def __init__(self, image_task_q, event_q, config, settings,
imageprocessor):
super(FSImageWorkerProcess, self).__init__(group=None)
self.image_task_q = image_task_q
self.settings = settings
self.config = config
self.exit = False
self.event_q = event_q
self.image = FSImage()
self.log = logging.getLogger('IMAGE_PROCESSOR THREAD')
self.log.setLevel(logging.DEBUG)
self.image_processor = imageprocessor
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
def __init__(self,image_task_q, event_q, config, settings, imageprocessor):
super(FSImageWorkerProcess, self).__init__(group=None)
self.image_task_q = image_task_q
self.settings = settings
self.config = config
self.exit = False
self.event_q = event_q
self.image = FSImage()
self.log = logging.getLogger('IMAGE_PROCESSOR THREAD')
self.log.setLevel(logging.DEBUG)
self.image_processor = imageprocessor
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
class FSImageWorkerProcess(multiprocessing.Process):
def __init__(self, image_task_q, event_q, config, settings,
imageprocessor):
super(FSImageWorkerProcess, self).__init__(group=None)
self.image_task_q = image_task_q
self.settings = settings
self.config = config
self.exit = False
self.event_q = event_q
self.image = FSImage()
self.log = logging.getLogger('IMAGE_PROCESSOR THREAD')
self.log.setLevel(logging.DEBUG)
self.image_processor = imageprocessor
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
def run(self):
'''
Image Process runner
'''
#print "process "+str(self.pid)+" started"
#import pydevd
#pydevd.settrace('192.168.98.104', port=12011, stdoutToServer=True, stderrToServer=True)
while not self.exit:
if not self.image_task_q.empty():
#print "process "+str(self.pid)+" handle image"
data = dict()
try:
image_task = self.image_task_q.get_nowait()
if image_task:
# we got a kill pill
if image_task.task_type == "KILL":
self._logger.debug(
"Killed Worker Process with PID " +
str(self.pid))
self.exit = True
break
#print "process "+str(self.pid)+" task "+str(image_task.progress)
if (image_task.task_type == "PROCESS_COLOR_IMAGE"):
self.image.save_image(image_task.image,
image_task.progress,
image_task.prefix,
dir_name=image_task.prefix +
'/color_' +
image_task.raw_dir)
data['points'] = []
data['image_type'] = 'color'
event = dict()
event['event'] = "ON_IMAGE_PROCESSED"
event['data'] = data
self.event_q.put(event)
if (image_task.task_type == "PROCESS_DEPTH_IMAGE"):
angle = float(image_task.progress * 360) / float(
image_task.resolution)
#self._logger.debug("Progress "+str(image_task.progress)+" Resolution "+str(image_task.resolution)+" angle "+str(angle))
self.image.save_image(image_task.image,
image_task.progress,
image_task.prefix,
dir_name=image_task.prefix +
'/laser_' +
image_task.raw_dir)
color_image = self.image.load_image(
image_task.progress,
image_task.prefix,
dir_name=image_task.prefix + '/color_' +
image_task.raw_dir)
point_cloud, texture = self.image_processor.process_image(
angle, image_task.image, color_image)
# FIXME: Only send event if points is non-empty
data['point_cloud'] = point_cloud
data['texture'] = texture
data['image_type'] = 'depth'
#data['progress'] = image_task.progress
#data['resolution'] = image_task.resolution
event = dict()
event['event'] = "ON_IMAGE_PROCESSED"
event['data'] = data
self.event_q.put(event)
except Empty:
time.sleep(0.05)
pass
else:
# thread idle
time.sleep(0.05)
def _capture_scanner_calibration(self, position):
image = self._capture_pattern()
if (position > 577 and position < 1022):
flags = cv2.CALIB_CB_FAST_CHECK | cv2.CALIB_CB_ADAPTIVE_THRESH | cv2.CALIB_CB_NORMALIZE_IMAGE
else:
flags = cv2.CALIB_CB_FAST_CHECK
pose = self._imageprocessor.detect_pose(image, flags)
plane = self._imageprocessor.detect_pattern_plane(pose)
#self._logger.debug("Position: " + str(position))
if plane is not None:
distance, normal, corners = plane
self._logger.debug("Pose detected... ")
# Laser triangulation ( Between 60 and 115 degree )
# angel/(360/3200)
try:
#Laser Calibration
if (position > 577 and position < 1022):
#self.settings.camera.contrast = 40
self.settings.camera.brightness = 70
self._hardwarecontroller.led.off()
for i in xrange(self.config.laser.numbers):
image = self._capture_laser(i)
image = self._imageprocessor.pattern_mask(image, corners)
self.image = image
fs_image = FSImage()
fs_image.save_image(image, position, "laser", dir_name="calibration")
points_2d, _ = self._imageprocessor.compute_2d_points(image, roi_mask=False, refinement_method='RANSAC')
point_3d = self._imageprocessor.compute_camera_point_cloud(
points_2d, distance, normal)
if self._point_cloud[i] is None:
self._point_cloud[i] = point_3d.T
else:
self._point_cloud[i] = np.concatenate(
(self._point_cloud[i], point_3d.T))
self.settings.camera.contrast = 40
self.settings.camera.brightness = 50
# Platform extrinsics
origin = corners[self.config.calibration.pattern.columns * (self.config.calibration.pattern.rows - 1)][0]
origin = np.array([[origin[0]], [origin[1]]])
t = self._imageprocessor.compute_camera_point_cloud(
origin, distance, normal)
except StandardError, e:
self._logger.error("Laser Capture Error: "+str(e))
message = {
"message": "LASER_CALIBRATION_ERROR",
"level": "error"
}
self._eventmanager.broadcast_client_message(FSEvents.ON_INFO_MESSAGE, message)
t = None
if t is not None:
self.x += [t[0][0]]
self.y += [t[1][0]]
self.z += [t[2][0]]
else:
self.image = image
class FSImageWorkerProcess(multiprocessing.Process):
def __init__(self,image_task_q, event_q, config, settings, imageprocessor):
super(FSImageWorkerProcess, self).__init__(group=None)
self.image_task_q = image_task_q
self.settings = settings
self.config = config
self.exit = False
self.event_q = event_q
self.image = FSImage()
self.log = logging.getLogger('IMAGE_PROCESSOR THREAD')
self.log.setLevel(logging.DEBUG)
self.image_processor = imageprocessor
self._logger = logging.getLogger(__name__)
self._logger.setLevel(logging.DEBUG)
def run(self):
'''
Image Process runner
'''
#print "process "+str(self.pid)+" started"
while not self.exit:
if not self.image_task_q.empty():
#print "process "+str(self.pid)+" handle image"
data = dict()
try:
image_task = self.image_task_q.get_nowait()
if image_task:
# we got a kill pill
if image_task.task_type == "KILL":
self._logger.debug("Killed Worker Process with PID "+str(self.pid))
self.exit = True
break
#print "process "+str(self.pid)+" task "+str(image_task.progress)
if (image_task.task_type == "PROCESS_COLOR_IMAGE"):
self.image.save_image(image_task.image, image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/color_'+image_task.raw_dir)
data['points'] = []
data['image_type'] = 'color'
event = dict()
event['event'] = "ON_IMAGE_PROCESSED"
event['data'] = data
self.event_q.put(event)
if (image_task.task_type == "PROCESS_DEPTH_IMAGE"):
angle = (image_task.progress) * 360 / image_task.resolution
#self._logger.debug("Progress "+str(image_task.progress)+" Resolution "+str(image_task.resolution)+" angle "+str(angle))
self.image.save_image(image_task.image, image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/laser_'+image_task.raw_dir)
color_image = self.image.load_image(image_task.progress, image_task.prefix, dir_name=image_task.prefix+'/color_'+image_task.raw_dir)
points = self.image_processor.process_image(angle, image_task.image, color_image)
data['points'] = points
data['image_type'] = 'depth'
#data['progress'] = image_task.progress
#data['resolution'] = image_task.resolution
event = dict()
event['event'] = "ON_IMAGE_PROCESSED"
event['data'] = data
self.event_q.put(event)
except Empty:
time.sleep(0.05)
pass
else:
# thread idle
time.sleep(0.05)
