def cmd_camera(args):
'''camera commands'''
state = mpstate.camera_state
if args[0] == "start":
state.capture_count = 0
state.error_count = 0
state.error_msg = None
state.running = True
if state.capture_thread is None:
state.capture_thread = start_thread(capture_thread)
state.save_thread = start_thread(save_thread)
state.scan_thread1 = start_thread(scan_thread)
state.scan_thread2 = start_thread(scan_thread)
state.transmit_thread = start_thread(transmit_thread)
print("started camera running")
elif args[0] == "stop":
state.running = False
print("stopped camera capture")
elif args[0] == "status":
print(
"Cap imgs:%u err:%u scan:%u regions:%u jsize:%.0f xmitq:%u/%u lst:%u sq:%.1f eff:%.2f"
% (state.capture_count, state.error_count, state.scan_count,
state.region_count, state.jpeg_size,
state.xmit_queue, state.xmit_queue2, state.frame_loss,
state.scan_queue.qsize(), state.efficiency))
if state.bsend2:
state.bsend2.report(detailed=False)
elif args[0] == "queue":
print("scan %u save %u transmit %u eff %.1f bw %.1f rtt %.1f" %
(state.scan_queue.qsize(), state.save_queue.qsize(),
state.transmit_queue.qsize(), state.efficiency,
state.bandwidth_used, state.rtt_estimate))
elif args[0] == "view":
if mpstate.map is None:
print("Please load map module first")
return
if not state.viewing:
print("Starting image viewer")
if state.view_thread is None:
state.view_thread = start_thread(view_thread)
state.viewing = True
elif args[0] == "noview":
if state.viewing:
print("Stopping image viewer")
state.viewing = False
elif args[0] == "set":
if len(args) < 3:
state.settings.show_all()
else:
state.settings.set(args[1], args[2])
elif args[0] == "boundary":
if len(args) != 2:
print("boundary=%s" % state.boundary)
else:
state.boundary = args[1]
state.boundary_polygon = cuav_util.polygon_load(state.boundary)
if mpstate.map is not None:
mpstate.map.add_object(
mp_slipmap.SlipPolygon('boundary',
state.boundary_polygon,
layer=1,
linewidth=2,
colour=(0, 0, 255)))
else:
print("usage: camera <start|stop|status|view|noview|boundary|set>")
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.gcs_view_port, state.bandwidth)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
while not state.unload.wait(0.02):
if state.viewing:
bsend.tick(packet_count=1000)
cv.WaitKey(1)
if not view_window:
view_window = True
key = cv.WaitKey(1)
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map, lens=state.lens)
if state.boundary is not None:
boundary = cuav_util.polygon_load(state.boundary)
mosaic.set_boundary(boundary)
buf = bsend.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
thumb_total_bytes += len(buf)
# save the thumbnails
filename = '%s/v%s.jpg' % (thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.thumb)
composite = cv.LoadImage(filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
pos = get_plane_position(obj.frame_time)
log_joe_position(pos, obj.frame_time, obj.regions, filename)
# update the mosaic and map
mosaic.add_regions(obj.regions, thumbs, obj.latlon_list, filename, pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost', 'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions', 'Regions %u' % region_count)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % (thumb_total_bytes/thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
# save it to disk
filename = '%s/v%s.jpg' % (view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
# work out where we were at the time
try:
pos = state.mpos.position(obj.frame_time, 0)
except mav_position.MavInterpolatorException, msg:
print msg
pos = None
if pos:
mosaic.add_image(filename, img, pos)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
cv.ConvertScale(display_img, display_img, scale=state.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status('JPGSize', 'JPG Size %.0f' % (jpeg_total_bytes/image_count))
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % (image_total_bytes/image_count))
else:
if view_window:
view_window = False
def cmd_camera(args):
'''camera commands'''
state = mpstate.camera_state
if args[0] == "start":
state.capture_count = 0
state.error_count = 0
state.error_msg = None
state.running = True
if state.capture_thread is None:
state.capture_thread = start_thread(capture_thread)
state.save_thread = start_thread(save_thread)
state.scan_thread1 = start_thread(scan_thread)
state.scan_thread2 = start_thread(scan_thread)
state.transmit_thread = start_thread(transmit_thread)
print("started camera running")
elif args[0] == "stop":
state.running = False
print("stopped camera capture")
elif args[0] == "status":
print("Cap imgs:%u err:%u scan:%u regions:%u jsize:%.0f xmitq:%u/%u lst:%u sq:%.1f eff:%.2f" % (
state.capture_count, state.error_count, state.scan_count, state.region_count,
state.jpeg_size,
state.xmit_queue, state.xmit_queue2, state.frame_loss, state.scan_queue.qsize(), state.efficiency))
if state.bsend2:
state.bsend2.report(detailed=False)
elif args[0] == "queue":
print("scan %u save %u transmit %u eff %.1f bw %.1f rtt %.1f" % (
state.scan_queue.qsize(),
state.save_queue.qsize(),
state.transmit_queue.qsize(),
state.efficiency,
state.bandwidth_used,
state.rtt_estimate))
elif args[0] == "view":
if mpstate.map is None:
print("Please load map module first")
return
if not state.viewing:
print("Starting image viewer")
if state.view_thread is None:
state.view_thread = start_thread(view_thread)
state.viewing = True
elif args[0] == "noview":
if state.viewing:
print("Stopping image viewer")
state.viewing = False
elif args[0] == "set":
if len(args) < 3:
state.settings.show_all()
else:
state.settings.set(args[1], args[2])
elif args[0] == "boundary":
if len(args) != 2:
print("boundary=%s" % state.boundary)
else:
state.boundary = args[1]
state.boundary_polygon = cuav_util.polygon_load(state.boundary)
if mpstate.map is not None:
mpstate.map.add_object(mp_slipmap.SlipPolygon('boundary', state.boundary_polygon, layer=1, linewidth=2, colour=(0,0,255)))
else:
print("usage: camera <start|stop|status|view|noview|boundary|set>")
def process(args):
"""process a set of files"""
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(glob.glob(os.path.join(a, "*.pgm")))
else:
files.append(a)
files.sort()
num_files = len(files)
print ("num_files=%u" % num_files)
region_count = 0
joes = []
if opts.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.boundary:
boundary = cuav_util.polygon_load(opts.boundary)
else:
boundary = None
if opts.mosaic:
slipmap = mp_slipmap.MPSlipMap(service="GoogleSat", elevation=True, title="Map")
icon = slipmap.icon("planetracker.png")
slipmap.add_object(
mp_slipmap.SlipIcon("plane", (0, 0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())
)
C_params = cam_params.CameraParams(lens=opts.lens)
path = os.path.join(
os.path.dirname(os.path.realpath(__file__)), "..", "..", "cuav", "data", "chameleon1_arecont0.json"
)
C_params.load(path)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if opts.joe:
joes = cuav_util.polygon_load(opts.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print ("Error: joe outside boundary", joe)
return
icon = slipmap.icon("flag.png")
slipmap.add_object(mp_slipmap.SlipIcon("joe%u" % i, (joe[0], joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog("joe.log")
if opts.view:
viewer = mp_image.MPImage(title="Image")
for f in files:
frame_time = cuav_util.parse_frame_time(f)
if mpos:
try:
if opts.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, opts.max_deltat, roll=roll)
slipmap.set_position("plane", (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print e
pos = None
else:
pos = None
# check for any events from the map
if opts.mosaic:
slipmap.check_events()
mosaic.check_events()
if f.endswith(".pgm"):
pgm = cuav_util.PGM(f)
im = pgm.array
if pgm.eightbit:
im_8bit = im
else:
im_8bit = numpy.zeros((960, 1280, 1), dtype="uint8")
if opts.gamma != 0:
scanner.gamma_correct(im, im_8bit, opts.gamma)
else:
scanner.reduce_depth(im, im_8bit)
im_full = numpy.zeros((960, 1280, 3), dtype="uint8")
scanner.debayer_full(im_8bit, im_full)
im_640 = numpy.zeros((480, 640, 3), dtype="uint8")
scanner.downsample(im_full, im_640)
else:
im_full = cv.LoadImage(f)
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
img_scan = im_640
t0 = time.time()
for i in range(opts.repeat):
if opts.fullres:
regions = scanner.scan_full(im_full)
else:
regions = scanner.scan(img_scan)
count += 1
regions = cuav_region.RegionsConvert(regions)
t1 = time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore)
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and opts.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(opts.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(opts.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=1280, height=960, altitude=opts.altitude)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if opts.mosaic and len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions, quality=opts.quality
)
chameleon.save_file("composite.jpg", composite)
thumbs = cuav_mosaic.ExtractThumbs(cv.LoadImage("composite.jpg"), len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.compress:
jpeg = scanner.jpeg_compress(im_full, opts.quality)
jpeg_filename = f[:-4] + ".jpg"
if os.path.exists(jpeg_filename):
print ("jpeg %s already exists" % jpeg_filename)
continue
chameleon.save_file(jpeg_filename, jpeg)
if opts.view:
if opts.fullres:
img_view = im_full
else:
img_view = img_scan
mat = cv.fromarray(img_view)
for r in regions:
(x1, y1, x2, y2) = r.tuple()
if opts.fullres:
x1 *= 2
y1 *= 2
x2 *= 2
y2 *= 2
cv.Rectangle(mat, (max(x1 - 2, 0), max(y1 - 2, 0)), (x2 + 2, y2 + 2), (255, 0, 0), 2)
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
total_time += t1 - t0
print ("%s scan %.1f fps %u regions [%u/%u]" % (f, count / total_time, region_count, scan_count, num_files))
def cmd_camera(args):
'''camera commands'''
state = mpstate.camera_state
if not args:
print("usage: camera <start|stop|status|view|noview|gcs|brightness|capbrightness|boundary|bandwidth|bandwidth2|thumbsize|transmit|loss|save|minscore|altitude|send2>")
return
if args[0] == "start":
state.capture_count = 0
state.error_count = 0
state.error_msg = None
state.running = True
if state.capture_thread is None:
state.capture_thread = start_thread(capture_thread)
state.save_thread = start_thread(save_thread)
state.scan_thread1 = start_thread(scan_thread)
#state.scan_thread2 = start_thread(scan_thread)
state.transmit_thread = start_thread(transmit_thread)
print("started camera running")
elif args[0] == "stop":
state.running = False
print("stopped camera capture")
elif args[0] == "status":
print("Cap %u imgs %u err %u scan %u regions %.0f jsize %.0f xmitq %u/%u lst %u sq %.1f eff" % (
state.capture_count, state.error_count, state.scan_count, state.region_count,
state.jpeg_size, state.xmit_queue, state.xmit_queue2, state.frame_loss, state.scan_queue.qsize(), state.efficiency))
if state.bsend2:
state.bsend2.report(detailed=False)
elif args[0] == "queue":
print("scan %u save %u transmit %u eff %.1f bw %.1f rtt %.1f" % (
state.scan_queue.qsize(),
state.save_queue.qsize(),
state.transmit_queue.qsize(),
state.efficiency,
state.bandwidth_used,
state.rtt_estimate))
elif args[0] == "view":
if mpstate.map is None:
print("Please load map module first")
return
if not state.viewing:
print("Starting image viewer")
if state.view_thread is None:
state.view_thread = start_thread(view_thread)
state.viewing = True
elif args[0] == "noview":
if state.viewing:
print("Stopping image viewer")
state.viewing = False
elif args[0] == "gcs":
if len(args) != 2:
print("usage: camera gcs <IPADDRESS>")
return
state.gcs_address = args[1]
elif args[0] == "brightness":
if len(args) != 2:
print("brightness=%f" % state.brightness)
else:
state.brightness = float(args[1])
elif args[0] == "capbrightness":
if len(args) != 2:
print("capbrightness=%u" % state.capture_brightness)
else:
state.capture_brightness = int(args[1])
elif args[0] == "gamma":
if len(args) != 2:
print("gamma=%u" % state.gamma)
else:
state.gamma = int(args[1])
elif args[0] == "quality":
if len(args) != 2:
print("quality=%u" % state.quality)
else:
state.quality = int(args[1])
elif args[0] == "thumbsize":
if len(args) != 2:
print("thumbsize=%u" % state.thumbsize)
else:
state.thumbsize = int(args[1])
elif args[0] == "bandwidth":
if len(args) != 2:
print("bandwidth=%u" % state.bandwidth)
else:
state.bandwidth = int(args[1])
elif args[0] == "bandwidth2":
if len(args) != 2:
print("bandwidth2=%u" % state.bandwidth2)
else:
state.bandwidth2 = int(args[1])
elif args[0] == "loss":
if len(args) != 2:
print("packet_loss=%u" % state.packet_loss)
else:
state.packet_loss = int(args[1])
elif args[0] == "save":
if len(args) != 2:
print("save_pgm=%s" % str(state.save_pgm))
else:
state.save_pgm = bool(int(args[1]))
elif args[0] == "transmit":
if len(args) != 2:
print("transmit=%s" % str(state.transmit))
else:
state.transmit = bool(int(args[1]))
elif args[0] == "send2":
if len(args) != 2:
print("send2=%s" % str(state.send2))
else:
state.send2 = bool(int(args[1]))
elif args[0] == "minscore":
if len(args) != 2:
print("minscore=%u" % state.minscore)
else:
state.minscore = int(args[1])
elif args[0] == "altitude":
if len(args) != 2:
print("altitude=%u" % state.altitude)
else:
state.altitude = int(args[1])
elif args[0] == "boundary":
if len(args) != 2:
print("boundary=%s" % state.boundary)
else:
state.boundary = args[1]
state.boundary_polygon = cuav_util.polygon_load(state.boundary)
if mpstate.map is not None:
mpstate.map.add_object(mp_slipmap.SlipPolygon('boundary', state.boundary_polygon, layer=1, linewidth=2, colour=(0,0,255)))
else:
print("usage: camera <start|stop|status|view|noview|gcs|brightness|capbrightness|boundary|bandwidth|bandwidth2|thumbsize|transmit|loss|save|minscore|altitude|send2>")
def cmd_camera(args):
'''camera commands'''
state = mpstate.camera_state
if args[0] == "start":
state.capture_count = 0
state.error_count = 0
state.error_msg = None
state.running = True
if state.capture_thread is None:
state.capture_thread = start_thread(capture_thread)
state.save_thread = start_thread(save_thread)
state.scan_thread1 = start_thread(scan_thread)
state.scan_thread2 = start_thread(scan_thread)
state.transmit_thread = start_thread(transmit_thread)
print("started camera running")
elif args[0] == "stop":
state.running = False
print("stopped camera capture")
elif args[0] == "status":
print("Cap %u imgs %u err %u scan %u regions %.0f jsize %.0f xmitq %u lst %u sq %.1f eff" % (
state.capture_count, state.error_count, state.scan_count, state.region_count,
state.jpeg_size, state.xmit_queue, state.frame_loss, state.scan_queue.qsize(), state.efficiency))
elif args[0] == "queue":
print("scan %u save %u transmit %u eff %.1f bw %.1f rtt %.1f" % (
state.scan_queue.qsize(),
state.save_queue.qsize(),
state.transmit_queue.qsize(),
state.efficiency,
state.bandwidth_used,
state.rtt_estimate))
elif args[0] == "view":
if mpstate.map is None:
print("Please load map module first")
return
if not state.viewing:
print("Starting image viewer")
if state.view_thread is None:
state.view_thread = start_thread(view_thread)
state.viewing = True
elif args[0] == "noview":
if state.viewing:
print("Stopping image viewer")
state.viewing = False
elif args[0] == "gcs":
if len(args) != 2:
print("usage: camera gcs <IPADDRESS>")
return
state.gcs_address = args[1]
elif args[0] == "brightness":
if len(args) != 2:
print("brightness=%f" % state.brightness)
else:
state.brightness = float(args[1])
elif args[0] == "capbrightness":
if len(args) != 2:
print("capbrightness=%u" % state.capture_brightness)
else:
state.capture_brightness = int(args[1])
elif args[0] == "gamma":
if len(args) != 2:
print("gamma=%u" % state.gamma)
else:
state.gamma = int(args[1])
elif args[0] == "quality":
if len(args) != 2:
print("quality=%u" % state.quality)
else:
state.quality = int(args[1])
elif args[0] == "bandwidth":
if len(args) != 2:
print("bandwidth=%u" % state.bandwidth)
else:
state.bandwidth = int(args[1])
elif args[0] == "loss":
if len(args) != 2:
print("packet_loss=%u" % state.packet_loss)
else:
state.packet_loss = int(args[1])
elif args[0] == "save":
if len(args) != 2:
print("save_pgm=%s" % str(state.save_pgm))
else:
state.save_pgm = bool(int(args[1]))
elif args[0] == "transmit":
if len(args) != 2:
print("transmit=%s" % str(state.transmit))
else:
state.transmit = bool(int(args[1]))
elif args[0] == "boundary":
if len(args) != 2:
print("boundary=%s" % state.boundary)
else:
state.boundary = args[1]
state.boundary_polygon = cuav_util.polygon_load(state.boundary)
else:
print("usage: camera <start|stop|status|view|noview|gcs|brightness|capbrightness|boundary|bandwidth|transmit|loss|save>")
def view_thread():
'''image viewing thread - this runs on the ground station'''
import cuav_mosaic
state = mpstate.camera_state
bsend = block_xmit.BlockSender(state.gcs_view_port, state.bandwidth)
view_window = False
image_count = 0
thumb_count = 0
image_total_bytes = 0
jpeg_total_bytes = 0
thumb_total_bytes = 0
region_count = 0
mosaic = None
view_dir = os.path.join(state.camera_dir, "view")
thumb_dir = os.path.join(state.camera_dir, "thumb")
cuav_util.mkdir_p(view_dir)
cuav_util.mkdir_p(thumb_dir)
img_window = mp_image.MPImage(title='Camera')
mpstate.console.set_status('Images', 'Images %u' % image_count, row=6)
mpstate.console.set_status('Lost', 'Lost %u' % 0, row=6)
mpstate.console.set_status('Regions', 'Regions %u' % region_count, row=6)
mpstate.console.set_status('JPGSize', 'JPGSize %.0f' % 0.0, row=6)
mpstate.console.set_status('XMITQ', 'XMITQ %.0f' % 0.0, row=6)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count, row=7)
mpstate.console.set_status('ThumbSize', 'ThumbSize %.0f' % 0.0, row=7)
mpstate.console.set_status('ImageSize', 'ImageSize %.0f' % 0.0, row=7)
while not state.unload.wait(0.02):
if state.viewing:
bsend.tick(packet_count=1000)
cv.WaitKey(1)
if not view_window:
view_window = True
key = cv.WaitKey(1)
mosaic = cuav_mosaic.Mosaic(slipmap=mpstate.map,
lens=state.lens)
if state.boundary is not None:
boundary = cuav_util.polygon_load(state.boundary)
mosaic.set_boundary(boundary)
buf = bsend.recv(0)
if buf is None:
continue
try:
obj = cPickle.loads(str(buf))
if obj == None:
continue
except Exception as e:
continue
if isinstance(obj, ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
thumb_total_bytes += len(buf)
# save the thumbnails
filename = '%s/v%s.jpg' % (
thumb_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.thumb)
composite = cv.LoadImage(filename)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(obj.regions))
# log the joe positions
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
pos = get_plane_position(obj.frame_time)
log_joe_position(pos, obj.frame_time, obj.regions, filename)
# update the mosaic and map
mosaic.add_regions(obj.regions,
thumbs,
obj.latlon_list,
filename,
pos=pos)
# update console display
region_count += len(obj.regions)
state.frame_loss = obj.frame_loss
state.xmit_queue = obj.xmit_queue
thumb_count += 1
mpstate.console.set_status('Lost',
'Lost %u' % state.frame_loss)
mpstate.console.set_status('Regions',
'Regions %u' % region_count)
mpstate.console.set_status('XMITQ',
'XMITQ %.0f' % state.xmit_queue)
mpstate.console.set_status('Thumbs', 'Thumbs %u' % thumb_count)
mpstate.console.set_status(
'ThumbSize',
'ThumbSize %.0f' % (thumb_total_bytes / thumb_count))
if isinstance(obj, ImagePacket):
# we have an image from the plane
image_total_bytes += len(buf)
# save it to disk
filename = '%s/v%s.jpg' % (
view_dir, cuav_util.frame_time(obj.frame_time))
chameleon.save_file(filename, obj.jpeg)
img = cv.LoadImage(filename)
# work out where we were at the time
try:
pos = state.mpos.position(obj.frame_time, 0)
except mav_position.MavInterpolatorException, msg:
print msg
pos = None
if pos:
mosaic.add_image(filename, img, pos)
img = cv.LoadImage(filename)
if img.width == 1280:
display_img = cv.CreateImage((640, 480), 8, 3)
cv.Resize(img, display_img)
else:
display_img = img
cv.ConvertScale(display_img,
display_img,
scale=state.brightness)
img_window.set_image(display_img, bgr=True)
# update console
image_count += 1
jpeg_total_bytes += len(obj.jpeg)
state.jpeg_size = 0.95 * state.jpeg_size + 0.05 * len(obj.jpeg)
mpstate.console.set_status('Images', 'Images %u' % image_count)
mpstate.console.set_status(
'JPGSize',
'JPG Size %.0f' % (jpeg_total_bytes / image_count))
mpstate.console.set_status(
'ImageSize',
'ImageSize %.0f' % (image_total_bytes / image_count))
else:
if view_window:
view_window = False
