def run_entity(upstream_conn, entity_cls, *args, **kwargs):
'''perpetually loops the vision class entity_cls, and outputs data
through the upstream_conn pipe '''
try:
svr.connect()
entity = entity_cls(upstream_conn, *args, **kwargs)
print "running", entity
entity.run()
except Exception as e:
upstream_conn.send(KillSignal())
traceback.print_exc()
sys.exit()
def run_entity(upstream_conn, entity_cls, *args, **kwargs):
'''perpetually loops the vision class entity_cls, and outputs data
through the upstream_conn pipe '''
try:
svr.connect()
entity = entity_cls(upstream_conn, *args, **kwargs)
print "running", entity
entity.run()
except Exception as e:
upstream_conn.send(KillSignal())
traceback.print_exc()
sys.exit()
def svrConnect():
""" connecting to svr """
svr.connect()
"""setting up svr streams """
forward = svr.Stream("forward")
forward.unpause()
down = svr.Stream("down")
down.unpause()
global cameras
cameras = {
"forward" : forward,
"down" : down
}
def svrConnect():
""" Connecting to svr """
svr.connect()
""" Setting up svr streams """
forward = svr.Stream("forward") #Forward? are these names of cameras?
forward.unpause()
down = svr.Stream("down") #Down? where are the names defined?
down.unpause()
global cameras
cameras = {
"forward" : forward,
"down" : down
}
def __init__(self, entities = None):
self.entities = entities
#setting the scale factor, this means each pixel is one cm when obj is 1m away
sf = .0017
svr.connect()
#making the down camera
downTransform = np.float32([[1, 0, 0],
[0, 1, 0],
[0, 0, -1 * sf]])
downCam = Camera(name = "down", transform = downTransform)
#making the forward camera
forTransform = np.float32([[1, 0, 0],
[ 0, 0, 1],
[ 0, sf * 1, 0]])
forCam = Camera(name = "forward", transform = forTransform)
self.cams = [downCam, forCam]
return
from __future__ import division
from sys import argv
from time import time
import os.path
import cv
import svr
svr.connect()
open_streams = {} # Map stream names to stream objects
stream_directories = {} # Map stream names to recording directories
stream_framecounts = {} # Map stream names to number of frames recorded
SOURCES_UPDATE_FREQUENCY = 5 # How many times per second to update sources
last_sources_update = 0 # Last time that the open_streams was updated
def get_next_dir(base_dir, prefix=""):
'''Find the next directory base_dir+prefix+i that isn't taken.'''
i=0
while True:
candidate = os.path.join(base_dir, prefix+str(i))
if not os.path.exists(candidate):
break
i += 1
os.mkdir(candidate)
return candidate
if __name__ == "__main__":
base_dir = argv[1]
'''Show all SVR streams, and show any new streams that appear.'''
from __future__ import division
from time import time
import cv
import svr
svr.connect()
open_streams = {} # Map stream names to stream objects
last_sources_update = 0 # Last time that the open_streams was updated
SOURCES_UPDATE_FREQUENCY = 5 # How many times per second to update sources
if __name__ == "__main__":
while True:
# Rate limit stream listing
t = time()
if t > last_sources_update + 1/SOURCES_UPDATE_FREQUENCY:
last_sources_update = t
# Add new streams to open_streams
all_streams = svr.get_sources_list()
for stream in all_streams:
stream_name = stream.split(":")[1]
if stream_name not in open_streams:
try:
def __init__(self,
cam_pos=(0, 0, 0),
cam_pitch=0,
cam_yaw=0,
parameter_sets={},
svr_source=False):
self.cam_pos = numpy.array(cam_pos, numpy.float)
self.cam_pitch = cam_pitch # Degrees
self.cam_yaw = cam_yaw # Degrees
self.last_parameter_set = None
self.parameter_sets = parameter_sets
self.svr_source = svr_source
self.frame_number = 0
self.camera_modes = [
"Free Cam",
"Forward Cam",
"Down Cam",
]
self.camera_mode = self.camera_modes[0]
self.simulator = None
self.left_mouse_down = False
self.view_width = 800
self.view_height = 800
self.fov = 70 # Degrees
# Window Init
glutInit(sys.argv)
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH)
glutInitWindowSize(self.view_width, self.view_height)
glutCreateWindow("Simulator")
# OpenGL Settings
glClearColor(0, 0, 0, 0)
glShadeModel(GL_FLAT)
glEnable(GL_NORMALIZE)
glEnable(GL_DEPTH_TEST)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glDisable(GL_CULL_FACE)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
# Lighting
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, (0.2, 0.2, 0.2, 0.1))
glLightfv(GL_LIGHT0, GL_POSITION, (0, 1, -1, 0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0, 0, 0, 1))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1))
glLightfv(GL_LIGHT0, GL_SPECULAR, (0, 0, 0, 0))
glLightfv(GL_LIGHT1, GL_POSITION, (0.5, -1, -1, 0))
glLightfv(GL_LIGHT1, GL_AMBIENT, (0, 0, 0, 1))
glLightfv(GL_LIGHT1, GL_DIFFUSE, (0.5, 0.5, 0.5, 1))
glLightfv(GL_LIGHT1, GL_SPECULAR, (0, 0, 0, 0))
# glShadeModel(GL_SMOOTH)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
# Callbacks
glutDisplayFunc(self.draw)
glutKeyboardFunc(self.keyboard_callback)
glutSpecialFunc(self.special_keyboard_callback)
glutMouseFunc(self.mouse_callback)
# Parameter Set Menu
parameter_set_menu = glutCreateMenu(self.parameter_set_menu_callback)
for i, set_name in enumerate(self.parameter_sets.iterkeys()):
glutAddMenuEntry(set_name, i)
# Camera Mode Menu
camera_mode_menu = glutCreateMenu(self.camera_mode_callback)
for i, mode_name in enumerate(self.camera_modes):
glutAddMenuEntry(mode_name, i)
# Main menu
glutCreateMenu(self.main_menu_callback)
glutAddSubMenu("Reset", parameter_set_menu)
glutAddSubMenu("Cam Mode", camera_mode_menu)
glutAddMenuEntry("Zero Thrusters", 2)
glutAddMenuEntry("Quit", 1)
glutAttachMenu(GLUT_RIGHT_BUTTON)
self.init_viewport()
# Init SVR Sources
if self.svr_source:
svr.connect()
self.svr_sources = {} # Map camera names to svr sources
for camera in ["forward", "down"]:
source = svr.Source(camera)
source.set_encoding("raw")
self.svr_sources[camera] = source
def __init__(self, cam_pos=(0, 0, 0), cam_pitch=0, cam_yaw=0,
parameter_sets={}, svr_source=False):
self.cam_pos = numpy.array(cam_pos, numpy.float)
self.cam_pitch = cam_pitch # Degrees
self.cam_yaw = cam_yaw # Degrees
self.last_parameter_set = None
self.parameter_sets = parameter_sets
self.svr_source = svr_source
self.frame_number = 0
self.camera_modes = [
"Free Cam",
"Forward Cam",
"Down Cam",
]
self.camera_mode = self.camera_modes[0]
self.simulator = None
self.left_mouse_down = False
self.view_width = 800
self.view_height = 800
self.fov = 70 # Degrees
# Window Init
glutInit(sys.argv)
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH)
glutInitWindowSize(self.view_width, self.view_height)
glutCreateWindow("Simulator")
# OpenGL Settings
glClearColor(0, 0, 0, 0)
glShadeModel(GL_FLAT)
glEnable(GL_NORMALIZE)
glEnable(GL_DEPTH_TEST)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE)
glDisable(GL_CULL_FACE)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
# Lighting
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, (0.2, 0.2, 0.2, 0.1))
glLightfv(GL_LIGHT0, GL_POSITION, (0, 1, -1, 0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0, 0, 0, 1))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1))
glLightfv(GL_LIGHT0, GL_SPECULAR, (0, 0, 0, 0))
glLightfv(GL_LIGHT1, GL_POSITION, (0.5, -1, -1, 0))
glLightfv(GL_LIGHT1, GL_AMBIENT, (0, 0, 0, 1))
glLightfv(GL_LIGHT1, GL_DIFFUSE, (0.5, 0.5, 0.5, 1))
glLightfv(GL_LIGHT1, GL_SPECULAR, (0, 0, 0, 0))
# glShadeModel(GL_SMOOTH)
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_LIGHT1)
# Callbacks
glutDisplayFunc(self.draw)
glutKeyboardFunc(self.keyboard_callback)
glutSpecialFunc(self.special_keyboard_callback)
glutMouseFunc(self.mouse_callback)
# Parameter Set Menu
parameter_set_menu = glutCreateMenu(self.parameter_set_menu_callback)
for i, set_name in enumerate(self.parameter_sets.iterkeys()):
glutAddMenuEntry(set_name, i)
# Camera Mode Menu
camera_mode_menu = glutCreateMenu(self.camera_mode_callback)
for i, mode_name in enumerate(self.camera_modes):
glutAddMenuEntry(mode_name, i)
# Main menu
glutCreateMenu(self.main_menu_callback)
glutAddSubMenu("Reset", parameter_set_menu)
glutAddSubMenu("Cam Mode", camera_mode_menu)
glutAddMenuEntry("Zero Thrusters", 2)
glutAddMenuEntry("Quit", 1)
glutAttachMenu(GLUT_RIGHT_BUTTON)
self.init_viewport()
# Init SVR Sources
if self.svr_source:
svr.connect()
self.svr_sources = {} # Map camera names to svr sources
for camera in ["forward", "down"]:
source = svr.Source(camera)
source.set_encoding("raw")
self.svr_sources[camera] = source
