def __init__( self, **kwargs ) :
for k in kwargs.keys():
if k in ['method', 'gsize', 'gsig', 'window',
'boundBoxRow', 'boundBoxCol',
'limRow', 'limCol',
'MAXONEFRAME', 'REFPING', 'MAXREF',
'capRows','capCols', 'color']:
self.__setattr__(k, kwargs[k])
self.start = time.time()
self.delay = 4
self.breakT = 3
self.breakStart = time.time()
self.justMoved = False
self.launch = 0
self.launchMAX = 20
self.setupCropping()
self.setupFindingStructures()
self.surf = None
self.sift = None
self.mser = None
self.mserFD = None
#self.Desc = None
self.Desc = None
logger.debug('Debug level: %s' % logger.getEffectiveLevel() )
logger.debug('is Debug?: %s' % str(self.isDebug()))
if not self.isDebug() and self.method != 'conf' :
self.servos = easyEBB()#(self.capCols, self.capRows), (5,5), 5)
time.sleep(2)
def __init__( self, **kwargs ) :
for k in kwargs.keys():
if k in ['method', 'gsize', 'gsig', 'window',
'MAXONEFRAME', 'REFPING', 'MAXREF',
'captureSize', 'cropRegion', 'decisionBoundary',
'color', 'motorsOn']:
self.__setattr__(k, kwargs[k])
self.trackerConnected = False
### Timing ###
self.lastRefTime = time.time()
self.pauseFrame = 0 #cropping wise
self.nPauseFrames = 20 #cropping wise
self.breakDuration = 3 # motor wise
self.breakStart = time.time()
### Worm Finding
## points
self.wormLocation = utils.Point(-1 , -1 )
self.wormLocationPrevious = utils.Point( -1, -1)
self.frameCenter = utils.Point(self.captureSize.ncols / 2, self.captureSize.nrows / 2)
## images
self.refImg = None
self.subImg = None
self.croppedImg = None
### Cropping ###
self.cmin = 0
self.cmax = self.captureSize.ncols
self.rmin = 0
self.rmax = self.captureSize.nrows
### Logging ###
logger.debug('Debug level: %s' % logger.getEffectiveLevel() )
logger.debug('is Debug?: %s' % str(self.isDebug()))
if self.initializeMotors:
self.servos = easyEBB()
def __init__(self, **kwargs):
for k in kwargs.keys():
if k in [
'method', 'gsize', 'gsig', 'window', 'MAXONEFRAME',
'REFPING', 'MAXREF', 'captureSize', 'cropRegion',
'decisionBoundary', 'color', 'motorsOn'
]:
self.__setattr__(k, kwargs[k])
self.trackerConnected = False
### Timing ###
self.lastRefTime = time.time()
self.pauseFrame = 0 #cropping wise
self.nPauseFrames = 20 #cropping wise
self.breakDuration = 3 # motor wise
self.breakStart = time.time()
### Worm Finding
## points
self.wormLocation = utils.Point(-1, -1)
self.wormLocationPrevious = utils.Point(-1, -1)
self.frameCenter = utils.Point(self.captureSize.ncols / 2,
self.captureSize.nrows / 2)
## images
self.refImg = None
self.subImg = None
self.croppedImg = None
### Cropping ###
self.cmin = 0
self.cmax = self.captureSize.ncols
self.rmin = 0
self.rmax = self.captureSize.nrows
### Logging ###
logger.debug('Debug level: %s' % logger.getEffectiveLevel())
logger.debug('is Debug?: %s' % str(self.isDebug()))
if self.initializeMotors:
self.servos = easyEBB()
from skimage import io as skio
from skimage import color
import numpy as np
#import threading
from easyEBB import easyEBB
DURATION = 1000; #in ms
STEPX = 1/100 #pixels per step
STEPY = 1/100 #pixels per step
BOUNDX = 200; #pixels
BOUNDY = 200; #pixels
VIDLEN = 20; #in sec
PING = 0.5; #in sec
WINDOW = 10; #number of frames to average
ebb = easyEBB()
#def get_frame(stream):
# for frame in stream.frames:
# if frame.header:
# stream.seek(frame.position)
# return (frame.frame_size, frame.position)
def write_video( stream, img ):
print ('writing video')
#stream2 = io.BytesIO()
with stream.lock:
#(ksize, kpos) = get_frame(stream)# Find keyframe
for frame in stream.frames:
if frame.header: #is keyframe
stream.seek(frame.position)
from easyEBB import easyEBB e = easyEBB() e.enableMotors() e.centerWorm(100,200,300) e.disableMotors() e.closeSerial()
from easyEBB import easyEBB e = easyEBB() e.enableMotors() e.centerWorm(100, 200, 300) e.disableMotors() e.closeSerial()