def __init__(self):
status = 0
ic = None
print "hi"
try:
# Initializing the Ice run time
ic = Ice.initialize()
# Obtaining a proxy for the camera (obj. identity: address)
obj = ic.stringToProxy('cameraA:default -h localhost -p 9999')
# We get the first image and print its description
cam = CameraPrx.checkedCast(obj)
data = cam.getImageData("RGB8")
if cam:
print(data.description)
else:
print "no cam"
# We define the windows that we're going to employ
cv2.namedWindow("Live video")
cv2.namedWindow("Processed image")
cv2.moveWindow("Live video", 60, 60)
cv2.moveWindow("Processed image", 800, 200)
while (1):
# It checks and returns the proxy
cam = CameraPrx.checkedCast(obj)
# We get the bytes that contain the image data and convert them
# into an understandable image
data = cam.getImageData("RGB8")
img = self.data_to_image(data)
# We process the image and display it
img_proc = self.process_img(img)
cv2.imshow("Live video", img)
cv2.imshow("Processed image", img_proc)
cv2.waitKey(25)
cv2.destroyAllWindows()
except:
traceback.print_exc()
status = 1
if ic:
try:
ic.destroy()
except:
traceback.print_exc()
status = 1
sys.exit(status)
def __init__ (self):
''' Camera class gets images from live video and transform them
in order to predict the digit in the image.
'''
print "\nLoading Keras model..."
self.model = load_model("/home/dpascualhe/workspace/" +
"2016-tfg-david-pascual/Net/Nets/0-1_tuned/" +
"net_4conv_patience5.h5")
print "loaded\n"
status = 0
ic = None
# Initializing the Ice run-time.
ic = EasyIce.initialize(sys.argv)
properties = ic.getProperties()
self.lock = threading.Lock()
try:
# We obtain a proxy for the camera.
obj = ic.propertyToProxy("Digitclassifier.Camera.Proxy")
# We get the first image and print its description.
self.cam = CameraPrx.checkedCast(obj)
if self.cam:
self.im = self.cam.getImageData("RGB8")
self.im_height = self.im.description.height
self.im_width = self.im.description.width
print(self.im.description)
else:
print("Interface camera not connected")
except:
traceback.print_exc()
exit()
status = 1
def connectToProxys(self):
self.ic = Ice.initialize(sys.argv)
# Contact to Extra
Extra = self.ic.propertyToProxy('automata.ArDroneExtra.Proxy')
if(not Extra):
raise Exception('could not create proxy with Extra')
self.ExtraPrx = ArDroneExtraPrx.checkedCast(Extra)
if(not self.ExtraPrx):
raise Exception('invalid proxy automata.ArDroneExtra.Proxy')
print 'Extra connected'
# Contact to CMDVel
CMDVel = self.ic.propertyToProxy('automata.CMDVel.Proxy')
if(not CMDVel):
raise Exception('could not create proxy with CMDVel')
self.CMDVelPrx = CMDVelPrx.checkedCast(CMDVel)
if(not self.CMDVelPrx):
raise Exception('invalid proxy automata.CMDVel.Proxy')
print 'CMDVel connected'
# Contact to Camera
Camera = self.ic.propertyToProxy('automata.Camera.Proxy')
if(not Camera):
raise Exception('could not create proxy with Camera')
self.CameraPrx = CameraPrx.checkedCast(Camera)
if(not self.CameraPrx):
raise Exception('invalid proxy automata.Camera.Proxy')
print 'Camera connected'
def connectToProxys(self):
self.ic = Ice.initialize(sys.argv)
# Contact to Extra
Extra = self.ic.propertyToProxy('automata.ArDroneExtra.Proxy')
if (not Extra):
raise Exception('could not create proxy with Extra')
self.ExtraPrx = ArDroneExtraPrx.checkedCast(Extra)
if (not self.ExtraPrx):
raise Exception('invalid proxy automata.ArDroneExtra.Proxy')
print 'Extra connected'
# Contact to CMDVel
CMDVel = self.ic.propertyToProxy('automata.CMDVel.Proxy')
if (not CMDVel):
raise Exception('could not create proxy with CMDVel')
self.CMDVelPrx = CMDVelPrx.checkedCast(CMDVel)
if (not self.CMDVelPrx):
raise Exception('invalid proxy automata.CMDVel.Proxy')
print 'CMDVel connected'
# Contact to Camera
Camera = self.ic.propertyToProxy('automata.Camera.Proxy')
if (not Camera):
raise Exception('could not create proxy with Camera')
self.CameraPrx = CameraPrx.checkedCast(Camera)
if (not self.CameraPrx):
raise Exception('invalid proxy automata.Camera.Proxy')
print 'Camera connected'
def connectToProxys(self):
self.ic = Ice.initialize(sys.argv)
# Contact to camera
camera = self.ic.propertyToProxy('automata.Camera.Proxy')
if(not camera):
raise Exception('could not create proxy with camera')
self.cameraPrx = CameraPrx.checkedCast(camera)
if(not self.cameraPrx):
raise Exception('invalid proxy automata.Camera.Proxy')
print 'camera connected'
# Contact to pose3d
pose3d = self.ic.propertyToProxy('automata.Pose3D.Proxy')
if(not pose3d):
raise Exception('could not create proxy with pose3d')
self.pose3dPrx = Pose3DPrx.checkedCast(pose3d)
if(not self.pose3dPrx):
raise Exception('invalid proxy automata.Pose3D.Proxy')
print 'pose3d connected'
# Contact to cmd
cmd = self.ic.propertyToProxy('automata.CMDVel.Proxy')
if(not cmd):
raise Exception('could not create proxy with cmd')
self.cmdPrx = CMDVelPrx.checkedCast(cmd)
if(not self.cmdPrx):
raise Exception('invalid proxy automata.CMDVel.Proxy')
print 'cmd connected'
# Contact to extra
extra = self.ic.propertyToProxy('automata.ArDroneExtra.Proxy')
if(not extra):
raise Exception('could not create proxy with extra')
self.extraPrx = ArDroneExtraPrx.checkedCast(extra)
if(not self.extraPrx):
raise Exception('invalid proxy automata.ArDroneExtra.Proxy')
print 'extra connected'
# Contact to navdata
navdata = self.ic.propertyToProxy('automata.Navdata.Proxy')
if(not navdata):
raise Exception('could not create proxy with navdata')
self.navdataPrx = NavdataPrx.checkedCast(navdata)
if(not self.navdataPrx):
raise Exception('invalid proxy automata.Navdata.Proxy')
print 'navdata connected'
def connectToProxys(self):
self.ic = Ice.initialize(sys.argv)
# Contact to camera
camera = self.ic.propertyToProxy('automata.Camera.Proxy')
if (not camera):
raise Exception('could not create proxy with camera')
self.cameraPrx = CameraPrx.checkedCast(camera)
if (not self.cameraPrx):
raise Exception('invalid proxy automata.Camera.Proxy')
print 'camera connected'
# Contact to pose3d
pose3d = self.ic.propertyToProxy('automata.Pose3D.Proxy')
if (not pose3d):
raise Exception('could not create proxy with pose3d')
self.pose3dPrx = Pose3DPrx.checkedCast(pose3d)
if (not self.pose3dPrx):
raise Exception('invalid proxy automata.Pose3D.Proxy')
print 'pose3d connected'
# Contact to cmd
cmd = self.ic.propertyToProxy('automata.CMDVel.Proxy')
if (not cmd):
raise Exception('could not create proxy with cmd')
self.cmdPrx = CMDVelPrx.checkedCast(cmd)
if (not self.cmdPrx):
raise Exception('invalid proxy automata.CMDVel.Proxy')
print 'cmd connected'
# Contact to extra
extra = self.ic.propertyToProxy('automata.ArDroneExtra.Proxy')
if (not extra):
raise Exception('could not create proxy with extra')
self.extraPrx = ArDroneExtraPrx.checkedCast(extra)
if (not self.extraPrx):
raise Exception('invalid proxy automata.ArDroneExtra.Proxy')
print 'extra connected'
# Contact to navdata
navdata = self.ic.propertyToProxy('automata.Navdata.Proxy')
if (not navdata):
raise Exception('could not create proxy with navdata')
self.navdataPrx = NavdataPrx.checkedCast(navdata)
if (not self.navdataPrx):
raise Exception('invalid proxy automata.Navdata.Proxy')
print 'navdata connected'
