def _rois_from_img(self,img):
sorted_src_pts = self._find_target_coordinates(img)
dst_points = np.array([(0,-1),
(0,0),
(-1,0)], dtype=np.float32)
wrap_mat = cv2.getAffineTransform(dst_points, sorted_src_pts)
rectangles = self._make_grid(self._n_cols, self._n_rows,
self._top_margin, self._bottom_margin,
self._left_margin,self._right_margin,
self._horizontal_fill, self._vertical_fill)
shift = np.dot(wrap_mat, [1,1,0]) - sorted_src_pts[1] # point 1 is the ref, at 0,0
rois = []
for i,r in enumerate(rectangles):
r = np.append(r, np.zeros((4,1)), axis=1)
mapped_rectangle = np.dot(wrap_mat, r.T).T
mapped_rectangle -= shift
ct = mapped_rectangle.reshape((1,4,2)).astype(np.int32)
cv2.drawContours(img,[ct], -1, (255,0,0),1,LINE_AA)
rois.append(ROI(ct, idx=i+1))
# cv2.imshow("dbg",img)
# cv2.waitKey(0)
return rois
def _test_dbwriter(self, RWClass, *args, **kwargs):
"""
This test hardcode ROIs and generate random results for a set of arbitrary variables.
The goal is to be able to test and benchmark result write independently of any tracking
:return:
"""
# building five rois
coordinates = np.array([(0, 0), (100, 0), (100, 100), (0, 100)])
rois = [ROI(coordinates + i * 100, i) for i in range(1, 33)]
rpg = RandomResultGenerator()
with RWClass(rois=rois, *args, **kwargs) as rw:
# n = 4000000 # 222h of data
# n = 400000 # 22.2h of data
n = 40000 # 2.22h of data
import time
t0 = time.time()
for t in range(0, n):
rt = t * 1000 / 5
if t % (n / 100) == 0:
print "filling with dummy variables: %f percent" % (
100. * float(t) / float(n))
print time.time() - t0
for r in rois:
data = rpg.make_one_point()
rw.write(rt, r, [data])
rw.flush(t)
def _rois_from_img(self,img):
h, w = img.shape[0],img.shape[1]
return[
ROI(np.array([
( 0, 0 ),
( 0, h -1 ),
( w - 1, h - 1 ),
( w - 1, 0 )])
, idx=1)]
def build(self, img):
rois = []
idx = 1
for coord in self._coordinates:
coord = "[" + coord + "]"
coord = eval(coord)
if len(coord) != 4:
idx += 1
continue
cnt = np.array(coord).reshape(4, 1, 2)
rois.append(ROI(cnt, idx))
idx += 1
return rois
def setUp(self):
self._result = []
# head is moving
# self._videos = ["../static_files/videos/whole_2020-05-09_12-00-07_014aad42625f433eb4bd2b44f811738e__1280x960@[email protected]"]
# self._videos = ["../static_files/videos/whole_2020-05-09_12-00-07_014aad42625f433eb4bd2b44f811738e__1280x960@[email protected]"]
# flipping wings
self._videos = [
"../static_files/videos/whole_2020-05-09_12-00-07_014aad42625f433eb4bd2b44f811738e__1280x960@[email protected]"
]
# pretty still
# self._videos = ["../static_files/videos/whole_2020-05-09_12-00-07_014aad42625f433eb4bd2b44f811738e__1280x960@[email protected]"]
self.roi = None
self.camera = FSLVirtualCamera(path=self._videos[0],
bw=False,
use_wall_clock=False)
for frame_idx, (t_ms, img) in self.camera:
print(frame_idx)
# cv2.imshow("img", img)
# cv2.waitKey(0)
if self.roi is None:
shape = img.shape
shape = tuple([e - 1 for e in shape])
self.roi = ROI(np.array([(0, 0), (shape[1], 0),
shape[:2][::-1], (0, shape[0])]),
idx=18)
self.tracker = RichAdaptiveBGModel(roi=self.roi)
self.tracker.live_tracking = True
self.tracker._old_pos = 0.0 + 0.0j
self.tracker._null_dist = round(
np.log10(1. / float(img.shape[1])) * 1000)
try:
datapoints = self.tracker.track(t_ms, img)
except NoPositionError:
pass
# print(img.shape)
datapoints = self.tracker.track(t_ms, img)
if datapoints:
self._result.append((t_ms, datapoints))
def _rois_from_img(self, img):
# transform to gray scale image if not already
if len(self._mask.shape) == 3:
self._mask = cv2.cvtColor(self._mask, cv2.COLOR_BGR2GRAY)
thresh_mask = self._mask.copy()
#cv2.namedWindow("ROIMask Copy", cv2.WINDOW_NORMAL)
#cv2.resizeWindow("ROIMask Copy", 800, 600)
#cv2.imshow("ROIMask Copy", thresh_mask)
#cv2.waitKey(0)
# set threshold for findContours(): everthing not black (0) is over threshold
ret, thresh_mask = cv2.threshold(thresh_mask, 5, 255,
cv2.THRESH_BINARY)
if CV_VERSION == 3:
# OpenCV version 3 findContours() does not modify input image
_, contours, _ = cv2.findContours(thresh_mask, RETR_EXTERNAL,
CHAIN_APPROX_SIMPLE)
else:
contours, _ = cv2.findContours(thresh_mask, RETR_EXTERNAL,
CHAIN_APPROX_SIMPLE)
contour_cnt = len(contours)
#logging.info("ImgMaskROIBuilder: found %s contours" % contour_cnt)
tmp_mask = np.zeros_like(self._mask)
for i, c in enumerate(contours):
#logging.info("ROI Contour %s: %s", i, c);
if len(c) >= 3:
# skip contours with less than 3 elements
cv2.drawContours(tmp_mask, [c], -1, 255)
value = int(np.median(self._mask[tmp_mask > 0]))
#print("ROI %s value: %s" % (i, value))
#if (value == 255):
# value = None
self._rois.append(ROI(c, i + 1, value))
logging.info("ImgMaskROIBuilder: %s valid contours" % len(self._rois))
if logging.getLogger().isEnabledFor(logging.DEBUG):
cv2.namedWindow("ROIMask", cv2.WINDOW_NORMAL)
cv2.resizeWindow("ROIMask", 800, 600)
cv2.imshow("ROIMask", tmp_mask)
cv2.waitKey(0)
return self._rois
def _rois_from_img(self, img):
if len(self._mask.shape) == 3:
self._mask = cv2.cvtColor(self._mask, cv2.COLOR_BGR2GRAY)
contours, hiera = cv2.findContours(np.copy(self._mask),
cv.CV_RETR_EXTERNAL,
cv.CV_CHAIN_APPROX_SIMPLE)
rois = []
for i, c in enumerate(contours):
tmp_mask = np.zeros_like(self._mask)
cv2.drawContours(tmp_mask, [c], 0, 1)
value = int(np.median(self._mask[tmp_mask > 0]))
rois.append(ROI(c, i + 1, value))
return rois
def get_roi(self):
if self._region_id == 0:
self._roi = None
return
with sqlite3.connect(self._dbfile, check_same_thread=False) as src:
src_cur = src.cursor()
command = "SELECT x, y, w, h from ROI_MAP WHERE roi_idx = %d" % self._region_id
src_cur.execute(command)
xpos, ypos, width, height = next(iter(src_cur))
polygon = [
[xpos, ypos], # tl
[xpos + width, ypos], # tr
[xpos + width, ypos + height], # br
[xpos, ypos + height] # bl
]
roi = ROI(polygon, self._region_id)
self._roi = roi
def _rois_from_img(self, img):
'''
Fit a ROI to the provided img
'''
reference_points = self._find_target_coordinates(img)
#point 1 is the reference point at coords A,B; point 0 will be A,y and point 2 x,B
#we then transform the ROIS on the assumption that those points are aligned perpendicularly in this way
dst_points = np.array([(0, -1), (0, 0), (-1, 0)], dtype=np.float32)
wrap_mat = cv2.getAffineTransform(dst_points, reference_points)
rectangles = self._make_grid(self._n_cols, self._n_rows,
self._top_margin, self._bottom_margin,
self._left_margin, self._right_margin,
self._horizontal_fill,
self._vertical_fill)
shift = np.dot(wrap_mat, [
1, 1, 0
]) - reference_points[1] # point 1 is the ref which we have set at 0,0
rois = []
for i, r in enumerate(rectangles):
r = np.append(r, np.zeros((4, 1)), axis=1)
mapped_rectangle = np.dot(wrap_mat, r.T).T
mapped_rectangle -= shift
ct = mapped_rectangle.reshape((1, 4, 2)).astype(np.int32)
cv2.drawContours(img, [ct], -1, (255, 0, 0), 1, LINE_AA)
rois.append(ROI(ct, idx=i + 1))
#rois is an array of ROI objects
#reference points is an array containing the abslolute coordinates of the three refs
return reference_points, rois
def _rois_from_img(self, img):
self._img = img
if os.path.exists(self._rois_pickle_file):
with open(self._rois_pickle_file, "rb") as fh:
import pickle
rois = pickle.load(fh)
return rois
else:
if os.path.exists(self._target_coord_file):
with open(self._target_coord_file, "r") as fh:
data = fh.read()
# each dot is in a newline
data = data.split("\n")[:3]
# each dot is made by two numbers separated by comma
src_points = [tuple([int(f) for f in e.split(",")]) for e in data]
sorted_src_pts = self._sort_src_pts(src_points)
else:
try:
sorted_src_pts = self._find_target_coordinates(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), self._find_blobs)
except EthoscopeException as e:
# raise e
logging.warning("Fall back to find_blobs_new")
sorted_src_pts = self._find_target_coordinates(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), self._find_blobs_new)
# sorted_src_pts = self._find_target_coordinates(img)
except Exception as e:
raise e
dst_points = np.array([(0,-1),
(0,0),
(-1,0)], dtype=np.float32)
wrap_mat = cv2.getAffineTransform(dst_points, sorted_src_pts)
rectangles = self._make_grid(self._n_cols, self._n_rows,
self._top_margin, self._bottom_margin,
self._left_margin,self._right_margin,
self._horizontal_fill, self._vertical_fill,
self._inside_pad, self._outside_pad)
shift = np.dot(wrap_mat, [1, 1, 0]) - sorted_src_pts[1] # point 1 is the ref, at 0,0
rois = []
side = "left"
point = self._sorted_src_pts[2]
for i, r in enumerate(rectangles):
if i > 9:
side = "right"
point = self._sorted_src_pts[1]
r = np.append(r, np.zeros((4, 1)), axis=1)
mapped_rectangle = np.dot(wrap_mat, r.T).T
mapped_rectangle -= shift
ct = mapped_rectangle.astype(np.int32)
# logging.warning(i)
ct, _, _, _ = refine_contour(ct, img, rotate=False)
ct = pull_contour_h(ct, point, side)
cv2.drawContours(img, [ct.reshape((1, 4, 2))], -1, (255, 0, 0), 1, LINE_AA)
rois.append(ROI(ct, idx=i+1))
return rois
def _rois_from_img(self, img, camera=None):
grey = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
grey = cv2.cvtColor(grey, cv2.COLOR_GRAY2BGR)
self._orig = grey
cv2.imwrite(
os.path.join(os.environ["HOME"], "accum_rois_from_img.png"), img)
# rotate the image so ROIs are horizontal
rotated, M = self._rotate_img(img)
logging.info("DETECTED ARENA")
# segment the ROIs out of the rotated image
if camera is not None and not isinstance(camera, np.ndarray):
camera.set_roi_builder()
time.sleep(5)
accum = self.fetch_frames(camera, mode="roi_builder")
cv2.imwrite(os.path.join(os.environ["HOME"], "accum.png"), accum)
img = accum
rotated = cv2.warpAffine(grey,
M,
grey.shape[:2][::-1],
flags=cv2.INTER_CUBIC,
borderMode=cv2.BORDER_REPLICATE)
bin_rotated = self._segment_rois(rotated, debug=debug)[:, :, 0]
center_plot = np.stack((bin_rotated, ) * 3, axis=2)
try:
logging.info("Splitting ROIs")
contours = self._split_rois(bin_rotated, grey)
except EthoscopeException as e:
bin_rotated = self._segment_rois(rotated,
mint=self._mint,
maxt=self._maxt,
half_t=110,
debug=debug)[:, :, 0]
center_plot = np.stack((bin_rotated, ) * 3, axis=2)
contours = self._split_rois(bin_rotated, grey)
logging.info("ROI Detection successful")
centers = []
widths = []
heights = []
centers_left = []
centers_right = []
angles = []
rects = []
for i, ct in enumerate(contours):
# rect = cv2.boundingRect(ct)
# x,y,w,h = rect
## create a contour from the rect
## rect is a list of 4 numbers: x,y on top left corner and width and height of the rectangle
## roi is a list of 4 tuples: the x,y coordinates of the 4 squares of the rectangle
# roi = np.array([(x,y), (x+w, y), (x+w,y+h), (x, y+h)])
rect = cv2.minAreaRect(ct)
xy, wh, angle = rect
rects.append(rect)
w = np.max(wh)
h = np.min(wh)
roi = cv2.boxPoints(rect).astype(np.int32)
center = (np.mean([e[0]
for e in roi]), np.mean([e[1] for e in roi]))
center = tuple(int(e) for e in center)
centers.append(center)
angles.append(angle)
roi.reshape((4, 1, 2))
cv2.circle(center_plot, center, 10, (0, 255, 0), -1)
widths.append(w)
heights.append(h)
left, _ = find_quadrant(bin_rotated.shape, center)
if left:
centers_left.append(center)
else:
centers_right.append(center)
if debug:
cv2.imshow("center_plot", center_plot)
cv2.waitKey(0)
median_x_left = np.median([e[0] for e in centers_left])
median_x_right = np.median([e[0] for e in centers_right])
rois = []
arena_width = self._sorted_src_pts[1, 0] - self._sorted_src_pts[2, 0]
arena_height = self._sorted_src_pts[0, 1] - self._sorted_src_pts[1, 1]
long_side = int(self._long_side_fraction * arena_width)
short_side = int(self._short_side_fraction * arena_width)
# height = int(0.7*(arena_height*0.8/10))
height = 0.8 * np.median(heights)
# first ROIs whose side is left and then those whose top left corner y coordinate is lowest
centers = sorted(centers,
key=lambda x:
(not find_quadrant(bin_rotated.shape, x)[0], x[1]))
for i, center in enumerate(centers):
left, _ = find_quadrant(bin_rotated.shape, center)
side = 'left' if left else 'right'
angle = angles[i]
segmented_contour = contours[i]
# corrected_roi = cv2.boxPoints(rects[i])
if left:
corrected_roi = center2rect((median_x_left, center[1]),
height,
left=long_side,
right=short_side,
angle=angle)
inner_roi = center2rect((median_x_left, center[1]),
height,
left=long_side / 2,
right=short_side / 3,
angle=angle)
else:
corrected_roi = center2rect((median_x_right, center[1]),
height,
left=short_side,
right=long_side,
angle=angle)
inner_roi = center2rect((median_x_right, center[1]),
height,
left=short_side / 3,
right=long_side / 2,
angle=angle)
final_contour, grey, max_angle, max_pixel = refine_contour(
cnt, grey)
####
# give it the shape expected by programs downstream
ct = final_contour.reshape((1, 4, 2)).astype(np.int32)
# cv2.drawContours(img,[ct], -1, (255,0,0),1,LINE_AA)
# initialize a ROI object to be returned to the control thread
# with all the other detected ROIs in the rois list
rois.append(ROI(ct, idx=i + 1, side=side))
logging.info("DETECTED ROIS")
if debug:
cv2.imshow("grey", grey)
cv2.waitKey(0)
# if self._debug or debug or True:
# for roi in rois:
# tl = (roi.rectangle[0], roi.rectangle[1])
# br = (roi.rectangle[0] + roi.rectangle[2], roi.rectangle[1] + roi.rectangle[3])
# cv2.rectangle(bin_rotated,tl,br, 128, 2)
# cv2.imshow("img_rotated", rotated)
# cv2.imshow("bin_rotated", bin_rotated)
# cv2.imshow("bin_rotated_contours", bin_rotated)
# cv2.waitKey(0)
return rotated, M, rois
from ethoscope.core.roi import ROI
from ethoscope.hardware.interfaces.interfaces import HardwareConnection
def never_moving():
return False
hc = HardwareConnection(RobustSleepDepriver._HardwareInterfaceClass,
do_warm_up=False)
sd = RobustSleepDepriver(
hc,
velocity_correction_coef=0.01,
min_inactive_time=10, # s
pulse_duration=1000, #ms
date_range="")
sd._has_moved = never_moving
sd._t0 = 0
roi = ROI(polygon=np.array([[0, 10], [10, 10], [10, 0], [0, 0]]), idx=1)
tracker = AdaptiveBGModel(roi=roi)
tracker._last_time_point = 30000 #ms
sd.bind_tracker(tracker)
print("Applying")
interact, result = sd.apply()
print(interact)
print(result)
while len(hc._instructions) != 0:
time.sleep(1)
hc.stop()
