def main(video=0, dowsample=True):
print('QUAD Vision, Python:', version, ' OpenCV:', cv2.__version__)
vid = Video(video,
'ORB Detection testing',
delay=1,
fast=False,
skip=20,
downsample=downsample)
detector = Detector()
if ros_mode:
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
from quad.msg import Target_coordinates
pub_detection = rospy.Publisher('detection',
Target_coordinates,
queue_size=5)
pub_frame = rospy.Publisher('annotated_frame',
msg.image,
queue_size=15)
rospy.init_node('detection', anonymous=True)
rospy.init_node('annotated_frame', anonymous=True)
# Detection profiles
detector.load_profile(profiles.idea_orange)
# detector.load_profile(profiles.quadbox_black)
# detector.load_profile(profiles.quadbox_white)
# detector.load_profile(profiles.idea_red)
# detector.load_profile(profiles.sim_drone)
vid.skip(20)
t = Timer('Detection')
while vid.next():
frame = vid.img
t.start() # start timer
img, confidence, x, y = detector.detect(frame)
print('Detection:', confidence, x, y)
t.end()
vid.display(img)
if ros_mode:
detection = Target_coordinates()
detection.confidence = confidence
detection.x = x
detection.y = y
try:
pub_detection.publish(detection)
except CvBridgeError as e:
print(e)
# ros_img = CvBridge.cv2_to_imgmsg(img, encoding="passthrough")
# pub_frame.publish(ros_img)
vid.close()
t.output()
class TLD_IVMIT:
def __init__(self, frame, window, init_frames_count = 20):
self.buffer = [cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)]
self.position = Position(self.buffer, *window)
self.learning_component = LearningComponent(self.position.calculate_patch())
self.detector = Detector(self.position, self.learning_component)
self.tracker = Tracker(self.position)
self.is_visible = True
self.integrator = Integrator(self.learning_component)
self.init_frames_count = init_frames_count
self.detected_windows = None
self.tracked_window = None
def start(self, frame):
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
if self.init_frames_count == 0:
start = time()
self.tracked_window = self.tracker.track(frame, self.position)
self.buffer[0] = frame
print "Tracking:", time()- start
start = time()
self.detected_windows = self.detector.detect(self.position, self.tracked_window is not None)
print "Detected windows count:", len(self.detected_windows)
print "Detection:", time()- start
start = time()
# filtered_detected_windows = [(window, patch, proba) for window, patch, proba in self.detected_windows if proba > 0.7]
single_window, self.is_visible = self.integrator.get_single_window(self.position, self.detected_windows, self.tracked_window)
print "Integration:", time()- start
if self.is_visible:
self.position.update(*single_window)
# start = time()
# self.learning_component.n_expert()
# self.learning_component.p_expert()
# print "Update training set:", time()- start
else:
self.tracked_window = self.tracker.track(frame, self.position)
self.buffer[0] = frame
if self.tracked_window is not None:
i = 0
while i < 5:
self.position.update(x=np.random.randint(0,self.buffer[0].shape[1]-self.position.width))
if self.position.is_correct() and windows_intersection(self.position.get_window(), self.tracked_window) == 0:
self.learning_component.update_negatives(self.position.calculate_patch())
i += 1
self.position.update(*self.tracked_window)
self.learning_component.update_positives(self.position.calculate_patch())
self.init_frames_count -= 1
else:
self.init_frames_count = 0
self.is_visible = False
return self.position
class Editor(BoxLayout):
def __init__(self, **kwargs):
super(Editor, self).__init__(**kwargs)
self.cam_show = True
self.detector = Detector()
self.img1 = Image(size_hint=(1.0, 0.8))
self.showData = ShowData()
def start_cam(self, src=0):
self._cap = cv2.VideoCapture(src)
while not self._cap.isOpened():
pass
self.cam_show = True
print('cam started!')
self.count = 0
self.fps = 0
self.start_time = time.time()
def close_cam(self):
self.cam_show = False
self._cap.release()
def update(self, dt):
if self._cap.isOpened() is False:
return
_, img = self._cap.read()
# get pose
pose_img, send_pose = self.detector.detect(img)
self.showData.set_text(send_pose)
show_img = cv2.flip(pose_img, 0)
# set texture
texture1 = Texture.create(size=(show_img.shape[1], show_img.shape[0]),
colorfmt='bgr')
texture1.blit_buffer(show_img.tostring(),
colorfmt='bgr',
bufferfmt='ubyte')
# show the results
if self.cam_show:
self.img1.texture = texture1
else:
self.img1.texture = None
self.count += 1
if self.count == 10:
self.calc_fps()
def calc_fps(self):
self.fps = 10 / (time.time() - self.start_time)
self.count = 0
self.start_time = time.time()
# event handle
def connect_zmq(self, ip_id, port_id):
self.detector.disconnect_zmq()
ip = ip_id.text
port = int(port_id.text)
print('connect zmq')
self.detector.connect_zmq(ip, port)
def cam_load(self, src):
print('cam load', src.text)
self.close_cam()
if src.text.find('mp4') != -1 or src.text.find('m4a') != -1:
self.start_cam(src.text)
else:
self.start_cam(int(src.text))
def toggle_cam_show(self, cb):
print(cb.active)
self.cam_show = cb.active
def change_scale(self, k):
rk = round(k.value, 2)
self.detector.set_scale_factor(rk)
print('scale changed to', rk)
def change_pose_num(self, k):
ik = int(k.value)
self.detector.set_pose_num(ik)
print('pose num changed to', ik)
def change_min_pose_score(self, k):
rk = round(k.value, 2)
print('min pose score changed to', rk)
def change_min_part_score(self, k):
rk = round(k.value, 2)
print('min part score changed to', rk)
# image, character_bboxes, new_words, confidence_mask, confidence
image, character_bboxes, new_words, confidence_mask, confidences = data
if len(confidences) == 0:
confidences = 1.0
else:
confidences = np.array(confidences).mean()
region_scores = np.zeros((image.shape[0], image.shape[1]), dtype=np.float32)
affinity_scores = np.zeros((image.shape[0], image.shape[1]), dtype=np.float32)
affinity_bboxes = []
if len(character_bboxes) > 0:
region_scores = gaussianTransformer.generate_region(region_scores.shape, character_bboxes)
affinity_scores, affinity_bboxes = gaussianTransformer.generate_affinity(region_scores.shape,
character_bboxes,
new_words)
saveImage(f'test{i}.png', image.copy(), character_bboxes,
affinity_bboxes, region_scores,
affinity_scores, confidence_mask)
if i == 100:
break
res = detector.detect([img])
for r in res:
cavas = tools.drawBoxes(img, r)
cv2.imwrite('tt.png', cavas)
class PeopleObjectDetectionNode(object):
"""docstring for PeopleObjectDetectionNode."""
def __init__(self):
super(PeopleObjectDetectionNode, self).__init__()
# init the node
rospy.init_node('people_object_detection', anonymous=False)
# Get the parameters
(model_name, num_of_classes, label_file, camera_namespace,
video_name) = self.get_parameters()
# Create Detector
self._detector = Detector(model_name, num_of_classes, label_file)
self._bridge = CvBridge()
# Advertise the result of Object Detector
self.pub_detections = rospy.Publisher(
'people_object_detection/detections', DetectionArray, queue_size=1)
# Advertise the result of Object Detector
self.pub_detections_image = rospy.Publisher(
'people_object_detection/detections_image', Image, queue_size=1)
self.read_from_video()
# spin
rospy.spin()
def read_from_video(self):
video_name = -1
cap = cv2.VideoCapture(video_name)
while (cap.isOpened()):
ret, frame = cap.read()
if frame is not None:
image_message = self._bridge.cv2_to_imgmsg(frame, "bgr8")
#self._sub = rospy.Subscriber('image', Image, self.rgb_callback, queue_size=1)
self.rgb_callback(image_message)
else:
break
cap.release()
cv2.destroyAllWindows()
print("Video has been processed!")
self.shutdown()
def get_parameters(self):
"""
Gets the necessary parameters from parameter server
Args:
Returns:
(tuple) (model name, num_of_classes, label_file)
"""
rospy.set_param("~model_name", 'ssd_mobilenet_v1_coco_11_06_2017')
rospy.set_param("~num_of_classes", '90')
rospy.set_param("~label_file", 'mscoco_label_map.pbtxt')
rospy.set_param("~camera_namespace", 'no')
rospy.set_param("~video_name", '-1')
#rospy.set_param("~num_workers",'-1')
model_name = rospy.get_param("~model_name")
num_of_classes = rospy.get_param("~num_of_classes")
label_file = rospy.get_param("~label_file")
camera_namespace = rospy.get_param("~camera_namespace")
video_name = rospy.get_param("~video_name")
#num_workers = rospy.get_param("~num_workers")
return (model_name, num_of_classes, label_file, \
camera_namespace,video_name)
def shutdown(self):
"""
Shuts down the node
"""
rospy.signal_shutdown("See ya!")
def rgb_callback(self, data):
"""
Callback for RGB images
"""
try:
# Convert image to numpy array
cv_image = self._bridge.imgmsg_to_cv2(data, "bgr8")
# Detect
(output_dict, category_index) = self._detector.detect(cv_image)
# Create the message
msg = utils.create_detection_msg(data, output_dict, category_index,
self._bridge)
# Draw bounding boxes
image_processed = self._detector.visualize(cv_image, output_dict)
# Convert numpy image into sensor img
msg_im = self._bridge.cv2_to_imgmsg(image_processed,
encoding="passthrough")
cv2.imshow("Image window", image_processed)
cv2.waitKey(3)
# Publish the messages
self.pub_detections.publish(msg)
self.pub_detections_image.publish(msg_im)
except CvBridgeError as e:
print(e)
