def set_params(self, params):
MotionTrackedBodypart.set_params(self, params)
self.imgRoiBackground = None
self.iCount = 0
self.state.intensity = 0.0
self.state.angles = []
self.state.gradients = []
# Compute the 'handedness' of the head/abdomen and wing/wing axes. self.sense specifies the direction of positive angles.
matAxes = np.array(
[
[
self.params["gui"]["head"]["hinge"]["x"] - self.params["gui"]["abdomen"]["hinge"]["x"],
self.params["gui"]["head"]["hinge"]["y"] - self.params["gui"]["abdomen"]["hinge"]["y"],
],
[
self.params["gui"]["right"]["hinge"]["x"] - self.params["gui"]["left"]["hinge"]["x"],
self.params["gui"]["right"]["hinge"]["y"] - self.params["gui"]["left"]["hinge"]["y"],
],
]
)
if self.name in ["left", "right"]:
self.senseAxes = np.sign(np.linalg.det(matAxes))
a = -1 if (self.name == "right") else 1
self.sense = a * self.senseAxes
else:
self.sense = 1
self.windowEdges.set_enable(self.params["gui"]["windows"] and self.params["gui"][self.name]["track"])
self.bValidDetector = False
def set_params(self, params):
MotionTrackedBodypart.set_params(self, params)
self.imgRoiBackground = None
self.iCount = 0
self.state.intensity = 0.0
self.state.angles = []
self.state.gradients = []
# Compute the 'handedness' of the head/abdomen and wing/wing axes. self.sense specifies the direction of positive angles.
matAxes = np.array([[
self.params['gui']['head']['hinge']['x'] -
self.params['gui']['abdomen']['hinge']['x'],
self.params['gui']['head']['hinge']['y'] -
self.params['gui']['abdomen']['hinge']['y']
],
[
self.params['gui']['right']['hinge']['x'] -
self.params['gui']['left']['hinge']['x'],
self.params['gui']['right']['hinge']['y'] -
self.params['gui']['left']['hinge']['y']
]])
if (self.name in ['left', 'right']):
self.senseAxes = np.sign(np.linalg.det(matAxes))
a = -1 if (self.name == 'right') else 1
self.sense = a * self.senseAxes
else:
self.sense = 1
self.windowEdges.set_enable(self.params['gui']['windows']
and self.params['gui'][self.name]['track'])
self.bValidDetector = False
def __init__(self, name=None, params={}, color='white', bEqualizeHist=False):
MotionTrackedBodypart.__init__(self, name, params, color, bEqualizeHist)
self.name = name
self.detector = EdgeDetectorByHoughTransform(self.name, params)
self.state = MsgState()
self.windowEdges = ImageWindow(False, self.name+'Edges')
self.set_params(params)
# Services, for live intensities plots via live_wing_histograms.py
self.service_trackerdata = rospy.Service('trackerdata_'+self.name, SrvTrackerdata, self.serve_trackerdata_callback)
def __init__(self,
name=None,
params={},
color='white',
bEqualizeHist=False):
MotionTrackedBodypart.__init__(self, name, params, color,
bEqualizeHist)
self.name = name
self.detector = EdgeDetectorByHoughTransform(self.name, params)
self.state = MsgState()
self.windowEdges = ImageWindow(False, self.name + 'Edges')
self.set_params(params)
def update(self, dt, image, bInvertColor):
MotionTrackedBodypart.update(self, dt, image, bInvertColor)
if (self.params['gui'][self.name]['track']):
if (not self.bValidDetector):
if (self.mask.xMin is not None):
self.detector.set_params(self.name, self.params,
self.sense, self.angleBodypart_i,
self.angleBodypart_b, image.shape,
self.mask)
self.bValidDetector = True
self.update_state()
def update(self, dt, image, bInvertColor):
MotionTrackedBodypart.update(self, dt, image, bInvertColor)
if (self.params['gui'][self.name]['track']):
if (not self.bValidDetector):
if (self.mask.xMin is not None):
self.detector.set_params(self.name,
self.params,
self.sense,
self.angleBodypart_i,
self.angleBodypart_b,
image.shape,
self.mask)
self.bValidDetector = True
self.update_state()
def draw(self, image):
MotionTrackedBodypart.draw(self, image)
if self.params["gui"][self.name]["track"]:
# Draw the major and minor edges alternately, until the max number has been reached.
bgra = self.bgra
for i in range(len(self.state.angles)):
angle_b = self.transform_angle_b_from_p(self.state.angles[i])
angle_i = self.transform_angle_i_from_b(angle_b)
x0 = self.ptHinge_i[0] + self.params["gui"][self.name]["radius_inner"] * np.cos(angle_i)
y0 = self.ptHinge_i[1] + self.params["gui"][self.name]["radius_inner"] * np.sin(angle_i)
x1 = self.ptHinge_i[0] + self.params["gui"][self.name]["radius_outer"] * np.cos(angle_i)
y1 = self.ptHinge_i[1] + self.params["gui"][self.name]["radius_outer"] * np.sin(angle_i)
cv2.line(image, (int(x0), int(y0)), (int(x1), int(y1)), bgra, 1)
bgra = tuple(0.5 * np.array(bgra))
self.windowEdges.show()
def draw(self, image):
MotionTrackedBodypart.draw(self, image)
if (self.params['gui'][self.name]['track']):
# Draw the major and minor edges alternately, until the max number has been reached.
bgra = self.bgra
for i in range(len(self.state.angles)):
angle_b = self.transform_angle_b_from_p(self.state.angles[i])
angle_i = self.transform_angle_i_from_b(angle_b)
x0 = self.ptHinge_i[0] + self.params['gui'][self.name]['radius_inner'] * np.cos(angle_i)
y0 = self.ptHinge_i[1] + self.params['gui'][self.name]['radius_inner'] * np.sin(angle_i)
x1 = self.ptHinge_i[0] + self.params['gui'][self.name]['radius_outer'] * np.cos(angle_i)
y1 = self.ptHinge_i[1] + self.params['gui'][self.name]['radius_outer'] * np.sin(angle_i)
cv2.line(image, (int(x0),int(y0)), (int(x1),int(y1)), bgra, 1)
bgra = tuple(0.5*np.array(bgra))
self.windowEdges.show()
def update(self, dt, image, bInvertColor):
MotionTrackedBodypart.update(self, dt, image, bInvertColor)
if self.params["gui"][self.name]["track"]:
if not self.bValidDetector:
if self.mask.xMin is not None:
self.detector.set_params(
self.name,
self.params,
self.sense,
self.angleBodypart_i,
self.angleBodypart_b,
image.shape,
self.mask,
)
self.bValidDetector = True
self.update_state()
def set_params(self, params):
MotionTrackedBodypart.set_params(self, params)
self.imgRoiBackground = None
self.iCount = 0
self.state.intensity = 0.0
self.state.angles = []
self.state.gradients = []
# Compute the 'handedness' of the head/abdomen and wing/wing axes. self.sense specifies the direction of positive angles.
matAxes = np.array([[self.params['gui']['head']['hinge']['x']-self.params['gui']['abdomen']['hinge']['x'], self.params['gui']['head']['hinge']['y']-self.params['gui']['abdomen']['hinge']['y']],
[self.params['gui']['right']['hinge']['x']-self.params['gui']['left']['hinge']['x'], self.params['gui']['right']['hinge']['y']-self.params['gui']['left']['hinge']['y']]])
if (self.name in ['left','right']):
self.senseAxes = np.sign(np.linalg.det(matAxes))
a = -1 if (self.name=='right') else 1
self.sense = a*self.senseAxes
else:
self.sense = 1
self.windowEdges.set_enable(self.params['gui']['windows'] and self.params['gui'][self.name]['track'])
self.bValidDetector = False