class MainLoop(Thread):
def __init__(self):
Thread.__init__(self)
self.camera = Camera()
self.detector = Detector()
self.stop_loop = False
self.telemetry = Telemetry()
self.position_calculator = PositionCalculator()
self.frame = None
def run(self):
if Values.PRINT_FPS:
last_time = time.time()
ind = 0
while True:
try:
if self.stop_loop:
break
#self.frame = cv2.imread("images/pole_new.jpg")
self.frame = self.camera.get_frame()
#self.frame = cv2.resize(self.frame, (Values.CAMERA_WIDTH, Values.CAMERA_HEIGHT))
if self.frame is None:
continue
detections = self.detector.detect(self.frame)
self.telemetry.update_telemetry()
self.position_calculator.update_meters_per_pixel(
self.telemetry.altitude)
self.position_calculator.calculate_max_meters_area()
for d in detections:
lat, lon = self.position_calculator.calculate_point_lat_long(
d.middle_point, self.telemetry.latitude,
self.telemetry.longitude, self.telemetry.azimuth)
d.update_lat_lon(lat, lon)
d.area_m = self.position_calculator.calculate_area_in_meters_2(
d.area)
d.draw_detection(self.frame)
cv2.imshow("frame", self.frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if Values.PRINT_FPS:
ind += 1
if time.time() - last_time > 1:
print("FPS:", ind)
ind = 0
last_time = time.time()
except Exception as e:
print("Some error accrued: ", str(e))
self.close()
def close(self):
self.camera.close()
self.stop_loop = True
def main():
# Clear the screen
subprocess.call('clear', shell=True)
config_object = Config(os.getcwd() + '/config/config.ini').raw_config_object
transport = UdpSocket(config_object)
camera = Camera(config_object)
if config_object['COMPRESSION']['switch'] == 'On':
compressor = Compressor(config_object)
transport.add_compression(compressor)
if config_object['ENCRYPTION']['switch'] == 'On':
# encryptor = Encryptor(config_object)
# transport.add_encryption(encryptor)
pass
try:
while True:
time.sleep(float(config_object['QUALITY']['delay']))
image = camera.get_frame()
transport.send_data(image)
except LookupError as e:
print(e)
sys.exit(2)
except KeyboardInterrupt:
print('keyboard interruption')
sys.exit(1)
