def work_function(data, parameters):
global vis
global global_var_1
global global_var_2
global global_var_3
global global_var_4
'''
# This is a 2nd way to initialise the parameters if no initialisation function is used.
if need_parameters:
try:
global_var_1 = parameters[1]
global_var_2 = parameters[2]
global_var_3 = parameters[3]
global_var_1 = parameters[4]
need_parameters = True
except:
pass
else:
# Do the rest of the code in here so that it doesn't run if the parameters are not set
'''
# If any parameters need to be updated during runtime then do that here, e.g.
# Also update the visualisation parameter. This allows to turn on and off the visualisation window during
# run time
try:
global_var_1 = parameters[1]
vis.visualisation_on = parameters[0]
except:
pass
# In the case of multiple inputs the topic will tell you which input the message has come from. The topic is a
# string that is formatted as follows:
# previous_node_output_name##previous_node_name##previous_node_index -> this_node_input_name##this_none_name##this_node_index
# so you can see which input the data is coming from by looking at the this_node_input_name part. Also although the
# names of the inputs and outputs can have spaces, these become underscores in the names of the topics.
topic = data[0]
print(
topic
) # prints will not work if the operation is running on a different computer.
message = data[1:] # data[0] is the topic
image = Socket.reconstruct_array_from_bytes_message_cv2correction(message)
# Now do stuff
# Whatever data the Node must visualise should be put in the vis.visualised_data variable
vis.visualised_data = image
# For Operations with multiple outputs the work_function must return a list of numpy arrays with length the number
# of outputs. Each array from left to right in the list gets passed to each output from top to bottom on the Node.
# So in this example the data would go out of the 'Something Out 1' output and the np.array([ct.IGNORE]) would go
# out of the 'Something Out 2' output. If you want to stop one or more outputs from sending out any data on the
# current pass then put as an array the np.array([ct.IGNORE]) array. The com process knows to ignore this array.
result = [vis.visualised_data, np.array([ct.IGNORE])]
return result
def differencing(data, parameters):
global vis
global worker_object
topic = data[0].decode('ascii')
message = data[1:]
try:
vis.visualisation_on = parameters[0]
frame2_minus_frame1 = parameters[1]
except:
vis.visualisation_on = differencing_com.ParametersDefaultValues[0]
frame2_minus_frame1 = differencing_com.ParametersDefaultValues[1]
image = Socket.reconstruct_array_from_bytes_message_cv2correction(message)
for received_topic in worker_object.recv_topics_buffer:
if topic in received_topic:
worker_object.recv_topics_buffer[received_topic] = image
all_topics = list(worker_object.recv_topics_buffer.keys())
if np.shape(worker_object.recv_topics_buffer[
all_topics[0]])[0] > 0 and np.shape(
worker_object.recv_topics_buffer[all_topics[1]])[0] > 0:
if worker_object.recv_topics_buffer[
all_topics[0]].shape == worker_object.recv_topics_buffer[
all_topics[1]].shape:
worker_object.worker_result = worker_object.recv_topics_buffer[all_topics[0]] -\
worker_object.recv_topics_buffer[all_topics[1]]
elif len(worker_object.recv_topics_buffer) == 2:
if worker_object.verbose:
print(
'Shapes of two arrays are not the same. Input 1 shape = {}, input 2 shape = {}. Passing through 1st input'
.format(
np.shape(
worker_object.recv_topics_buffer[all_topics[0]]),
np.shape(
worker_object.recv_topics_buffer[all_topics[1]])))
worker_object.worker_result = worker_object.recv_topics_buffer[
all_topics[0]]
if frame2_minus_frame1:
worker_object.worker_result = worker_object.recv_topics_buffer[all_topics[1]] -\
worker_object.recv_topics_buffer[all_topics[0]]
else:
worker_object.worker_result = np.random.random((100, 100))
print('Differencing {} failed. The frame buffer is empty.'.format(
worker_object.node_index))
vis.visualised_data = worker_object.worker_result
return [worker_object.worker_result]
def save_video(data, parameters):
global worker_object
global need_parameters
global time_stamp
global write_proc
global file_name
global pixel_format_out
global pixel_format_in
global fps
start = time.perf_counter()
# Once the parameters are received at the starting of the graph then they cannot be updated any more.
if need_parameters:
try:
file_name = parameters[0]
time_stamp = parameters[1]
pixel_format_in = parameters[2]
pixel_format_out = parameters[3]
fps = parameters[4]
if time_stamp:
add_timestamp_to_filename()
need_parameters = False
worker_object.num_of_iters_to_update_relics_substate = -1
worker_object.relic_create_parameters_df(
file_name=file_name,
time_stamp=time_stamp,
pixel_format_in=pixel_format_in,
pixel_format_out=pixel_format_out,
fps=fps)
except:
return
else:
message = data[1:] # data[0] is the topic
image = Socket.reconstruct_array_from_bytes_message_cv2correction(
message)
size = image.shape
try:
write_proc.stdin.write(image.astype(np.uint8).tobytes())
except Exception as e:
write_proc = ffmpeg_write_process(file_name, fps, pixel_format_in,
pixel_format_out, size[1],
size[0])
worker_object.relic_update_substate_df(image_size=size)
end = time.perf_counter()
def canny(data, parameters):
global vis
try:
vis.visualisation_on = parameters[0]
min_val = parameters[1]
max_val = parameters[2]
except:
vis.visualisation_on = canny_com.ParametersDefaultValues[0]
min_val = canny_com.ParametersDefaultValues[1]
max_val = canny_com.ParametersDefaultValues[2]
message = data[1:] # data[0] is the topic
image = Socket.reconstruct_array_from_bytes_message_cv2correction(message)
try:
vis.visualised_data = cv2.Canny(image, min_val, max_val)
except:
vis.visualised_data = np.array((10, 10))
print('Canny operation failed')
return [vis.visualised_data]
def cvt_color(data, parameters):
global vis
try:
vis.visualisation_on = parameters[0]
color_conv_string = parameters[1]
except:
vis.visualisation_on = cvtColor_com.ParametersDefaultValues[0]
color_conv_string = cvtColor_com.ParametersDefaultValues[1]
message = data[1:] # data[0] is the topic
image = Socket.reconstruct_array_from_bytes_message_cv2correction(message)
try:
vis.visualised_data = cv2.cvtColor(image,
getattr(cv2, color_conv_string))
except Exception as e:
vis.visualised_data = np.array((10, 10))
print('cvtColor {} operation failed with exception {}'.format(
worker_object.node_index, e))
return [vis.visualised_data]
def resize(data, parameters):
global vis
try:
vis.visualisation_on = parameters[0]
x_shape = parameters[1]
y_shape = parameters[2]
except:
vis.visualisation_on = resize_com.ParametersDefaultValues[0]
x_shape = resize_com.ParametersDefaultValues[1]
y_shape = resize_com.ParametersDefaultValues[2]
message = data[1:] # data[0] is the topic
image = Socket.reconstruct_array_from_bytes_message_cv2correction(message)
try:
vis.visualised_data = cv2.resize(image, (x_shape, y_shape))
except Exception as e:
vis.visualised_data = np.array((10, 10))
print('resize {} operation failed with exception {}'.format(worker_object.node_index, e))
return [vis.visualised_data]