def run(self):
# load calibration data to calculate depth map
depthmapCalculator = DepthmapCalculator('../../data/calibration')
# calibrate camera
calibration = depthmapCalculator.get_calibration()
# init block matcher (SGBM) to calculate depth map
block_matcher = depthmapCalculator.get_block_macher()
# init background subtraction
backgroundSubtraction = BackgroundSubtraction()
# init detector
detector = Detector(min_window_size=(150, 150), step_size=(30, 30), downscale=1)
# init tracking
trackObj = TrackingObj(self.queue_update_pc, self.queue_execute_data)
# subtract moving object
imgObjectMoving = ObjectMoving(150, 150, 30)
detectMoving = DetectMoving(150)
# if videoStreamer.connect_pi():
count = 0
font = cv2.FONT_HERSHEY_SIMPLEX
cdetect = 0
try:
# Set the whole string
port = const.PORT
if ":" in self.ip_address:
arr = self.ip_address.split(":")
self.ip_address = arr[0]
port = int(arr[1])
self.pi_socket.sendto(const.CMD_CONNECT, (self.ip_address, port))
self.pi_socket.settimeout(5)
print 'send CMD_CONNECT ok to ' + self.ip_address
# CODEC = cv2.cv.CV_FOURCC('M','P','4','V') # MPEG-4 = MPEG-1
#
# video_writer_right = cv2.VideoWriter("outputR24.avi", CODEC, 24, (352, 288))
#
# video_writer_left = cv2.VideoWriter("outputL24.avi", CODEC, 24, (352, 288))
# detete old data before write image
# os.system("rm -rf /home/pc/PycharmProjects/PeopleCounter/source/capture/pass/*")
# os.system("rm -rf /home/pc/PycharmProjects/PeopleCounter/source/capture/fail/*")
line_seperate = np.zeros((288, 5, 3), np.uint8) + 255
devmod = None
while self.running:
t1 = time.time()
reply, addr = self.pi_socket.recvfrom(50000)
try:
if not const.JOIN in reply:
self.queue_execute_data.put(const.CAMERAS_CONNECTED)
self.queue_execute_data.put(reply)
continue
arr = reply.split(const.JOIN)
dataRight = numpy.fromstring(arr[0], dtype='uint8')
dataLeft = numpy.fromstring(arr[1], dtype='uint8')
image_right = cv2.imdecode(dataRight, 1)
image_left = cv2.imdecode(dataLeft, 1)
# cv2.imshow('SERVER RIGHT', image_right)
# cv2.imshow('SERVER LEFT', image_left)
# video_writer_right.write(image_right)
# video_writer_left.write(image_left)
# cv2.imwrite("../capture/video" + str(count) + ".jpg", image_left)
depthmap = depthmapCalculator.calculate(image_left, image_right, block_matcher, calibration)
# depthmap = 255 - depthmap
# cv2.imwrite("../capture/depth" + str(count) + ".jpg", depthmap)
if self.isDevMode == 1:
display2 = cv2.cvtColor(depthmap, cv2.COLOR_GRAY2BGR)
devmod = np.concatenate((display2, line_seperate), axis=1)
# cv2.imshow("Depthmap", depthmap)
# if count % 10 == 0:
# self.queue_update_pc.put(const.TYPE_IN)
if count > 1:
mask, display = backgroundSubtraction.compute(depthmap)
# if np.sum(display) > 100:
# print "capture" + str(count)
# cv2.imwrite("../capture/back" + str(count) + ".jpg", display)
if self.isDevMode == 1:
display2 = cv2.cvtColor(display, cv2.COLOR_GRAY2BGR)
devmod = np.concatenate((devmod, display2), axis=1)
devmod = np.concatenate((devmod, line_seperate), axis=1)
# cv2.imshow("Background Subtraction", display)
# res,pon1,pon2 = imgObjectMoving.getImgObjectMoving(mask)
# if res:
# # cv2.rectangle(display,pon1, pon2,(255,255,255), 2)
# if count>74:
# im_detected = detector.detect(display[pon1[1]:pon2[1],pon1[0]:pon2[0]])
# # cv2.imshow("back", display)
# cv2.imshow("back", im_detected)
trackObj.resetTracking()
data, data150 = detectMoving.detectObjectInImage(display)
# if len(data150) > 0:
# count_y = 0
# for y in data150:
# # print y
# imgx = display[y[0][1]:y[1][1],y[0][0]:y[1][0]]
# cv2.rectangle(image_left,y[0], y[1],(255,255,255), 1)
# # cv2.imwrite("../capture/150/b"+str(count) + str(count_y)+'.jpg', imgx)
# count_y+=1
# List center point of objects
lstPointObjects = []
if len(data) > 0:
for x in data:
count_y = 0
# print x
# print x[0], x[1]
# print x[1][0] - x[0][0], x[1][1] - x[0][1]
# ckObj = trackObj.check_Obj(x[0],x[2])
# if ckObj == False:
# cdetect+=1
# print cdetect
cv2.circle(image_left, x[3], 25, (255, 255, 255), 1)
# cv2.rectangle(image_left, x[0], x[1], (255, 255, 255), 2)
# trackObj.trackingObj(x[0], x[2])
if detector.detect1(display, x[0], x[1], x[2]):
lstPointObjects.append(x[3])
# trackObj.trackingObj(x[0], x[2], 25)
# cv2.rectangle(image_left,x[0], x[1],(255,255,255), 1)
# else:
# cv2.rectangle(image_left, x[0], x[1], (255, 255, 255), 15)
cv2.circle(image_left, x[3], 25, (255, 255, 255), 3)
y = (detectMoving.CheckRectDetect(x[0], x[1], x[2], 352, 288))
imgx = display[y[0][1]:y[1][1], y[0][0]:y[1][0]]
# cv2.imwrite("../capture/pass/l"+str(count)+str(count_y) + '.jpg', imgx)
# cv2.imwrite("../capture/l"+str(count)+str(count_y) + '.jpg', imgx)
# else:
# y = (detectMoving.CheckRectDetect(x[0], x[1], x[2], 352, 288))
# imgx = display[y[0][1]:y[1][1], y[0][0]:y[1][0]]
# cv2.imwrite("../capture/fail/l"+str(count)+str(count_y) + '.jpg', imgx)
# cv2.imwrite("../capture/l"+str(count)+str(count_y) + '.jpg', imgx)
if len(lstPointObjects) > 0:
trackObj.trackingAllObject(lstPointObjects)
trackObj.remove_track()
for headpoint in trackObj.allObj:
firstpoint = None
for point in headpoint.historyPoints:
if firstpoint != None:
cv2.line(image_left,firstpoint,point,headpoint.color, 2)
firstpoint = point
else:
firstpoint = point
cv2.line(image_left, (0, 144 - 70), (352, 144 - 70), (255, 255, 255), 1)
# cv2.line(image_left, (0, 144), (352, 144), (255, 255, 255), 1)
cv2.line(image_left, (0, 144 + 70), (352, 144 + 70), (255, 255, 255), 1)
cv2.putText(image_left, 'In: %i' % trackObj.InSh, (160, 20), font, 0.5, (255, 255, 255), 1)
cv2.putText(image_left, 'Out: %i' % trackObj.OutSh, (160, 276), font, 0.5, (255, 255, 255), 1)
cv2.putText(image_left, 'fps = ' + str(int(1 / (time.time() - t1))), (10, 20), font, 0.5,
(255, 255, 255), 1)
if self.isDevMode == 1:
devmod = np.concatenate((devmod, image_left), axis=1)
cv2.imshow("Develop Mod", devmod)
else:
cv2.imshow("Camera", image_left)
# print "-----------------------------" + str(count)
# if res:
# cv2.rectangle(display,pon1, pon2,(255,255,255), 2)
# print trackObj.allObj
# print 'fps = ' + str(1 / (time.time() - t1))
count += 1
char = cv2.waitKey(1)
if (char == 99):
# count += 1
# cv2.imwrite(str(count)+'.jpg', display)
# video_writer_right.release()
# video_writer_left.release()
print trackObj.InSh, trackObj.OutSh
cv2.waitKey(0)
if (char == 27):
break
except Exception, ex:
print 'Thread_Listening_Socket WHILE Exception: ' + str(ex)
except Exception, ex:
print 'Thread_Listening_Socket Exception: ' + str(ex)
#init tracking
# trackObj = TrackingObj()
# subtract moving object
imgObjectMoving = ObjectMoving(150,150,30)
detectMoving = DetectMoving(150)
# if videoStreamer.connect_pi():
count = 0
font = cv2.FONT_HERSHEY_SIMPLEX
cdetect = 0
while True:
# image_left, image_right = videoStreamer.get_image_from_pi()
image_left, image_right = streamer.get_image_from_video(videoLeft,videoRight)
depthmap = depthmapCalculator.calculate(image_left, image_right, block_matcher, calibration)
# depthmap = depthmap + 1
cv2.imshow("depthmap", depthmap)
if count > 1:
mask, display = backgroundSubtraction.compute(depthmap)
# if np.sum(display) > 100:
# print "capture" + str(count)
# cv2.imwrite("capture/full/" + str(count) + ".jpg", display)
cv2.imshow("back1", display)
# res,pon1,pon2 = imgObjectMoving.getImgObjectMoving(mask)
# if res:
# # cv2.rectangle(display,pon1, pon2,(255,255,255), 2)
# if count>74:
# im_detected = detector.detect(display[pon1[1]:pon2[1],pon1[0]:pon2[0]])
# # cv2.imshow("back", display)