def main(self):
jc = JpegStreamCamera(
"http://192.168.1.101/videostream.cgi?user=pi&pwd=pi")
vs = VideoStream("MyVideo2.avi", 25, True)
for i in range(0, 35):
print "loop"
img = jc.getImage()
print "gotimg"
imgName = "img/img_%s.jpg" % (i)
self.makeSaveImg = Process(target=self.saveImgToDisk,
args=(img, imgName))
self.makeSaveImg.start()
#self.saveImgToDisk(img,imgName)
vs.writeFrame(img)
print i
print "----------"
#self.makefilmProcess = Process(target=self.saveFilmToDisk, args=("MyVideo2.avi", "MyoutputFile.mpeg"))
#self.makefilmProcess.start()
params = " -i {0} -c:v mpeg4 -b:v 700k -r 24 {1}".format(
"MyVideo2.avi", "MyoutputFile.avi")
# run avconv to compress the video since ffmpeg is deprecated (going to be).
call('avconv' + params, shell=True)
class ThreadingObject(object):
""" Threading object class
The run() method will be started and it will run in the background
until the application exits.
"""
def __init__(self, interval=1, video=False):
""" Constructor
:type interval: int
:param interval: Check interval, in seconds
"""
self.interval = interval
self.url = "http://192.168.10.222:1201/videostream.cgi?user=admin&pwd="
self.ipCam = JpegStreamCamera(self.url)
self.display = Display()
thread = threading.Thread(target=self.run, args=(video,))
thread.daemon = True # Daemonize thread
thread.start() # Start the execution
def run(self, video):
""" Method that runs forever """
while not self.display.isDone():
if video:
imagen = self.ipCam.live()
else:
imagen = self.ipCam.getImage().show()
time.sleep(self.interval)
imagen.quit()
def getImage(video):
url = "http://192.168.10.222:1201/videostream.cgi?user=admin&pwd="
ipCam = JpegStreamCamera(url)
display = Display()
if video==False:
imagen = ipCam.getImage().show()
while not display.isDone():
pass
else:
while not display.isDone():
imagen = ipCam.getImage()
#faces = imagen.findHaarFeatures('face')
#if faces is not None:
# faces = faces.sortArea()
# bigFace = faces[-1]
# Draw a green box around the face
# bigFace.draw()
#imagen = ipCam.live()
imagen.save(display)
imagen.quit()
def main(self):
jc = JpegStreamCamera("http://192.168.1.101/videostream.cgi?user=pi&pwd=pi")
vs = VideoStream("MyVideo2.avi",25, True)
for i in range(0,35):
print "loop"
img = jc.getImage()
print "gotimg"
imgName = "img/img_%s.jpg"%(i)
self.makeSaveImg = Process(target=self.saveImgToDisk, args=(img,imgName))
self.makeSaveImg.start()
#self.saveImgToDisk(img,imgName)
vs.writeFrame(img)
print i
print "----------"
#self.makefilmProcess = Process(target=self.saveFilmToDisk, args=("MyVideo2.avi", "MyoutputFile.mpeg"))
#self.makefilmProcess.start()
params = " -i {0} -c:v mpeg4 -b:v 700k -r 24 {1}".format("MyVideo2.avi", "MyoutputFile.avi")
# run avconv to compress the video since ffmpeg is deprecated (going to be).
call('avconv'+params, shell=True)
def scan(camera_base_url='http://octopi.local'):
jc = JpegStreamCamera("{}/webcam/?action=stream".format(camera_base_url))
qrcode = []
horizontal_flip = True
while (not qrcode):
img_og = jc.getImage() #gets image from the camera
img = img_og
if horizontal_flip:
img = img_og.flipHorizontal()
horizontal_flip = False
else:
horizontal_flip = True
qrcode = img.findBarcode() #finds qr data from image
if (qrcode is not None): #if there is some data processed
qrcode = qrcode[0]
result = str(qrcode.data)
return result #returns result of qr in python shell
return (x>0 and x<image.width and y>0 and y<image.height)
width = 640; lon_0 = 270; lat_0 = 80
pixelPerRadians = 640
height=480
radius = pixelPerRadians
max_length = 0
cam = JpegStreamCamera('http://192.168.43.1:8080/videofeed')#640 * 480
mobile = mobileState.mobileState()
while True:
mobile.checkUpdate()
if mobile.isToUpdate:
mobile.computeRPY()
image = cam.getImage().rotate(-sp.rad2deg(mobile.roll), fixed = False)
m = Basemap(width=image.width,height=image.height,projection='aeqd',
lat_0=sp.rad2deg(mobile.pitch),lon_0=sp.rad2deg(mobile.yaw), rsphere = radius)
# fill background.
#m.drawmapboundary(fill_color='aqua')
# draw coasts and fill continents.
#m.drawcoastlines(linewidth=0.5)
#m.fillcontinents(color='coral',lake_color='aqua')
# 20 degree graticule.
# m.drawparallels(np.arange(-90,90,30))
#m.drawmeridians(np.arange(-180,180,30))
# draw a black dot at the center.
#xpt, ypt = m(heading_deg, elevation_deg)
#m.plot([xpt],[ypt],'ko')
# draw the title.
#plt.title('Azimuthal Equidistant Projection')
from SimpleCV import JpegStreamCamera
# Initialize the webcam by providing URL to the camera
cam = JpegStreamCamera("http://142.157.159.116:8080/video.jpeg?sessionId=1378236515.816177")
cam.getImage().show()
from SimpleCV import JpegStreamCamera
from SimpleCV import Camera, Display
from time import sleep
cam= JpegStreamCamera("http://192.168.1.4:8083/videofeed")
cam1= JpegStreamCamera("http://192.168.1.7:8070/videofeed")
myDisplay = Display(resolution=(640, 960))
#myDisplay1 = Display(resolution=(640, 480))
while not myDisplay.isDone():
img=cam.getImage()
img1=cam1.getImage()
img.sideBySide(img1).show()
sleep(.1)
from SimpleCV import JpegStreamCamera
from SimpleCV import Color, Display, RunningSegmentation, Circle
import os, time
cam = JpegStreamCamera("https://192.168.1.102:8080/videofeed")
frame = cam.getImage()
display = Display((frame.width, frame.height))
diff_seg = RunningSegmentation()
default_area = 1000
while display.isNotDone():
original = cam.getImage().flipHorizontal()
diff_seg.addImage(original)
diff_image = diff_seg.getSegmentedImage(False).invert()
active = original - diff_image
if active:
hue = active.hueDistance(Color.RED).binarize(50)
blobs = hue.findBlobs()
if blobs:
original.dl().polygon(blobs[-1].mConvexHull, color=Color.RED, width=3)
original.save(display)
time.sleep(0.1)
lon_0 = 270
lat_0 = 80
pixelPerRadians = 640
height = 480
radius = pixelPerRadians
max_length = 0
cam = JpegStreamCamera('http://192.168.43.1:8080/videofeed') #640 * 480
mobile = mobileState.mobileState()
mobile.open()
while True:
mobile.checkUpdate()
if mobile.isToUpdate:
mobile.computeRPY()
image = cam.getImage().rotate(-sp.rad2deg(mobile.roll), fixed=False)
m = Basemap(width=image.width,
height=image.height,
projection='aeqd',
lat_0=sp.rad2deg(mobile.pitch),
lon_0=sp.rad2deg(mobile.yaw),
rsphere=radius)
# fill background.
#m.drawmapboundary(fill_color='aqua')
# draw coasts and fill continents.
#m.drawcoastlines(linewidth=0.5)
#m.fillcontinents(color='coral',lake_color='aqua')
# 20 degree graticule.
# m.drawparallels(np.arange(-90,90,30))
#m.drawmeridians(np.arange(-180,180,30))
# draw a black dot at the center.
def carMov(flag, faceX, faceY, update='', movSet=0.5):
''' 函數帶入5個引數
flag: 'u','r','d','l','s','t','web'
faceX,faceY: 為臉部定位的x,y座標
update: 更改資料庫的網址,預設為空值
movSet: 馬達的步進值,預設為0.5 在car預計設定為執行秒數
函數返回
返回updatet字串,串接get參數字串
'''
# 判斷藍芽案的按鈕---start---
if flag == 'u' or flag == 'r': # 如果按上或右
if flag == 'u':
GPIO.output(17, False)
GPIO.output(18, True) #電流方向18->17 23->22
GPIO.output(22, False)
GPIO.output(23, True)
#movSet=1;
update += 'move=up'
print '前進..... ' + update
elif flag == 'r':
GPIO.output(17, False)
GPIO.output(18, True)
GPIO.output(22, False)
GPIO.output(23, False)
#movSet=1;
update += 'move=right'
print '右轉..... ' + update
elif flag == 'd' or flag == 'l': # 按下或左
if flag == 'd':
GPIO.output(17, True)
GPIO.output(18, False)
GPIO.output(22, True)
GPIO.output(23, False)
update += 'move=down'
print '後退..... ' + update
elif flag == 'l':
GPIO.output(17, False)
GPIO.output(18, False)
GPIO.output(22, False)
GPIO.output(23, True)
update += 'move=left'
print '左轉..... ' + update
elif flag == 's':
GPIO.output(17, False)
GPIO.output(18, False)
GPIO.output(22, False)
GPIO.output(23, False)
update += 'move=stop'
print '停車..... ' + update
elif flag == 't': #trace face
cam = JpegStreamCamera("http://114.32.209.33:1234/?action=stream")
#cam = JpegStreamCamera("http://172.20.10.13:8080/?action=stream")
while True:
img = cam.getImage()
faces = img.findHaarFeatures('face.xml')
if faces:
bigFaces = faces.sortArea()[-1]
bigFaces.draw() #draw green line
img.save(js)
time.sleep(0.01)
location = bigFaces.coordinates()
print "偵測到臉部....x位置為:", location[0]
print "偵測到臉部....y位置為:", location[1]
faceX = location[0]
faceY = location[0]
x = location[0] - 160
y = location[1] - 120
print "距離x座標中心(160,120):", x
print "距離y座標中心(160,120):", y
break #有抓到眼睛就跳出while
else:
print "沒有抓到臉部"
# 判斷藍芽案的按鈕---end---
update += 'move=trace&X=' + str(faceX) + "&Y=" + str(faceY)
time.sleep(0.1)
print '執行的網址: ' + update + '&WEB=0'
return update
from SimpleCV import Image, JpegStreamCamera
import time
#cam = JpegStreamCamera('http://192.168.1.102:8080/videofeed')
cam = JpegStreamCamera('http://172.17.200.241:8080/videofeed')
img = cam.getImage().flipHorizontal().flipVertical()
#img = Image('/home/jinyuan/Downloads/handmagician/finger.jpg')
ts = []
bb = (300,400,20,20) # get Bounding Box from some method
while True:
img1 = cam.getImage().flipHorizontal().flipVertical()
ts = img1.track(method="camshift", ts=ts, img=img, bb=bb)
#ts = img1.track(method="camshift", ts=ts, img=img, bb=bb)
ts = img1.track(method="mftrack", ts=ts, img=img, bb=bb)
ts.drawBB()
img1.show()
#!/usr/bin/python
# coding=utf-8
# vlc -vvv "/media/bat/DATA/videos/PERSEPOLIS.avi" --sout '#transcode{vcodec=mjpg,vb=2500,width=640,height=480,acodec=none}:standard{access=http,mux=mpjpeg,dst=localhost:8080/videofeed}'
from SimpleCV import JpegStreamCamera, Display, Image
cam = JpegStreamCamera('http://192.168.1.3:8080/videofeed')
disp = Display()
while disp.isNotDone():
img = cam.getImage()
img.save(disp)
class Hover:
"""Uses vision tracking and PID-control to hover at a given altitude
1. Run camera capture in it's own thread; update altitude
2. Run hover loop in it's own thread; output altitude
"""
def __init__(self):
logger.info("{name} init()".format(name=self.__class__.__name__))
self.initControl()
self.initCamera()
self.initTracking()
self.initHover()
def initControl(self):
"""Setup control-flow variables"""
self.exit = False
def initCamera(self):
"""Setup camera variables
Will prompt the user for feedback. Capable of loading webcam or an
ip-camera streaming JPEG
"""
# TODO: Track last camera mode; use 'Enter' to repeat that
camIp = raw_input("Specify camera; enter for webcam, " +
"or ip of network camera:\n")
logger.info("Camera specified as '{camIp}'".format(camIp=camIp))
if camIp is '':
self.cam = Camera()
elif '.' not in camIp:
self.cam = JpegStreamCamera(
"http://192.168.1.{ip}:8080/video".format(ip=camIp))
else:
self.cam = JpegStreamCamera(
"http://{ip}:8080/video".format(ip=camIp))
self.camRes = (800, 600)
logger.info("Camera resolution={res}".format(res=self.camRes))
""" setup tracking """
def initTracking(self):
self.trackingColor = Color.RED
self.trackingBlobMin = 10
self.trackingBlobMax = 5000
self.x = -1
self.y = -1
self.trackingFrameQ = Queue()
logger.info(
"Tracking color={color}; blobMin={min}; blobMax={max}".format(
color=self.trackingColor,
min=self.trackingBlobMin,
max=self.trackingBlobMax))
def initHover(self):
self.hoverFrameQ = Queue()
def visionLoop(self):
while not self.exit:
# acquire image
img = self.cam.getImage()
# exit if we've got nothing
if img is None:
break
# adjust image
'''
img = img.resize(self.camRes[0], self.camRes[1])
img = img.rotate90()
'''
# blob search
colorDiff = img - img.colorDistance(self.trackingColor)
blobs = colorDiff.findBlobs(-1, self.trackingBlobMin,
self.trackingBlobMax)
# blob find
if blobs is not None:
self.x = blobs[-1].x
self.y = blobs[-1].y
# blob show
if blobs is not None:
# roi = region of interest
roiLayer = DrawingLayer((img.width, img.height))
# draw all blobs
for blob in blobs:
blob.draw(layer=roiLayer)
# draw a circle around the main blob
roiLayer.circle((self.x, self.y), 50, Color.RED, 2)
# apply roi to img
img.addDrawingLayer(roiLayer)
img = img.applyLayers()
img.show()
# fps
now = datetime.utcnow()
self.trackingFrameQ.put(now)
if self.trackingFrameQ.qsize() < 30:
fps = 0.0
else:
fps = 30.0 / (now - self.trackingFrameQ.get()).total_seconds()
# logging
logger.debug("{func} ({x},{y}) {fps:5.2f}".format(
func=inspect.stack()[0][3], x=self.x, y=self.y, fps=fps))
def hoverLoop(self):
while not self.exit:
sleep(0.01)
# fps
now = datetime.utcnow()
self.hoverFrameQ.put(now)
if self.hoverFrameQ.qsize() < 30:
fps = 0.0
else:
fps = 30.0 / (now - self.hoverFrameQ.get()).total_seconds()
# logging
logger.debug("{func} ({x},{y}) {fps:5.2f}".format(
func=inspect.stack()[0][3], x=self.x, y=self.y, fps=fps))
def start(self):
threading.Thread(target=self.visionLoop).start()
threading.Thread(target=self.hoverLoop).start()
raw_input("Press any key to stop")
self.exit = True
class Hover:
"""Uses vision tracking and PID-control to hover at a given altitude
1. Run camera capture in it's own thread; update altitude
2. Run hover loop in it's own thread; output altitude
"""
def __init__(self):
logger.info("{name} init()".format(name=self.__class__.__name__))
self.settings = shelve.open('/tmp/hover.settings')
self.initControl()
self.initCamera()
self.initTracking()
self.initHover()
self.initCF()
self.settings.close()
def initControl(self):
"""Setup control-flow variables"""
self.exit = False
def initCamera(self):
"""Setup camera variables
Will prompt the user for feedback. Capable of loading webcam or an
ip-camera streaming JPEG. Uses shelve to remember last entered
value
"""
# get settings
lastCamUri = self.settings.get('camUri')
lastCamRotate = self.settings.get('camRotate')
# prompt for camUri, camRotate
if lastCamUri:
_input = raw_input("Specify camera: 'cam' for webcam, " +
"an ip of network camera or <ENTER> for the " +
"previous value of '{lastCamUri}':\n".format(
lastCamUri=lastCamUri))
if not _input:
self.camUri = lastCamUri
else:
self.camUri = _input
else:
_input = raw_input("Specify camera: 'cam'/<ENTER> for webcam or " +
"an ip of network camera:\n")
if not _input:
self.camUri = _input
else:
self.camUri = 'cam'
logger.info("CamUri = '{camUri}'".format(camUri=self.camUri))
if lastCamRotate:
_input = raw_input("Specify camera rotation or <ENTER> for the " +
"previous value of '{lastCamRotate}':\n".format(
lastCamRotate=lastCamRotate))
if _input:
self.camRotate = int(_input)
else:
self.camRotate = lastCamRotate
else:
_input = raw_input("Specify camera rotation or <ENTER> for " +
"no rotation':\n")
if _input:
self.camRotate = int(_input)
else:
self.camRotate = 0
logger.info("CamRotate = '{camRotate}'"\
.format(camRotate=self.camRotate))
# save settings
self.settings['camUri'] = self.camUri
self.settings['camRotate'] = self.camRotate
# setup camera
if self.camUri == "cam":
self.cam = Camera()
elif '.' not in self.camUri:
self.cam = JpegStreamCamera(
"http://192.168.1.{ip}:8080/video".format(ip=self.camUri))
else:
self.cam = JpegStreamCamera(
"http://{ip}:8080/video".format(ip=self.camUri))
# additional values -- for now, just hard coded
self.camRes = (800, 600)
logger.info("Camera resolution={res}".format(res=self.camRes))
def initTracking(self):
"""Setup tracking variables
Will prompt the user for tracking variables. Uses shelve to remember
last entered value
"""
# get last values
lastTrackingColor = self.settings.get('trackingColor')
# prompt for override
if lastTrackingColor:
_input = raw_input("Specify tracking color as (R,G,B)" +
"or <ENTER> for previous value " +
"{lastTrackingColor}:\n".format(
lastTrackingColor=lastTrackingColor))
if _input:
self.trackingColor = make_tuple(_input)
else:
self.trackingColor = lastTrackingColor
else:
_input = raw_input("Specify tracking color as (R,G,B)" +
"or <ENTER> for default of BLUE:\n")
if _input:
self.trackingColor = make_tuple(_input)
else:
self.trackingColor = Color.BLUE
# save settings
self.settings['trackingColor'] = self.trackingColor
# additional values
self.trackingBlobMin = 5
self.trackingBlobMax = 1000
self.x = -1
self.y = -1
self.target = (300, 400)
logger.info(("Tracking color={color}; min={min}; max={max}; " +
"target={target}").format(color=self.trackingColor,
min=self.trackingBlobMin,
max=self.trackingBlobMax,
target=self.target))
self.trackingFrameQ = Queue()
def initHover(self):
self.hoverFrames = []
self.eSum = 0
def initCF(self):
self.cfConnected = False
self.cf = None
self.cfUri = None
logger.debug("Initializing Drivers; Debug=FALSE")
InitDrivers(enable_debug_driver=False)
logger.info("Scanning")
available = Scan()
logger.info("Found:")
for cf in available:
logger.debug(cf[0])
if len(available) > 0:
self.cfUri = available[0][0]
self.cf = Crazyflie()
self.cf.connected.add_callback(self.cfOnConnected)
self.cf.disconnected.add_callback(self.cfOnDisconnected)
self.cf.connection_failed.add_callback(self.cfOnFailed)
self.cf.connection_lost.add_callback(self.cfOnLost)
logger.info("Crazyflie @{uri} Initialized".format(uri=self.cfUri))
else:
logger.info("No Crazyflies found")
def cfOnConnected(self, uri):
logger.info("{func} {uri}".format(func=inspect.stack()[0][3], uri=uri))
self.cfConnected = True
def cfOnDisconnected(self, uri):
logger.info("{func} {uri}".format(func=inspect.stack()[0][3], uri=uri))
self.cfConnected = False
def cfOnFailed(self, uri):
logger.info("{func} {uri}".format(func=inspect.stack()[0][3], uri=uri))
def cfOnLost(self, uri, msg):
logger.info("{func} {uri} {msg}".format(func=inspect.stack()[0][3],
uri=uri,
msg=msg))
def visionLoop(self):
while not self.exit:
# acquire image
img = self.cam.getImage()
# exit if we've got nothing
if img is None:
break
# adjust image
if self.camRotate != 0:
img.rotate(self.camrotate)
'''
img = img.resize(self.camRes[0], self.camRes[1])
img = img.rotate90()
'''
# blob search
colorDiff = img - img.colorDistance(self.trackingColor)
blobs = colorDiff.findBlobs(-1, self.trackingBlobMin,
self.trackingBlobMax)
'''
blobs = img.findBlobs((255,60,60), self.trackingBlobMin,
self.trackingBlobMax)
'''
# blob find
if blobs is not None:
self.x = blobs[-1].x
self.y = blobs[-1].y
# blob show
if blobs is not None:
# roi = region of interest
roiLayer = DrawingLayer((img.width, img.height))
# draw all blobs
for blob in blobs:
blob.draw(layer=roiLayer)
# draw a circle around the main blob
roiLayer.circle((self.x, self.y), 50, Color.RED, 2)
# apply roi to img
img.addDrawingLayer(roiLayer)
img = img.applyLayers()
img.show()
# fps
now = datetime.utcnow()
self.trackingFrameQ.put(now)
if self.trackingFrameQ.qsize() < 30:
fps = 0.0
else:
fps = 30.0 / (now - self.trackingFrameQ.get()).total_seconds()
# logging
logger.debug("{func} ({x},{y}) {fps:5.2f}".format(
func=inspect.stack()[0][3], x=self.x, y=self.y, fps=fps))
# loop has ened
logger.debug("{func} stopped.".format(func=inspect.stack()[0][3]))
def hoverLoop(self):
while not self.exit:
# hover throttled to camera frame rate
sleep(1.0 / 30.0)
# fps
now = datetime.utcnow()
self.hoverFrames.append(now)
if len(self.hoverFrames) < 30:
fps = 0.0
else:
fps = 30.0 / (now - self.hoverFrames[-30]).total_seconds()
# pid variables
kp = (3000.0 / 400.0)
ki = 0.18
# determine immediate error e
e = self.y - self.target[1]
# determine accumulated errors eSum
if len(self.hoverFrames) > 1:
dt = (now - self.hoverFrames[-2]).total_seconds()
else:
dt = 0
self.eSum = self.eSum + e * dt
# calculate thrust
hoverThrust = 37000
thrust = hoverThrust + (kp * e) + (ki * self.eSum)
# set the throttle
self.setThrust(thrust)
# logging
logger.debug(("{func} e={e}, dt={dt:0.4f}, eSum={eSum:0.4f}, " +
"thrust={thrust}, [{fps:5.2f}]").format(
func=inspect.stack()[0][3],
e=e,
dt=dt,
eSum=self.eSum,
thrust=thrust,
fps=fps))
# loop has ened
logger.debug("{func} stopped.".format(func=inspect.stack()[0][3]))
def setThrust(self, thrust):
""" sets thrust - but if control has exited, will kill thrust """
if self.exit:
thrust = 0
if self.cf is not None:
self.cf.commander.send_setpoint(0, 0, 0, thrust)
def cfOpenLink(self):
if self.cf is not None:
self.cf.open_link(self.cfUri)
logger.info("Linked opened to {uri}".format(uri=self.cfUri))
def start(self):
logger.info("Starting VisionLoop")
threading.Thread(target=self.visionLoop).start()
logger.info("Starting HoverLoop")
threading.Thread(target=self.hoverLoop).start()
logger.info("Opening Crazyflie link")
self.cfOpenLink()
raw_input("Press enter to stop")
self.stop()
def stop(self):
# kill our loops
self.exit = True
# explicitly kill thrust
self.setThrust(0)
# kill crazyflie
if self.cf and self.cfConnected:
self.cf.close_link()
from SimpleCV import Display, JpegStreamCamera, Camera, Color
cam = JpegStreamCamera('http://192.168.1.50:8080/videofeed')
#cam = Camera(0)
disp = Display( (1000,1000))
colorToDisplay = Color.RED
while True:
img = cam.getImage()
img.drawRectangle(0, 0, 999, 999, color = colorToDisplay, width=0, alpha=255)
img.save(disp)
red_dist = img.colorDistance(color=Color.RED)
col = red_dist.getPixel(0,0)
#red_dist.save(disp)
summation = col[0]+col[1]+col[2]
print summation
if summation < 400:
colorToDisplay = Color.BLUE
else:
colorToDisplay = Color.RED
class Hover:
"""Uses vision tracking and PID-control to hover at a given altitude
1. Run camera capture in it's own thread; update altitude
2. Run hover loop in it's own thread; output altitude
"""
def __init__(self):
logger.info("{name} init()".format(name=self.__class__.__name__))
self.settings = shelve.open('/tmp/hover.settings')
self.initControl()
self.initCamera()
self.initTracking()
self.initHover()
self.initCF()
self.settings.close()
def initControl(self):
"""Setup control-flow variables"""
self.exit = False
def initCamera(self):
"""Setup camera variables
Will prompt the user for feedback. Capable of loading webcam or an
ip-camera streaming JPEG. Uses shelve to remember last entered
value
"""
# get settings
lastCamUri = self.settings.get('camUri')
lastCamRotate = self.settings.get('camRotate')
# prompt for camUri, camRotate
if lastCamUri:
_input = raw_input("Specify camera: 'cam' for webcam, " +
"an ip of network camera or <ENTER> for the " +
"previous value of '{lastCamUri}':\n"
.format(lastCamUri=lastCamUri))
if not _input:
self.camUri = lastCamUri
else:
self.camUri = _input
else:
_input = raw_input("Specify camera: 'cam'/<ENTER> for webcam or " +
"an ip of network camera:\n")
if not _input:
self.camUri = _input
else:
self.camUri = 'cam'
logger.info("CamUri = '{camUri}'".format(camUri=self.camUri))
if lastCamRotate:
_input = raw_input("Specify camera rotation or <ENTER> for the " +
"previous value of '{lastCamRotate}':\n"
.format(lastCamRotate=lastCamRotate))
if _input:
self.camRotate = int(_input)
else:
self.camRotate = lastCamRotate
else:
_input = raw_input("Specify camera rotation or <ENTER> for " +
"no rotation':\n")
if _input:
self.camRotate = int(_input)
else:
self.camRotate = 0
logger.info("CamRotate = '{camRotate}'"\
.format(camRotate=self.camRotate))
# save settings
self.settings['camUri'] = self.camUri
self.settings['camRotate'] = self.camRotate
# setup camera
if self.camUri == "cam":
self.cam = Camera()
elif '.' not in self.camUri:
self.cam = JpegStreamCamera("http://192.168.1.{ip}:8080/video"
.format(ip=self.camUri))
else:
self.cam = JpegStreamCamera("http://{ip}:8080/video"
.format(ip=self.camUri))
# additional values -- for now, just hard coded
self.camRes = (800,600)
logger.info("Camera resolution={res}".format(res=self.camRes))
def initTracking(self):
"""Setup tracking variables
Will prompt the user for tracking variables. Uses shelve to remember
last entered value
"""
# get last values
lastTrackingColor = self.settings.get('trackingColor')
# prompt for override
if lastTrackingColor:
_input = raw_input("Specify tracking color as (R,G,B)" +
"or <ENTER> for previous value " +
"{lastTrackingColor}:\n"
.format(lastTrackingColor=lastTrackingColor))
if _input:
self.trackingColor = make_tuple(_input)
else:
self.trackingColor = lastTrackingColor
else:
_input = raw_input("Specify tracking color as (R,G,B)" +
"or <ENTER> for default of BLUE:\n")
if _input:
self.trackingColor = make_tuple(_input)
else:
self.trackingColor = Color.BLUE
# save settings
self.settings['trackingColor'] = self.trackingColor
# additional values
self.trackingBlobMin = 5
self.trackingBlobMax = 1000
self.x = -1
self.y = -1
self.target = (300,400)
logger.info(("Tracking color={color}; min={min}; max={max}; " +
"target={target}")
.format(color=self.trackingColor,
min=self.trackingBlobMin,
max=self.trackingBlobMax,
target=self.target))
self.trackingFrameQ = Queue()
def initHover(self):
self.hoverFrames = []
self.eSum = 0
def initCF(self):
self.cfConnected = False
self.cf = None
self.cfUri = None
logger.debug("Initializing Drivers; Debug=FALSE")
InitDrivers(enable_debug_driver=False)
logger.info("Scanning")
available = Scan()
logger.info("Found:")
for cf in available:
logger.debug(cf[0])
if len(available) > 0:
self.cfUri = available[0][0]
self.cf = Crazyflie()
self.cf.connected.add_callback(self.cfOnConnected)
self.cf.disconnected.add_callback(self.cfOnDisconnected)
self.cf.connection_failed.add_callback(self.cfOnFailed)
self.cf.connection_lost.add_callback(self.cfOnLost)
logger.info("Crazyflie @{uri} Initialized".format(uri=self.cfUri))
else:
logger.info("No Crazyflies found")
def cfOnConnected(self, uri):
logger.info("{func} {uri}".format(func=inspect.stack()[0][3], uri=uri))
self.cfConnected = True
def cfOnDisconnected(self, uri):
logger.info("{func} {uri}".format(func=inspect.stack()[0][3], uri=uri))
self.cfConnected = False
def cfOnFailed(self, uri):
logger.info("{func} {uri}".format(func=inspect.stack()[0][3], uri=uri))
def cfOnLost(self, uri, msg):
logger.info("{func} {uri} {msg}".format(func=inspect.stack()[0][3],
uri=uri, msg=msg))
def visionLoop(self):
while not self.exit:
# acquire image
img = self.cam.getImage()
# exit if we've got nothing
if img is None:
break
# adjust image
if self.camRotate != 0:
img.rotate(self.camrotate)
'''
img = img.resize(self.camRes[0], self.camRes[1])
img = img.rotate90()
'''
# blob search
colorDiff = img - img.colorDistance(self.trackingColor)
blobs = colorDiff.findBlobs(-1, self.trackingBlobMin,
self.trackingBlobMax)
'''
blobs = img.findBlobs((255,60,60), self.trackingBlobMin,
self.trackingBlobMax)
'''
# blob find
if blobs is not None:
self.x = blobs[-1].x
self.y = blobs[-1].y
# blob show
if blobs is not None:
# roi = region of interest
roiLayer = DrawingLayer((img.width, img.height))
# draw all blobs
for blob in blobs:
blob.draw(layer=roiLayer)
# draw a circle around the main blob
roiLayer.circle((self.x,self.y), 50, Color.RED, 2)
# apply roi to img
img.addDrawingLayer(roiLayer)
img = img.applyLayers()
img.show()
# fps
now = datetime.utcnow()
self.trackingFrameQ.put(now)
if self.trackingFrameQ.qsize() < 30:
fps = 0.0
else:
fps = 30.0/(now - self.trackingFrameQ.get()).total_seconds()
# logging
logger.debug("{func} ({x},{y}) {fps:5.2f}"
.format(func=inspect.stack()[0][3],
x=self.x, y=self.y, fps=fps))
# loop has ened
logger.debug("{func} stopped.".format(func=inspect.stack()[0][3]))
def hoverLoop(self):
while not self.exit:
# hover throttled to camera frame rate
sleep(1.0/30.0)
# fps
now = datetime.utcnow()
self.hoverFrames.append(now)
if len(self.hoverFrames) < 30:
fps = 0.0
else:
fps = 30.0/(now - self.hoverFrames[-30]).total_seconds()
# pid variables
kp = (3000.0/400.0)
ki = 0.18
# determine immediate error e
e = self.y - self.target[1]
# determine accumulated errors eSum
if len(self.hoverFrames) > 1:
dt = (now - self.hoverFrames[-2]).total_seconds()
else:
dt = 0
self.eSum = self.eSum + e * dt
# calculate thrust
hoverThrust = 37000
thrust = hoverThrust + (kp * e) + (ki * self.eSum)
# set the throttle
self.setThrust(thrust)
# logging
logger.debug(("{func} e={e}, dt={dt:0.4f}, eSum={eSum:0.4f}, " +
"thrust={thrust}, [{fps:5.2f}]")
.format(func=inspect.stack()[0][3],
e=e, dt=dt, eSum=self.eSum, thrust=thrust,
fps=fps))
# loop has ened
logger.debug("{func} stopped.".format(func=inspect.stack()[0][3]))
def setThrust(self, thrust):
""" sets thrust - but if control has exited, will kill thrust """
if self.exit:
thrust = 0
if self.cf is not None:
self.cf.commander.send_setpoint(0,0,0, thrust)
def cfOpenLink(self):
if self.cf is not None:
self.cf.open_link(self.cfUri)
logger.info("Linked opened to {uri}".format(uri=self.cfUri))
def start(self):
logger.info("Starting VisionLoop")
threading.Thread(target=self.visionLoop).start()
logger.info("Starting HoverLoop")
threading.Thread(target=self.hoverLoop).start()
logger.info("Opening Crazyflie link")
self.cfOpenLink()
raw_input("Press enter to stop")
self.stop()
def stop(self):
# kill our loops
self.exit = True
# explicitly kill thrust
self.setThrust(0)
# kill crazyflie
if self.cf and self.cfConnected:
self.cf.close_link()
def motorMov(flag, argX, argY, update='', movSet=0.5):
''' 函數帶入5個引數
flag: 'u','r','d','l','web'
argX,argY: 為資料庫的x,y座標
update: 更改資料庫的網址,預設為空值
movSet: 馬達的步進值,預設為0.5
函數返回
返回updatet字串,串接get參數字串
'''
# 判斷藍芽案的按鈕---start---
if flag == 'u' or flag == 'r': # 如果按上或右
if flag == 'u':
argY += movSet
update += 'move=up'
elif flag == 'r':
argX += movSet
update += 'move=right'
elif flag == 'd' or flag == 'l': # 按下或左
if flag == 'd':
argY += -movSet
update += 'move=down'
elif flag == 'l':
argX += -movSet
update += 'move=left'
# 判斷藍芽案的按鈕---end---
elif flag == 'web': # 若藍芽沒動則Web動
global isYMov
# 判斷Web的按鈕並驅動馬達---start---
if isYMov:
dutyResultY = round(transDuty(argY), 2) # 四捨五入小數點第二位
print 'Web Y軸dutyCycle: ' + str(dutyResultY)
pwm_motorY.ChangeDutyCycle(dutyResultY) # 驅動Y軸馬達
else:
dutyResultX = round(transDuty(argX), 2)
print 'Web X軸dutyCycle: ' + str(dutyResultX)
pwm_motorX.ChangeDutyCycle(dutyResultX) # 驅動Y軸馬達
update += 'move=web'
print '執行的網址: ' + update
time.sleep(0.1)
return update
# 判斷web的按鈕並驅動馬達---end---
elif flag == 'trace':
cam = JpegStreamCamera("http://172.20.10.4:8080/?action=stream")
while True:
img = cam.getImage()
eyes = img.findHaarFeatures('right_eye.xml')
if eyes:
bigEyes = eyes.sortArea()[-1]
location = bigEyes.coordinates()
print "偵測到臉部....x位置為:", location[0]
print "偵測到臉部....y位置為:", location[1]
x = location[0] - 160
y = location[1] - 120
print "距離x座標中心(160,120):", x
print "距離y座標中心(160,120):", y
movX = round(transDuty(argX), 2)
movY = round(transDuty(argY), 2)
if y >= 60:
movY += 1
elif y <= -60:
movY -= 1
elif 60 > y >= 35:
movY += 0.5
elif -60 < y <= -35:
movY -= 0.5
if movY > 11.5:
movY = 11.5
elif movY < 3:
movY = 3
if x >= 80:
movX -= 1
elif x <= -80:
movX += 1
elif 80 > x >= 50:
movX -= 0.5
elif -80 < x <= -50:
movX += 0.5
if movX > 11.5:
movX = 11.5
elif movX < 3:
movX = 3
backX = round((7.25 - movX) / 17 * 40, 2)
backY = round((7.25 - movY) / 17 * 40, 2)
break
pwm_motorX.start(movX)
pwm_motorY.start(movY)
update += 'move=trace&X=' + str(backX) + '&Y=' + str(backY)
time.sleep(0.1)
print '執行的網址: ' + update
return update
if (argY - resultY) != 0:
dutyResultY = round(transDuty(argY), 2) # 將Y座標轉換為DutyCycle
print 'BT Y軸dutyCycle: ' + str(dutyResultY)
pwm_motorY.ChangeDutyCycle(dutyResultY)
else:
dutyResultX = round(transDuty(argX), 2) # 將X座標轉換為DutyCycle
print 'BT X軸dutyCycle: ' + str(dutyResultX)
pwm_motorX.ChangeDutyCycle(dutyResultX)
time.sleep(0.1)
print '執行的網址: ' + update
return update