def __init__(self,
name=None,
params={},
color='white',
bEqualizeHist=False):
self.name = name
self.bEqualizeHist = bEqualizeHist
self.bValidMask = False
self.color = color
self.bgra = ui.bgra_dict[color]
self.bgra_dim = tuple(0.5 * np.array(ui.bgra_dict[color]))
self.bgra_state = ui.bgra_dict[color] #ui.bgra_dict['red']
self.pixelmax = 255.0
self.shape = (np.inf, np.inf)
self.ptHinge_i = np.array([0, 0])
self.roi = None
self.mask = Struct()
self.mask.img = None
self.mask.sum = 1.0
self.mask.xMin = None
self.mask.yMin = None
self.mask.xMax = None
self.mask.yMax = None
self.dt = np.inf
self.params = {}
self.handles = {
'hinge':
ui.Handle(np.array([0, 0]), self.bgra, name='hinge'),
'angle_hi':
ui.Handle(np.array([0, 0]), self.bgra, name='angle_hi'),
'angle_lo':
ui.Handle(np.array([0, 0]), self.bgra, name='angle_lo'),
'radius_inner':
ui.Handle(np.array([0, 0]), self.bgra, name='radius_inner')
}
self.lockBackground = threading.Lock()
# Region of interest images.
self.imgFullBackground = None
self.imgRoiBackground = None
self.imgRoi = None # Untouched roi image.
self.imgRoiFg = None # Background subtracted.
self.imgRoiFgMasked = None
self.imgFinal = None # The image to use for tracking.
self.imgHeadroom = None
# Extra windows.
self.windowBG = ImageWindow(False, self.name + 'BG')
self.windowFG = ImageWindow(False, self.name + 'FG')
self.windowMask = ImageWindow(gbShowMasks, self.name + 'Mask')
def __init__(self, name=None, params={}, color='white', bEqualizeHist=False):
MotionTrackedBodypartPolar.__init__(self, name, params, color, bEqualizeHist)
self.phasecorr = imageprocessing.PhaseCorrelation()
self.state = MsgState() # In the bodypart frame.
self.stateOrigin_p = MsgState() # In the bodypart frame.
self.stateLo_p = MsgState() # In the bodypart frame.
self.stateHi_p = MsgState() # In the bodypart frame.
self.imgComparison = None
self.windowStabilized = ImageWindow(False, self.name+'Stable')
self.windowComparison = ImageWindow(True, self.name+'Comparison')
self.set_params(params)
def __init__(self,
name=None,
params={},
color='white',
bEqualizeHist=False):
self.name = name
self.bEqualizeHist = bEqualizeHist
self.bValidMask = False
self.bgra = ui.bgra_dict[color]
self.bgra_dim = tuple(0.5 * np.array(ui.bgra_dict[color]))
self.bgra_state = ui.bgra_dict[color] #ui.bgra_dict['red']
self.pixelmax = 255.0
self.shape = (np.inf, np.inf)
self.ptCenter_i = np.array([0, 0])
self.roi = None
self.mask = Struct()
self.mask.img = None
self.mask.sum = 1.0
self.dt = np.inf
self.params = {}
self.handles = {
'center': ui.Handle(np.array([0, 0]), self.bgra, name='center'),
'radius1': ui.Handle(np.array([0, 0]), self.bgra, name='radius1'),
'radius2': ui.Handle(np.array([0, 0]), self.bgra, name='radius2')
}
# Region of interest images.
self.imgFullBackground = None
self.imgRoiBackground = None
self.imgRoi = None # Untouched roi image.
self.imgRoiFg = None # Background subtracted.
self.imgRoiFgMasked = None
# Extra windows.
self.windowBG = ImageWindow(False, self.name + 'BG')
self.windowFG = ImageWindow(False, self.name + 'FG')
self.windowMask = ImageWindow(gbShowMasks, self.name + 'Mask')
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):
MotionTrackedBodypartPolar.__init__(self, name, params, color, bEqualizeHist)
self.name = name
self.detector = TipDetector()
self.state = MsgState()
self.set_params(params)
self.windowTip = ImageWindow(False, self.name+'Tip')
self.iAngle = 0
self.iRadius = 0
# 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 openFile(self):
"""Slot for the openFile action."""
from SXM import FileIO,Data
fname = str(QFileDialog.getOpenFileName(self.widget,self.tr("Open File"), \
".",FileIO.getFilterString(types=(Data.Image,))))
if len(fname) > 0:
root, ext = os.path.splitext(fname)
self.statusBar().showMessage(self.tr("Loading data: %1").arg(fname),2000)
image = FileIO.fromFile(fname)
image.load()
imwin = ImageWindow(self,image)
self.Images.append(imwin)
self.updateImageList()
imwin.windowModality = False
imwin.show()
def __init__(self,
name=None,
params={},
color='white',
bEqualizeHist=False):
MotionTrackedBodypartPolar.__init__(self, name, params, color,
bEqualizeHist)
self.name = name
self.detector = TipDetector()
self.state = MsgState()
self.set_params(params)
self.windowTip = ImageWindow(False, self.name + 'Tip')
self.iAngle = 0
self.iRadius = 0
def __init__(self,
name=None,
params={},
color='white',
bEqualizeHist=False):
MotionTrackedBodypart.__init__(self, name, params, color,
bEqualizeHist)
self.polartransforms = imageprocessing.PolarTransforms()
self.create_wfn = imageprocessing.WindowFunctions().create_tukey
self.wfnRoiMaskedPolarCropped = None
self.imgRoiFgMaskedPolar = None
self.imgRoiFgMaskedPolarCropped = None
self.imgRoiFgMaskedPolarCroppedWindowed = None
self.imgFinal = None # The image to use for tracking.
self.imgHeadroomPolar = None
self.windowPolar = ImageWindow(False, self.name + 'Polar')
def __init__(self, params={}):
self.nodename = rospy.get_name().rstrip('/')
EdgeTracker = EdgeTrackerByIntensityProfile
#EdgeTracker = EdgeTrackerByHoughTransform
# Create the body axis tracker.
self.axis = AxisTracker(name='axis', params=params, color='yellow')
# Create the head tracker.
if (params['head']['tracker'] == 'area'):
self.head = AreaTracker(name='head',
params=params,
color='cyan',
bEqualizeHist=False)
elif (params['head']['tracker'] == 'edge'):
self.head = EdgeTracker(name='head',
params=params,
color='cyan',
bEqualizeHist=False)
elif (params['head']['tracker'] == 'tip'):
self.head = TipTracker(name='head',
params=params,
color='cyan',
bEqualizeHist=False)
elif (params['head']['tracker'] == 'intensity'):
self.head = IntensityTracker(name='head',
params=params,
color='cyan',
bEqualizeHist=False)
else:
rospy.logwarn('Head tracker parameter must be one of ['
'area'
', '
'edge'
', '
'tip'
', '
'intensity'
']')
# Create the abdomen tracker.
if (params['abdomen']['tracker'] == 'area'):
self.abdomen = AreaTracker(name='abdomen',
params=params,
color='magenta',
bEqualizeHist=False)
elif (params['abdomen']['tracker'] == 'edge'):
self.abdomen = EdgeTracker(name='abdomen',
params=params,
color='magenta',
bEqualizeHist=False)
elif (params['abdomen']['tracker'] == 'tip'):
self.abdomen = TipTracker(name='abdomen',
params=params,
color='magenta',
bEqualizeHist=False)
elif (params['abdomen']['tracker'] == 'intensity'):
self.abdomen = IntensityTracker(name='abdomen',
params=params,
color='magenta',
bEqualizeHist=False)
else:
rospy.logwarn('Abdomen tracker parameter must be one of ['
'area'
', '
'edge'
', '
'tip'
', '
'intensity'
']')
# Create the right wing tracker.
if (params['right']['tracker'] == 'area'):
self.right = AreaTracker(name='right',
params=params,
color='red',
bEqualizeHist=False)
elif (params['right']['tracker'] == 'edge'):
self.right = EdgeTracker(name='right',
params=params,
color='red',
bEqualizeHist=False)
elif (params['right']['tracker'] == 'tip'):
self.right = TipTracker(name='right',
params=params,
color='red',
bEqualizeHist=False)
elif (params['right']['tracker'] == 'intensity'):
self.right = IntensityTracker(name='right',
params=params,
color='red',
bEqualizeHist=False)
else:
rospy.logwarn('Right wing tracker parameter must be one of ['
'area'
', '
'edge'
', '
'tip'
', '
'intensity'
']')
# Create the left wing tracker.
if (params['left']['tracker'] == 'area'):
self.left = AreaTracker(name='left',
params=params,
color='green',
bEqualizeHist=False)
elif (params['left']['tracker'] == 'edge'):
self.left = EdgeTracker(name='left',
params=params,
color='green',
bEqualizeHist=False)
elif (params['left']['tracker'] == 'tip'):
self.left = TipTracker(name='left',
params=params,
color='green',
bEqualizeHist=False)
elif (params['left']['tracker'] == 'intensity'):
self.left = IntensityTracker(name='left',
params=params,
color='green',
bEqualizeHist=False)
else:
rospy.logwarn('Left wing tracker parameter must be one of ['
'area'
', '
'edge'
', '
'tip'
', '
'intensity'
']')
# Create the aux tracker.
self.aux = IntensityTracker(name='aux',
params=params,
color='yellow',
bEqualizeHist=False)
self.windowInvertColorArea = ImageWindow(False, 'InvertColorArea')
self.bgra_body = ui.bgra_dict['light_gray']
self.ptBodyIndicator1 = None
self.ptBodyIndicator2 = None
self.bInvertColor = False
self.bInvertColorAuto = True
self.iCount = 0
self.stampPrev = None
self.stampPrevAlt = None
self.stamp = rospy.Time(0)
self.pubFlystate = rospy.Publisher(self.nodename + '/flystate',
MsgFlystate,
queue_size=100)