def save_thread():
'''image save thread'''
state = mpstate.camera_state
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
while not state.unload.wait(0.02):
if state.save_queue.empty():
continue
(frame_time, im) = state.save_queue.get()
rawname = "raw%s" % cuav_util.frame_time(frame_time)
if state.save_pgm:
chameleon.save_pgm('%s/%s.pgm' % (raw_dir, rawname), im)
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.gcs_view_port, state.bandwidth)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
while not state.unload.wait(0.02):
if state.viewing:
bsend.tick(packet_count=1000)
cv.WaitKey(1)
if not view_window:
view_window = True
key = cv.WaitKey(1)
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map, lens=state.lens)
if state.boundary is not None:
boundary = cuav_util.polygon_load(state.boundary)
mosaic.set_boundary(boundary)
buf = bsend.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
thumb_total_bytes += len(buf)
# save the thumbnails
filename = '%s/v%s.jpg' % (thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.thumb)
composite = cv.LoadImage(filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
pos = get_plane_position(obj.frame_time)
log_joe_position(pos, obj.frame_time, obj.regions, filename)
# update the mosaic and map
mosaic.add_regions(obj.regions, thumbs, obj.latlon_list, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost', 'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions', 'Regions %u' % region_count)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % (thumb_total_bytes/thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
# save it to disk
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
# work out where we were at the time
try:
pos = state.mpos.position(obj.frame_time, 0)
except mav_position.MavInterpolatorException, msg:
print msg
pos = None
if pos:
mosaic.add_image(filename, img, pos)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
cv.ConvertScale(display_img, display_img, scale=state.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status('JPGSize', 'JPG Size %.0f' % (jpeg_total_bytes/image_count))
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % (image_total_bytes/image_count))
else:
if view_window:
view_window = False
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.settings.gcs_view_port,
bandwidth=state.settings.bandwidth)
state.bsocket = MavSocket(mpstate.mav_master[0])
state.bsend2 = block_xmit.BlockSender(mss=96,
sock=state.bsocket,
dest_ip='mavlink',
dest_port=0,
backlog=5,
debug=False)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
thumbs_received = set()
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
ack_time = time.time()
while not state.unload.wait(0.02):
if state.viewing:
tnow = time.time()
if tnow - ack_time > 0.1:
bsend.tick(packet_count=1000,
max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000,
max_queue=state.settings.maxqueue2)
if state.bsend_slave is not None:
state.bsend_slave.tick(packet_count=1000)
ack_time = tnow
if not view_window:
view_window = True
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map,
C=state.c_params)
if state.boundary_polygon is not None:
mosaic.set_boundary(state.boundary_polygon)
if mpstate.continue_mode:
reload_mosaic(mosaic)
# check for keyboard events
mosaic.check_events()
buf = bsend.recv(0)
if buf is None:
buf = state.bsend2.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if state.settings.gcs_slave is not None:
if state.bsend_slave is None:
state.bsend_slave = block_xmit.BlockSender(
0,
bandwidth=state.settings.bandwidth * 10,
debug=False)
state.bsend_slave.send(buf,
dest=(state.settings.gcs_slave,
state.settings.gcs_view_port),
priority=1)
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
if obj.frame_time in thumbs_received:
continue
thumbs_received.add(obj.frame_time)
thumb_total_bytes += len(buf)
# save the thumbnails
thumb_filename = '%s/v%s.jpg' % (
thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(thumb_filename, obj.thumb)
composite = cv.LoadImage(thumb_filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
pos = obj.pos
log_joe_position(pos, obj.frame_time, obj.regions, filename,
thumb_filename)
# update the mosaic and map
mosaic.set_brightness(state.settings.brightness)
mosaic.add_regions(obj.regions, thumbs, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost',
'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions',
'Regions %u' % region_count)
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status(
'ThumbSize',
'ThumbSize %.0f' % (thumb_total_bytes / thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
state.xmit_queue = obj.xmit_queue
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
# save it to disk
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
mosaic.add_image(obj.frame_time, filename, obj.pos)
cv.ConvertScale(display_img,
display_img,
scale=state.settings.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status(
'JPGSize',
'JPG Size %.0f' % (jpeg_total_bytes / image_count))
mpstate.console.set_status(
'ImageSize',
'ImageSize %.0f' % (image_total_bytes / image_count))
if isinstance(obj, CommandResponse):
print('REMOTE: %s' % obj.response)
else:
if view_window:
view_window = False
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 view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.settings.gcs_view_port, state.settings.bandwidth)
state.bsocket = MavSocket(mpstate.mav_master[0])
state.bsend2 = block_xmit.BlockSender(mss=96, sock=state.bsocket, dest_ip='mavlink', dest_port=0, backlog=5, debug=False)
state.bsend2.set_bandwidth(state.settings.bandwidth2)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
thumbs_received = set()
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
ack_time = time.time()
while not state.unload.wait(0.02):
if state.viewing:
tnow = time.time()
if tnow - ack_time > 0.1:
bsend.tick(packet_count=1000, max_queue=state.settings.maxqueue1)
state.bsend2.tick(packet_count=1000, max_queue=state.settings.maxqueue2)
ack_time = tnow
if not view_window:
view_window = True
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map, C=state.c_params)
if state.boundary_polygon is not None:
mosaic.set_boundary(state.boundary_polygon)
if mpstate.continue_mode:
reload_mosaic(mosaic)
# check for keyboard events
mosaic.check_events()
buf = bsend.recv(0)
if buf is None:
buf = state.bsend2.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
if obj.frame_time in thumbs_received:
continue
thumbs_received.add(obj.frame_time)
thumb_total_bytes += len(buf)
# save the thumbnails
thumb_filename = '%s/v%s.jpg' % (thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(thumb_filename, obj.thumb)
composite = cv.LoadImage(thumb_filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
pos = obj.pos
log_joe_position(pos, obj.frame_time, obj.regions, filename, thumb_filename)
# update the mosaic and map
mosaic.add_regions(obj.regions, thumbs, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost', 'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions', 'Regions %u' % region_count)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % (thumb_total_bytes/thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
state.xmit_queue = obj.xmit_queue
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
# save it to disk
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
mosaic.add_image(obj.frame_time, filename, obj.pos)
cv.ConvertScale(display_img, display_img, scale=state.settings.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status('JPGSize', 'JPG Size %.0f' % (jpeg_total_bytes/image_count))
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % (image_total_bytes/image_count))
if isinstance(obj, CommandResponse):
print('REMOTE: %s' % obj.response)
else:
if view_window:
view_window = False
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)
]
)
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
# 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)
h, base_time, last_frame_time = get_base_time(opts.depth, colour=colour, capture_brightness=opts.capbrightness)
print("Found camera: colour=%u GUID=%x" % (colour, chameleon.guid(h)))
if opts.depth == 8:
dtype = 'uint8'
else:
dtype = 'uint16'
im = numpy.zeros((960,1280),dtype=dtype)
cv.NamedWindow('Viewer')
tstart = time.time()
chameleon.trigger(h, True)
chameleon.set_gamma(h, opts.gamma)
cuav_util.mkdir_p(opts.output)
start_thread(save_thread)
i=0
lost = 0
while True:
try:
frame_time, frame_counter, shutter = chameleon.capture(h, 300, im)
except chameleon.error, msg:
lost += 1
continue
if frame_time < last_frame_time:
base_time += 128
save_queue.put((frame_time+base_time, im))
last_frame_time = frame_time
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")
for f in files:
frame_time = cuav_util.parse_frame_time(f)
if mpos:
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_full(im_8bit, im_full)
im_640 = numpy.zeros((480, 640, 3), dtype="uint8")
scanner.downsample(im_full, im_640)
else:
im_full = cv.LoadImage(f)
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640)
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_full(im_full)
else:
regions = scanner.scan(img_scan)
count += 1
regions = cuav_region.RegionsConvert(regions)
t1 = time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore)
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, quality=opts.quality
)
chameleon.save_file("composite.jpg", composite)
thumbs = cuav_mosaic.ExtractThumbs(cv.LoadImage("composite.jpg"), 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()
if opts.fullres:
x1 *= 2
y1 *= 2
x2 *= 2
y2 *= 2
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
print ("%s scan %.1f fps %u regions [%u/%u]" % (f, count / total_time, region_count, scan_count, num_files))
def capture_thread():
'''camera capture thread'''
state = mpstate.camera_state
t1 = time.time()
last_frame_counter = 0
h = None
last_gamma = 0
raw_dir = os.path.join(state.camera_dir, "raw")
cuav_util.mkdir_p(raw_dir)
if mpstate.continue_mode:
mode = 'a'
else:
mode = 'w'
gammalog = open(os.path.join(state.camera_dir, "gamma.log"), mode=mode)
while not mpstate.camera_state.unload.wait(0.02):
if not state.running:
if h is not None:
chameleon.close(h)
h = None
continue
try:
if h is None:
h, base_time, last_frame_time = get_base_time()
# put into continuous mode
chameleon.trigger(h, True)
capture_time = time.time()
if state.depth == 16:
im = numpy.zeros((600,800,3),dtype='uint16')
else:
im = numpy.zeros((600,800,3),dtype='uint8')
#im = numpy.zeros((600,800),dtype='uint16')
if last_gamma != state.gamma:
chameleon.set_gamma(h, state.gamma)
last_gamma = state.gamma
frame_time, frame_counter, shutter = chameleon.capture(h, 1000, im)
#cv.SaveImage("/home/root/opencv/blob/captures/downsampled.jpg",cv.fromarray(im))
#cv.cvSaveImage("/tmp/test.jpg",im)
if frame_time < last_frame_time:
base_time += 128
if last_frame_counter != 0:
state.frame_loss += frame_counter - (last_frame_counter+1)
gammalog.write('%f %f %f %s %u %u\n' % (frame_time,
frame_time+base_time,
capture_time,
cuav_util.frame_time(frame_time+base_time),
frame_counter,
state.gamma))
gammalog.flush()
state.save_queue.put((base_time+frame_time,im))
state.scan_queue.put((base_time+frame_time,im))
state.capture_count += 1
state.fps = 1.0/(frame_time - last_frame_time)
last_frame_time = frame_time
last_frame_counter = frame_counter
#except chameleon.error, msg:
except Exception, msg:
state.error_count += 1
state.error_msg = msg
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.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.depth = 8
self.gcs_address = None
self.gcs_view_port = 7543
self.bandwidth = 40000
self.bandwidth2 = 800
self.capture_brightness = 150
self.gamma = 950
self.c_params = CameraParams(lens=4.0)
self.brightness = 1.0
self.quality = 75
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.colour = 1
self.boundary = None
self.boundary_polygon = None
self.packet_loss = 0
self.save_pgm = True
self.bandwidth_used = 0
self.rtt_estimate = 0
self.transmit = True
self.roll_stabilised = True
self.minscore = 3
self.altitude = None
self.bsocket = None
self.bsend2 = None
self.send2 = False
self.thumbsize = 60
# 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 view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.gcs_view_port, state.bandwidth)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
while not state.unload.wait(0.02):
if state.viewing:
bsend.tick(packet_count=1000)
cv.WaitKey(1)
if not view_window:
view_window = True
key = cv.WaitKey(1)
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map,
lens=state.lens)
if state.boundary is not None:
boundary = cuav_util.polygon_load(state.boundary)
mosaic.set_boundary(boundary)
buf = bsend.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
thumb_total_bytes += len(buf)
# save the thumbnails
filename = '%s/v%s.jpg' % (
thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.thumb)
composite = cv.LoadImage(filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
pos = get_plane_position(obj.frame_time)
log_joe_position(pos, obj.frame_time, obj.regions, filename)
# update the mosaic and map
mosaic.add_regions(obj.regions,
thumbs,
obj.latlon_list,
filename,
pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost',
'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions',
'Regions %u' % region_count)
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status(
'ThumbSize',
'ThumbSize %.0f' % (thumb_total_bytes / thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
# save it to disk
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
# work out where we were at the time
try:
pos = state.mpos.position(obj.frame_time, 0)
except mav_position.MavInterpolatorException, msg:
print msg
pos = None
if pos:
mosaic.add_image(filename, img, pos)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
cv.ConvertScale(display_img,
display_img,
scale=state.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status(
'JPGSize',
'JPG Size %.0f' % (jpeg_total_bytes / image_count))
mpstate.console.set_status(
'ImageSize',
'ImageSize %.0f' % (image_total_bytes / image_count))
else:
if view_window:
view_window = False
