def set_video_widget(self, video_widget, conf={}):
self.video_widget = video_widget
self.video_thread = VideoThread(video_widget, conf)
if self.form:
self.video_thread.set_separation_threshold(
self.form.threshold.value())
class App(QApplication):
def __init__(self, *args, **kwargs):
self.conf = kwargs.pop('conf')
super(App, self).__init__(*args, **kwargs)
self.video_widget = None
self.video_thread = None
self.meta_img = None
self.form = None
def set_video_widget(self, video_widget, conf={}):
self.video_widget = video_widget
self.video_thread = VideoThread(video_widget, conf)
if self.form:
self.video_thread.set_separation_threshold(
self.form.threshold.value())
def set_form(self, form):
self.form = form
self.form.key_press.connect(self.on_key_press)
self.form.key_release.connect(self.on_key_release)
self.form.destroyed.connect(self.on_exit)
self.form.show_mask.stateChanged.connect(self.on_show_mask)
self.form.threshold.valueChanged.connect(self.on_thresh_change)
if self.video_thread:
self.video_thread.set_separation_threshold(
self.form.threshold.value())
def on_key_press(self, key):
if key and key == Qt.Key_Alt:
self.on_detail_prev_show()
elif key and key == Qt.Key_Control:
self.on_snap()
def on_key_release(self, key):
if key and key == Qt.Key_Alt:
self.on_detail_prev_hide()
def on_exit(self):
self.video_thread.kill()
def on_show_mask(self, state):
if state == Qt.Checked:
self.video_thread.show_mask()
else:
self.video_thread.hide_mask()
def on_thresh_change(self, value):
self.video_thread.set_separation_threshold(value)
def on_detail_prev_show(self):
self.video_thread.show_detail()
def on_detail_prev_hide(self):
self.video_thread.hide_detail()
def on_snap(self):
frame, downscaled = self.video_thread.snap()
sizes = self._measure(downscaled)
self._show_save_dialog(frame, downscaled, sizes)
def _measure(self, img):
meta_img = MetaImg(img, {})
calib_filter = CalibrateRedDotFilter(
{'dot_diameter_in_mm': CONFIG.get('dot_diameter_in_mm', 1)})
sep_filter = SeparateObjectFilter()
calib_filter(meta_img)
sep_filter(meta_img)
w = meta_img.meta['ellipsis'][1][0] * meta_img.meta['mm_on_px']
h = meta_img.meta['ellipsis'][1][1] * meta_img.meta['mm_on_px']
return w, h
def _show_save_dialog(self, frame, downscaled, sizes):
self.save_dialog = QDialog()
self.save_dialog.ui = SaveDialog(downscaled, sizes)
self.save_dialog.ui.setupUi(self.save_dialog)
self.save_dialog.show()
self.save_dialog.accepted.connect(
lambda: self._save_image_data(frame, sizes))
def _save_image_data(self, frame, sizes):
no = self._parse_last_measure_no()
no += 1
label = str(self.form.class_name.toPlainText())
label = re.sub(r'[^\w]', '', label) or 'no_label'
img_name = '%d_%s.png' % (no, label)
path = self.conf.get('save_folder', './')
path = os.path.join(path, img_name)
cv2.imwrite(path, frame)
self._save_measure(no, label, sizes, img_name)
def _parse_last_measure_no(self):
path = self.conf.get('save_folder', './')
try:
f = open(os.path.join(path, self.conf['measure_file']), 'r')
except IOError:
return 0
for last_line in f:
pass
f.close()
if last_line:
return int(last_line.split(',')[0])
else:
return 0
def _save_measure(self, no, label, sizes, img_name):
path = self.conf.get('save_folder', './')
f = open(os.path.join(path, self.conf['measure_file']), 'a+')
f.write("%d,%s,%.3f,%.3f,%s\n" %
(no, label, sizes[0], sizes[1], img_name))
f.close()
def start(self):
assert (self.video_widget)
assert (self.form)
self.video_thread.start()
class App(QApplication):
def __init__(self, *args, **kwargs):
self.conf = kwargs.pop('conf')
super(App, self).__init__(*args, **kwargs)
self.video_widget = None
self.video_thread = None
self.meta_img = None
self.form = None
def set_video_widget(self, video_widget, conf = {}):
self.video_widget = video_widget
self.video_thread = VideoThread(video_widget, conf)
if self.form:
self.video_thread.set_separation_threshold(self.form.threshold.value())
def set_form(self, form):
self.form = form
self.form.key_press.connect(self.on_key_press)
self.form.key_release.connect(self.on_key_release)
self.form.destroyed.connect(self.on_exit)
self.form.show_mask.stateChanged.connect(self.on_show_mask)
self.form.threshold.valueChanged.connect(self.on_thresh_change)
if self.video_thread:
self.video_thread.set_separation_threshold(self.form.threshold.value())
def on_key_press(self, key):
if key and key == Qt.Key_Alt:
self.on_detail_prev_show()
elif key and key == Qt.Key_Control:
self.on_snap()
def on_key_release(self, key):
if key and key == Qt.Key_Alt:
self.on_detail_prev_hide()
def on_exit(self):
self.video_thread.kill()
def on_show_mask(self, state):
if state == Qt.Checked:
self.video_thread.show_mask()
else:
self.video_thread.hide_mask()
def on_thresh_change(self, value):
self.video_thread.set_separation_threshold(value)
def on_detail_prev_show(self):
self.video_thread.show_detail()
def on_detail_prev_hide(self):
self.video_thread.hide_detail()
def on_snap(self):
frame, downscaled = self.video_thread.snap()
sizes = self._measure(downscaled)
self._show_save_dialog(frame, downscaled, sizes)
def _measure(self, img):
meta_img = MetaImg(img, {})
calib_filter = CalibrateRedDotFilter({'dot_diameter_in_mm': CONFIG.get('dot_diameter_in_mm', 1)})
sep_filter = SeparateObjectFilter()
calib_filter(meta_img)
sep_filter(meta_img)
w = meta_img.meta['ellipsis'][1][0] * meta_img.meta['mm_on_px']
h = meta_img.meta['ellipsis'][1][1] * meta_img.meta['mm_on_px']
return w,h
def _show_save_dialog(self, frame, downscaled, sizes):
self.save_dialog = QDialog()
self.save_dialog.ui = SaveDialog(downscaled, sizes)
self.save_dialog.ui.setupUi(self.save_dialog)
self.save_dialog.show()
self.save_dialog.accepted.connect(lambda: self._save_image_data(frame, sizes))
def _save_image_data(self, frame, sizes):
no = self._parse_last_measure_no()
no += 1
label = str(self.form.class_name.toPlainText())
label = re.sub(r'[^\w]', '', label) or 'no_label'
img_name = '%d_%s.png' % (no, label)
path = self.conf.get('save_folder', './')
path = os.path.join(path, img_name)
cv2.imwrite(path, frame)
self._save_measure(no, label, sizes, img_name)
def _parse_last_measure_no(self):
path = self.conf.get('save_folder', './')
try:
f = open(os.path.join(path, self.conf['measure_file']), 'r')
except IOError:
return 0
for last_line in f:
pass
f.close()
if last_line:
return int(last_line.split(',')[0])
else:
return 0
def _save_measure(self, no, label, sizes, img_name):
path = self.conf.get('save_folder', './')
f = open(os.path.join(path, self.conf['measure_file']), 'a+')
f.write("%d,%s,%.3f,%.3f,%s\n" % (no, label, sizes[0], sizes[1], img_name))
f.close()
def start(self):
assert(self.video_widget)
assert(self.form)
self.video_thread.start()
def set_video_widget(self, video_widget, conf = {}):
self.video_widget = video_widget
self.video_thread = VideoThread(video_widget, conf)
if self.form:
self.video_thread.set_separation_threshold(self.form.threshold.value())
def main():
# Initialize frame rate calculation
frame_rate_calc = 1
freq = cv2.getTickFrequency()
font = cv2.FONT_HERSHEY_SIMPLEX
objectifier = Model()
# Start serial connection to arduino
ser = serial.Serial('/dev/ttyACM0', 9600, timeout=2)
time.sleep(1)
# Initialize queues
pic_q = queue.LifoQueue(5)
command_q = queue.Queue()
# Inizialize grid anf gridmovement
grid = Grid(8,8)
movement = GridMovement(grid, ser)
# Initialize VideoThread
vt = VideoThread(pic_q, objectifier)
vt.start()
# Setup GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(BUTTONPIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(CONTACT_PIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)
GPIO.setup(LEDPIN, GPIO.OUT, initial=GPIO.LOW)
# Keep track of movements after approach is called
approach_movement_list = queue.LifoQueue()
wait_for_button(GPIO)
time.sleep(2)
#
# RUN ROUND
#
print("Starting round")
begin_round(movement, pic_q)
# map the targets from json file
map_JSON(mar1.json,movement)
# now set the maximum amount of obstacles based on amount of targets
grid.set_obstacles_max()
begin_round(movement, pic_q)
print("I will try and map the mothership")
map_mothership(movement, pic_q)
print("Mothership is located in the following tiles: ", grid.mothership)
# We can save these values in movement.access_point so other functions with access to movement
# can use these
mothership_angle, dist, side_angle = approach_mothership_side(movement, pic_q, ser, GPIO)
movement.set_mothership_angle(mothership_angle)
movement.set_side_angle(side_angle)
movement.set_access_dist(dist)
print("Mothership angle: {}, Distance: {}, Side_angle: {}".format(mothership_angle, dist, side_angle))
print("Going home")
go_home(movement, pic_q)
while grid.targets:
# find closest target and set it as the goal
movement.current_target = closest_point(grid.targets, movement.current)
movement.set_goal(movement.current_target)
follow_path(movement, pic_q)
# Once we reach the target we attempt to pick it up
approach(movement, pic_q)
success, target_id = check_pick_up(movement, pic_q)
print("Success: {}, Target Id: {}".format(success, target_id))
if not success:
go_home(movement, pic_q)
else:
grid.targets.remove(movement.current_target)
# We would correct alignment here if errors were fixed
# Move to mothership and drop target
print("Access point is: ",movement.get_access_point())
movement.set_goal(movement.get_access_point())
follow_path(movement, pic_q, True)
movement.face(movement.get_side_point())
print("Going to drop it")
mothership_drop(dist, mothership_angle, side_angle, target_id, movement, serial, pic_q)
go_home(movement, pic_q)
# Once all targets are delivered, go home and turn on finishing light
go_home(movement, pic_q)
wait_for_button(GPIO)
# close video thread
vt.join()
