def run(self):
sc_logger.text(sc_logger.GENERAL, 'running {0}'.format(self.name()))
#start a video capture
sc_video.start_capture(self.camera_index)
#create an image processor
detector = CircleDetector()
#create a queue for images
imageQueue = Queue.Queue()
while True:
#update how often we dispatch a command
sc_dispatcher.calculate_dispatch_schedule()
# grab an image
capStart = current_milli_time()
frame = sc_video.get_image()
capStop = current_milli_time()
#update capture time
sc_dispatcher.update_capture_time(capStop-capStart)
#Process image
#We schedule the process as opposed to waiting for an available core
#This brings consistancy and prevents overwriting a dead process before
#information has been grabbed from the Pipe
if sc_dispatcher.is_ready():
#queue the image for later use: displaying image, overlays, recording
imageQueue.put(frame)
#the function must be run directly from the class
sc_dispatcher.dispatch(target=detector.analyze_frame, args=(frame,None,))
#retreive results
if sc_dispatcher.is_available():
#results of image processor
results = sc_dispatcher.retreive()
# get image that was passed with the image processor
img = imageQueue.get()
#overlay gui
rend_Image = gui.add_target_highlights(img, results[3])
#show/record images
sc_logger.image(sc_logger.RAW, img)
sc_logger.image(sc_logger.GUI, rend_Image)
def run(self):
sc_logger.text(sc_logger.GENERAL, 'running {0}'.format(self.name()))
#start a video capture
'''
if(self.simulator):
sc_logger.text(sc_logger.GENERAL, 'Using simulator')
sim.set_target_location(veh_control.get_home())
#sim.set_target_location(Location(0,0,0))
else:'''
sc_video.start_capture(self.camera_index)
#camera = balloon_video.get_camera()
video_writer = balloon_video.open_video_writer()
#create an image processor
detector = CircleDetector()
#create a queue for images
imageQueue = Queue.Queue()
#create a queue for vehicle info
vehicleQueue = Queue.Queue()
while veh_control.is_connected():
#get info from autopilot
location = veh_control.get_location()
attitude = veh_control.get_attitude()
print location
print attitude
# Take each frame
#_, frame = camera.read()
#update how often we dispatch a command
sc_dispatcher.calculate_dispatch_schedule()
# grab an image
capStart = current_milli_time()
frame = sc_video.get_image()
capStop = current_milli_time()
#frame = sc_video.undisort_image(frame)
#cv2.imshow('frame',frame)
# write the frame
video_writer.write(frame)
#update capture time
sc_dispatcher.update_capture_time(capStop-capStart)
#Process image
#We schedule the process as opposed to waiting for an available core
#This brings consistancy and prevents overwriting a dead process before
#information has been grabbed from the Pipe
if sc_dispatcher.is_ready():
#queue the image for later use: displaying image, overlays, recording
imageQueue.put(frame)
#queue vehicle info for later use: position processing
vehicleQueue.put((location,attitude))
#the function must be run directly from the class
#######
sc_dispatcher.dispatch(target=balloon_finder.analyse_frame, args=(frame,))
#retreive results
if sc_dispatcher.is_available():
sc_logger.text(sc_logger.GENERAL, 'Frame {0}'.format(self.frame_count))
self.frame_count += 1
#results of image processor
results = sc_dispatcher.retreive()
# get image that was passed with the image processor
img = imageQueue.get()
#get vehicle position that was passed with the image processor
location, attitude = vehicleQueue.get()
#overlay gui
#rend_Image = gui.add_target_highlights(img, results[3])
#show/record images
sc_logger.image(sc_logger.RAW, img)
#sc_logger.image(sc_logger.GUI, rend_Image)
#display/log data
sc_logger.text(sc_logger.ALGORITHM,'found: {0} x: {1} y: {2} radius: {3}'.format(results[0],results[1],results[2],results[3]))
def get_frame(self):
if (self.simulator):
return sim.get_frame()
else:
return sc_video.get_image()
def get_frame(self): if(self.simulator): return sim.get_frame() else: return sc_video.get_image()
def get_frame(self):
frame = sc_video.get_image()
return frame
def get_frame(self):
frame = sc_video.get_image()
return frame
