def init_cameras():
#capture thermic frame
cap_thermal = VideoCaptureAsync(thermal=True)
cap_thermal.start()
#capture normal frame
cap_normal = VideoCaptureAsync(thermal=False)
cap_normal.start()
return cap_normal, cap_thermal
def main():
input_video_filepath = sys.argv[1]
write_video_flag = False
output_video_filepath = ""
if len(sys.argv) > 2:
output_video_filepath = sys.argv[2]
write_video_flag = True
async_video_flag = False
config = OmegaConf.load("config.yaml")
detector = LineCrossingDetector(config)
counters = [PeopleCounter(**c) for c in config.people_counter]
if async_video_flag:
video_capture = VideoCaptureAsync(input_video_filepath)
else:
video_capture = cv2.VideoCapture(input_video_filepath)
if async_video_flag:
video_capture.start()
if write_video_flag:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*"XVID")
output_writer = cv2.VideoWriter(output_video_filepath, fourcc, 30,
(w, h))
frame_index = 0
pbar = tqdm(total=int(video_capture.get(cv2.CAP_PROP_FRAME_COUNT)))
while True and frame_index < 12000:
ret, frame = video_capture.read()
frame_index = frame_index + 1
if not ret:
break
if frame_index < 10000:
continue
detections = detector.detect(frame, visualize=True)
for counter in counters:
counter.update(detections, frame_index)
counter.visualize(frame)
for d in detections:
print(
f"Frame: {frame_index}. Track id: {d.track_id}. Line id: {d.line_id}"
)
if write_video_flag:
output_writer.write(frame)
pbar.update()
if async_video_flag:
video_capture.stop()
else:
video_capture.release()
if write_video_flag:
output_writer.release()
def main(width=640, height=360, k=False):
last_detected = datetime(1990, 1, 1)
if k:
cap = VideoCaptureAsync(0)
else:
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
if k:
cap.start()
t0 = time.time()
i = 0
net = Detector(bytes("cfg/yolo-lite.cfg", encoding="utf-8"),
bytes("moirai.weights", encoding="utf-8"), 0,
bytes("obj.data", encoding="utf-8"))
while True:
r, frame = cap.read()
if r:
dark_frame = Image(frame)
results = net.detect(dark_frame)
del dark_frame
for cat, score, bounds in results:
x, y, w, h = bounds
cv2.rectangle(frame, (int(x - w / 2), int(y - h / 2)),
(int(x + w / 2), int(y + h / 2)), (255, 0, 255))
if len(results) > 0:
if datetime.now() > last_detected + timedelta(seconds=6):
last_detected = datetime.now()
prob = results[0][1]
requests.post('http://192.168.6.219:8080/area/alert',
data={
"cam_id": 1,
"prob": prob
})
cv2.imshow('Frame', frame)
cv2.waitKey(1) & 0xFF
if k:
cap.stop()
cv2.destroyAllWindows()
def test(n_frames=500, width=1280, height=720, asyncr=False):
if asyncr:
cap = VideoCaptureAsync(0)
print("If async")
else:
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
print("XD")
if asyncr:
cap.start()
t0 = time.time()
i = 0
while i < n_frames:
_, frame = cap.read()
cv2.imshow('Frame', frame)
cv2.waitKey(1) & 0xFF
i += 1
print('[i] Frames per second: {:.2f}, asyncr={}'.format(
n_frames / (time.time() - t0), asyncr))
if asyncr:
cap.stop()
cv2.destroyAllWindows()
def test(n_frames=500, width=1280, height=720, async_flag=False):
if async_flag:
cap = VideoCaptureAsync(0)
# does not support using captured video
# cap = VideoCaptureAsync('407156.avi')
else:
cap = cv2.VideoCapture(0)
cap.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
if async_flag:
cap.start()
t0 = time.time()
i = 0
while i < n_frames:
_, frame = cap.read()
cv2.imshow('Frame', frame)
cv2.waitKey(1) & 0xFF
i += 1
print('[i] Frames per second: {:.2f}, async_flag={}'.format(
n_frames / (time.time() - t0), async_flag))
if async_flag:
cap.stop()
cv2.destroyAllWindows()
def test(n_frames=500, width=1280, height=720):
cap1 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch1")
cap2 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch2")
cap3 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch3")
cap4 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch4")
cap1.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap1.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap2.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap2.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap3.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap3.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap4.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap4.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap1.start()
cap2.start()
cap3.start()
cap4.start()
while 1:
_, frame1 = cap1.read()
_, frame2 = cap2.read()
_, frame3 = cap3.read()
_, frame4 = cap4.read()
cv2.imshow('Frame1', frame1)
cv2.imshow('Frame2', frame2)
cv2.imshow('Frame3', frame3)
cv2.imshow('Frame4', frame4)
cv2.waitKey(1) & 0xFF
cap1.stop()
cap2.stop()
cap3.stop()
cap4.stop()
cv2.destroyAllWindows()
class Recognition():
#parametros globales para la segunda ventana
def distance(self, accuracy, name):
#pasar dos encodings procesa el nivel de accuracy de cada uno y devuelve un loading bar
load = accuracy * 270
color = (0, 0, 255)
image = np.zeros((40, 300, 3), np.uint8)
cv2.rectangle(image, (0, 0), (300, 50), (255, 255, 255), cv2.FILLED)
cv2.putText(image, name, (10, 15), cv2.FONT_HERSHEY_DUPLEX, 0.5,
(125, 125, 0), 1)
cv2.rectangle(image, (10, 20), (int(load) + 15, 30), color, cv2.FILLED)
return image
def record_date_hour(self, name):
#insert where name date
date = strftime("%Y/%m/%d", gmtime())
hour = strftime("%H:%M:%S", gmtime())
try:
connection = psycopg2.connect(
"dbname=registros user=reddy password=123456 port=5432 host=localhost port=5432"
)
except:
print("conexion exito")
cursor = connection.cursor()
postgres_insert_query = """ INSERT INTO deteccion (name, fecha, hora) VALUES (%s, %s, %s)"""
fecha = "'" + date + "'"
hora = "'" + hour + "'"
record_to_insert = (name, fecha, hora)
cursor.execute(postgres_insert_query, record_to_insert)
connection.commit()
cursor.close()
connection.close()
def dahua(self, name, actual_img, accuracy):
path = "knowFaces/" + name.lower() + ".png"
db_img = cv2.imread(path)
db_img = cv2.resize(db_img, (150, 150), interpolation=cv2.INTER_CUBIC)
un_img = np.concatenate((db_img, actual_img), axis=1)
un_img = np.concatenate((un_img, self.distance(accuracy, name)),
axis=0)
self.record_date_hour(name)
if (self.first):
self.first = False
cv2.imshow("Board", un_img)
else:
final = np.concatenate((un_img, self.pastUnion), axis=0)
cv2.imshow("Board", final)
self.pastUnion = un_img
return
def face_enc(self, face_image, known_face_locations=None, num_jitters=1):
"""
Given an image, return the 128-dimension face encoding for each face in the image.
:param face_image: The image that contains one or more faces
:param known_face_locations: Optional - the bounding boxes of each face if you already know them.
:param num_jitters: How many times to re-sample the face when calculating encoding. Higher is more accurate, but slower (i.e. 100 is 100x slower)
:return: A list of 128-dimensional face encodings (one for each face in the image)
"""
raw_landmarks = face_recognition.api._raw_face_landmarks(
face_image, known_face_locations)
return [
np.array(
face_encoder.compute_face_descriptor(face_image,
raw_landmark_set,
num_jitters))
for raw_landmark_set in raw_landmarks
]
def getEncodingFaces(self, know_persons):
i = 1
for imag in know_persons:
image = face_recognition.load_image_file(imag.getImgSrc())
#self.faces_encoding.append(face_recognition.face_encodings(image, num_jitters=100)[0])
self.faces_encoding.append(
self.face_enc(image, num_jitters=100)[0])
self.face_names.append(imag.getNombre())
i = i + 1
return self.faces_encoding, self.face_names
def __init__(self):
self.pastUnion = 2
self.first = True
self.path = "knowFaces/reddy.png"
self.db_img = cv2.imread(self.path)
self.db_img = cv2.resize(self.db_img, (150, 150),
interpolation=cv2.INTER_CUBIC)
self.cap = VideoCaptureAsync()
self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280)
self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720)
self.cap.start()
frame_width = 1280
frame_height = 720
# Define the codec and create VideoWriter object.The output is stored in 'outpy.avi' file.
self.out = cv2.VideoWriter('outpy.avi',
cv2.VideoWriter_fourcc('M', 'J', 'P', 'G'),
10, (1280, 720))
self.face_record1 = "nadies"
self.nombres = {}
self.first = True
self.accuracy = 2
self.know_persons = getKnowPersonsFromDB()
self.faces_encoding = []
self.face_names = []
self.known_face_encodings, self.known_face_names = self.getEncodingFaces(
self.know_persons)
self.face_locations = []
self.face_encodings = []
self.face_names = []
self.process_this_frame = True
while True:
ret, frame = self.cap.read()
small_frame = cv2.resize(frame, (0, 0), fx=1, fy=1)
#mitad de la calidad
rgb_small_frame = small_frame[:, :, ::-1]
if self.process_this_frame:
self.face_locations = face_recognition.face_locations(
rgb_small_frame, model="cnn") #, model ="cnn")
self.face_encodings = self.face_enc(rgb_small_frame,
self.face_locations,
num_jitters=100)
self.face_names = []
self.face_values = []
for face_encoding in self.face_encodings:
self.matches = face_recognition.compare_faces(
self.known_face_encodings,
face_encoding,
tolerance=0.30)
self.name = "Unknown"
self.values = np.linalg.norm(self.known_face_encodings -
face_encoding,
axis=1)
if True in self.matches:
first_match_index = self.matches.index(True)
self.accuracy = self.values[
first_match_index] #get the accuracy
self.name = self.known_face_names[first_match_index]
self.face_names.append(self.name)
self.face_values.append(self.accuracy) #gui
self.process_this_frame = not self.process_this_frame
tratar = False
for (top, right, bottom,
left), name, acc in zip(self.face_locations, self.face_names,
self.face_values):
"""top *= 2
right *= 2
bottom *= 2
left *= 2"""
collight = (123, 123, 123)
actual_img = cv2.resize(frame[top:bottom, left:right],
(150, 150),
interpolation=cv2.INTER_CUBIC) #gui
cv2.rectangle(frame, (left, top), (right, bottom), collight,
1) #face bordes
##calcular el tamaño entre top y left
vertical = bottom - top
horizontal = right - left
#draw contorns
r = right
l = left
t = top
b = bottom
alpha = vertical / 4
alpha = int(alpha)
betha = 2 * alpha
if (name == "Unknown"):
col = (255, 255, 255)
else:
col = (241, 175, 14)
cv2.line(frame, (l, t), (l, t + alpha), col, 2)
cv2.line(frame, (l, t), (l + alpha, t), col, 2)
cv2.line(frame, (r, t), (r - alpha, t), col, 2)
cv2.line(frame, (r, t), (r, t + alpha), col, 2)
cv2.line(frame, (l, b), (l + alpha, b), col, 2)
cv2.line(frame, (l, b), (l, b - alpha), col, 2)
cv2.line(frame, (r, b), (r - alpha, b), col, 2)
cv2.line(frame, (r, b), (r, b - alpha), col, 2)
alpha = 10
cv2.line(frame, (l - alpha, t + betha), (l + alpha, t + betha),
collight, 1)
cv2.line(frame, (r - alpha, t + betha), (r + alpha, t + betha),
collight, 1)
cv2.line(frame, (l + betha, t - alpha), (l + betha, t + alpha),
collight, 1)
cv2.line(frame, (l + betha, b - alpha), (l + betha, b + alpha),
collight, 1)
#print("vertical: ", vertical)
#print("horizontal: ", horizontal)
#cv2.rectangle(frame, (left, bottom - 35), (right, bottom), (123, 123, 123), cv2.FILLED) #space for name
cv2.putText(frame, name, (left + 6, bottom - 6),
cv2.FONT_HERSHEY_DUPLEX, 0.70, (255, 255, 0), 1)
print("nombres: ", self.nombres)
try:
if (self.nombres[self.name] >= 1):
self.nombres[self.name] += 1
else:
self.nombres[self.name] = 1
except:
print("entrando excepcion")
self.nombres[self.name] = 1
if (name != "Unknown" and self.nombres[self.name] == 7):
if (self.face_record1 != self.name):
self.dahua(
self.name, actual_img,
acc) #causa 50fps con 0.02 y el mas bajo 0.001
self.face_record1 = name
self.nombres[self.name] = 1
#self.out.write(frame)
cv2.imshow('Video', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
self.cap.stop()
print(self.out.release())
#out.release()
cv2.destroyAllWindows()
class ListScreen(Screen):
def __init__(self, **kwargs):
super(ListScreen, self).__init__(**kwargs)
# run clock
Clock.schedule_interval(self.init_gui, 0.2)
Clock.schedule_interval(self.show_status, 0.03)
def init_gui(self, dt):
self.new_file()
Clock.unschedule(self.init_gui)
Clock.schedule_interval(self.cam_update, 0.03)
def cam_update(self, dt):
try:
_, frame = self.capture.read()
buf1 = cv2.flip(frame, 0)
buf = buf1.tostring()
texture1 = Texture.create(size=(frame.shape[1], frame.shape[0]), colorfmt='rgb')
texture1.blit_buffer(buf, colorfmt='bgr', bufferfmt='ubyte')
self.ids['img_cam'].texture = texture1
except Exception as e:
pass
#### File menu
def exit_app(self):
self.camera_disconnect()
self.printer_disconnect()
App.get_running_app().stop()
def new_file(self):
## File menu / New Project
self.init_project()
def init_project(self):
# init data
self.project_file_path = ""
self.project_data=data.init_project_data()
self.project_data['CADMode']="None"
self.ids["img_cad_origin"].set_cad_view(self.project_data)
self.ids["img_cad_origin"].redraw_cad_view()
self.capture = None
self.print = None
self.paneldisselection=[]
try:
self.camera_disconnect()
self.camera_connect()
self.printer_disconnect()
self.printer_connect()
except Exception as e:
print(e, "cam or printer start problem")
pass
def load_file(self):
### File Menu / Load project
content = LoadDialog(load=self.load, cancel=self.dismiss_popup)
self._popup = Popup(title="Load file", content=content,
size_hint=(0.9, 0.9))
self._popup.open()
self.project_data['CADMode']="None"
def load(self, path, filename):
### click load button of Loading Dialog
### load all info from pre saved project file
try:
### if proper project file
self.project_file_path = os.path.expanduser(filename[0])
self.project_data=data.read_project_data(self.project_file_path)
self.paneldisselection=[]
try:
self.camera_disconnect()
self.camera_connect()
self.printer_disconnect()
self.printer_connect()
except Exception as e:
print(e, "cam or printer start problem")
pass
self.ids["img_cad_origin"].set_cad_view(self.project_data)
self.ids["img_cad_origin"].redraw_cad_view()
except:
### if not proper project file
print("Problem loading file")
self.dismiss_popup()
return
self.dismiss_popup()
def save_file(self):
### File Menu / Save Project
if self.project_file_path == "":
self.save_as_file()
else:
data.write_project_data(self.project_file_path, self.project_data)
def save_as_file(self):
### File Menu / Save as Project
content = SaveDialog(save=self.save, cancel=self.dismiss_popup)
self._popup = Popup(title="Save file", content=content,
size_hint=(0.9, 0.9))
self._popup.open()
self.project_data['CADMode']="None"
def save(self, path, filename):
### after click Save button of Save Dialog
self.project_file_path = os.path.expanduser(os.path.join(path, filename))
print(path, filename, self.project_file_path)
data.write_project_data(self.project_file_path, self.project_data)
self.dismiss_popup()
#### program menu ####
def import_file(self):
### Program menu / import NC drills
content = ImportDialog(load=self.import_ncdrill, cancel=self.dismiss_popup)
self._popup = Popup(title="Import file", content=content,
size_hint=(0.9, 0.9))
self._popup.open()
self.project_data['CADMode']="None"
def import_ncdrill(self, path, filename):
### after click load button of Loading button
try:
### if proper project file
nc_file_path = os.path.expanduser(filename[0])
ncdata=excellon.load_nc_drill(nc_file_path)
print("ncdata", ncdata)
# convert tool list for selection
self.project_data['NCTool']=excellon.convert_to_tools(ncdata)
# convert soldering tool path
self.project_data['SolderToolpath']=excellon.convert_to_json(ncdata)
# redraw
self.ids["img_cad_origin"].redraw_cad_view()
except:
### if not proper project file
self.dismiss_popup()
return
self.dismiss_popup()
def select_side(self):
### Program menu / Select Soldering Side
side = [ { "text" : "Top", "is_selected" : self.project_data['SolderSide']=="Top" },
{ "text" : "Bottom", "is_selected" : self.project_data['SolderSide']=="Bottom" } ]
self.ignore_first=not side[0]['is_selected']
content = ListPopup()
args_converter = lambda row_index, rec: {'text': rec['text'], 'is_selected': rec['is_selected'], 'size_hint_y': None, 'height': 50}
list_adapter = ListAdapter(data=side, args_converter=args_converter, propagate_selection_to_data=True, cls=ListItemButton, selection_mode='single', allow_empty_selection=False)
list_view = ListView(adapter=list_adapter)
content.ids.profile_list.add_widget(list_view)
list_view.adapter.bind(on_selection_change=self.selected_side)
self._popup = Popup(title="Select Soldering Side", content=content, size_hint=(0.5, 0.6))
self._popup.open()
self.project_data['CADMode']="None"
def selected_side(self, adapter):
if self.ignore_first:
self.ignore_first=False
return
self.project_data['SolderSide']=adapter.selection[0].text
self.dismiss_popup()
self.ids["img_cad_origin"].redraw_cad_view()
def select_profile(self):
### Program menu / Select Soldering Profile
profile = excellon.convert_to_solderingprofile(self.project_data)
if len(profile) < 1:
return
self.ignore_first=not profile[0]['is_selected']
content = ListPopup()
args_converter = lambda row_index, rec: {'text': rec['text'], 'is_selected': rec['is_selected'], 'size_hint_y': None, 'height': 50}
list_adapter = ListAdapter(data=profile, args_converter=args_converter, propagate_selection_to_data=True, cls=ListItemButton, selection_mode='single', allow_empty_selection=False)
list_view = ListView(adapter=list_adapter)
content.ids.profile_list.add_widget(list_view)
list_view.adapter.bind(on_selection_change=self.selected_profile)
self._popup = Popup(title="Select Soldering Profile", content=content, size_hint=(0.5, 0.6))
self._popup.open()
self.project_data['CADMode']="None"
def selected_profile(self, adapter):
### select profile on soldering profile list
if self.ignore_first:
self.ignore_first=False
return
num=excellon.get_solderingprofile_index_by_id(self.project_data['SolderingProfile']['SolderingProfile'], adapter.selection[0].text)
self.project_data['SelectedSolderingProfile']=num
self.dismiss_popup()
self.ids["img_cad_origin"].redraw_cad_view()
self.project_data['CADMode']="Select"
def select_by_dia(self):
### Program Menu / Select soldering pad by diameter
tools=self.project_data['NCTool']
if len(tools) < 1:
return
self.ignore_first=not tools[0]['is_selected']
content = ListPopup()
args_converter = lambda row_index, rec: {'text': rec['text'], 'is_selected': rec['is_selected'], 'size_hint_y': None, 'height': 40}
list_adapter = ListAdapter(data=tools, args_converter=args_converter, propagate_selection_to_data=True, cls=ListItemButton, selection_mode='single', allow_empty_selection=False)
list_view = ListView(adapter=list_adapter)
content.ids.profile_list.add_widget(list_view)
list_view.adapter.bind(on_selection_change=self.selected_tools)
self._popup = Popup(title="Select Soldering Pad by Tools", content=content, size_hint=(0.5, 0.7))
self._popup.open()
self.project_data['CADMode']="None"
def selected_tools(self, adapter):
### select tool on tools' list
if self.ignore_first:
self.ignore_first=False
return
soldertoolpath=self.project_data['SolderToolpath']
num=int(adapter.selection[0].text.split(":")[0])
excellon.select_by_tool(soldertoolpath, num, self.project_data['SelectedSolderingProfile'])
# redraw
self.dismiss_popup()
self.ids["img_cad_origin"].redraw_cad_view()
def select_by_view(self):
### Program menu / Select Soldering pads by View
self.project_data['CADMode']="Select"
def deselect_by_view(self):
### Program Menu / Deselect by view
self.project_data['CADMode']="Deselect"
def set_reference1(self):
### Program Menu / Set Reference point 1
self.project_data['CADMode']="Ref1"
def set_reference2(self):
### Program Menu / Set Reference Point 2
self.project_data['CADMode']="Ref2"
def optmize_nc(self):
### Program Menu / Optmize NC drills
soldertoolpath=self.project_data['SolderToolpath']
excellon.optimize_soldertoolpath(soldertoolpath)
##### panel menu
def set_num_panel(self):
num=excellon.get_num_panel(self.project_data['Panel'])
content = EditPopup(save=self.save_panel_num, cancel=self.dismiss_popup)
content.ids["btn_connect"].text = "Save"
content.ids["text_port"].text = str(num)
self._popup = Popup(title="Select panel num", content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data['CADMode']="None"
def save_panel_num(self, txt_port):
# set num of panels
num = int(txt_port)
num = max(1, num)
num = min(self.project_data['Setup']['MaxPanel'], num)
excellon.set_num_panel(self.project_data['Panel'], num)
self.dismiss_popup()
def set_reference_panel(self):
# show dialpad
print("ref")
self.ids["tab_panel"].switch_to(self.ids["tab_panel"].tab_list[0])
self.content = ControlPopup(controlXYZ=self.control_XYZ, set_panel_ref1=self.set_panel_ref1, set_panel_ref2=self.set_panel_ref2, get_panel_ref1=self.get_panel_ref1, get_panel_ref2=self.get_panel_ref2, cancel=self.dismiss_popup)
self.content.ids["cur_X"].text = format(self.project_data['Setup']['TravelX'],".2f")
self.content.ids["cur_Y"].text = format(self.project_data['Setup']['TravelY'],".2f")
self.content.ids["cur_Z"].text = format(self.project_data['Setup']['TravelZ'],".2f")
self.content.ids["cur_panel"].text = "1"
self._popup = Popup(title="Set reference point", content=self.content,
size_hint=(0.4, 0.4), background_color=[0, 0, 0, 0.0])
self._popup.pos_hint={"center_x": .8, "center_y": .8}
self._popup.open()
self.project_data['CADMode']="None"
# home printer
gcode=robotcontrol.go_home(self.project_data)
self.queue_printer_command(gcode)
def control_XYZ(self, axis, value):
### click any button on dialpad, calculate new position
index=int(self.content.ids["cur_panel"].text)
x=float(self.content.ids["cur_X"].text)
y=float(self.content.ids["cur_Y"].text)
z=float(self.content.ids["cur_Z"].text)
if axis == "X":
x += float(value)
elif axis == "Y":
y += float(value)
elif axis == "Z":
z += float(value)
elif axis == "HomeXY":
x=self.project_data['Setup']['TravelX']
y=self.project_data['Setup']['TravelY']
elif axis == "HomeZ":
z=self.project_data['Setup']['TravelZ']
index = max(1, index)
index = min(self.project_data['Setup']['MaxPanel'], index)
x=max(self.project_data['Setup']['MinX'],x)
x=min(self.project_data['Setup']['MaxX'],x)
y=max(self.project_data['Setup']['MinY'],y)
y=min(self.project_data['Setup']['MaxY'],y)
z=max(self.project_data['Setup']['MinZ'],z)
z=min(self.project_data['Setup']['MaxZ'],z)
self.content.ids["cur_panel"].text = str(index)
self.content.ids["cur_X"].text = format(x,".2f")
self.content.ids["cur_Y"].text = format(y,".2f")
self.content.ids["cur_Z"].text = format(z,".2f")
# go xyz printer
gcode=robotcontrol.go_xyz(self.project_data,x,y,z)
self.queue_printer_command(gcode)
def set_panel_ref1(self):
### click set1 button on dialpad
index=int(self.content.ids["cur_panel"].text)
index=min(index,excellon.get_num_panel(self.project_data['Panel']))
index=max(index,1)
x=float(self.content.ids["cur_X"].text)
y=float(self.content.ids["cur_Y"].text)
z=float(self.content.ids["cur_Z"].text)
excellon.set_panel_reference_1(self.project_data['Panel'], index-1, x, y, z)
def set_panel_ref2(self):
### click set2 button on dialpad
index=int(self.content.ids["cur_panel"].text)
x=float(self.content.ids["cur_X"].text)
y=float(self.content.ids["cur_Y"].text)
z=float(self.content.ids["cur_Z"].text)
excellon.set_panel_reference_2(self.project_data['Panel'], index-1, x, y, z)
def get_panel_ref1(self):
### click on get1 button on dialpad
index=int(self.content.ids["cur_panel"].text)
x,y,z = excellon.get_panel_reference_1(self.project_data['Panel'], index-1)
if x==-1 and y==-1 and z==-1:
x=self.project_data['Setup']['TravelX']
y=self.project_data['Setup']['TravelY']
z=self.project_data['Setup']['TravelZ']
self.content.ids["cur_X"].text = format(x,".2f")
self.content.ids["cur_Y"].text = format(y,".2f")
self.content.ids["cur_Z"].text = format(z,".2f")
# go xyz printer
gcode=robotcontrol.go_xyz(self.project_data,x,y,z)
self.queue_printer_command(gcode)
def get_panel_ref2(self):
### click on get2 button on dialpad
index=int(self.content.ids["cur_panel"].text)
x,y,z = excellon.get_panel_reference_2(self.project_data['Panel'], index-1)
if x==-1 and y==-1 and z==-1:
x=self.project_data['Setup']['TravelX']
y=self.project_data['Setup']['TravelY']
z=self.project_data['Setup']['TravelZ']
self.content.ids["cur_X"].text = format(x,".2f")
self.content.ids["cur_Y"].text = format(y,".2f")
self.content.ids["cur_Z"].text = format(z,".2f")
# go xyz printer
gcode=robotcontrol.go_xyz(self.project_data,x,y,z)
self.queue_printer_command(gcode)
def select_pcb_in_panel(self):
num=excellon.get_num_panel(self.project_data['Panel'])
content = EditPopup(save=self.save_pcb_in_panel, cancel=self.dismiss_popup)
content.ids["btn_connect"].text = "Save"
content.ids["text_port"].text = ""
self._popup = Popup(title="Select Panels to exclude from Soldering example \"1,2\"", content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data['CADMode']="None"
def save_pcb_in_panel(self, txt_port):
# set array of panels
excludepanels=txt_port.split(",")
panel=[]
for p in range(excellon.get_num_panel(self.project_data['Panel'])):
if str(p+1) in excludepanels:
panel.append(p)
self.paneldisselection=panel
self.dismiss_popup()
def start_soldering(self):
### toolbar start soldering button
# prepare panel
panel=[]
for p in range(excellon.get_num_panel(self.project_data['Panel'])):
if p not in self.paneldisselection:
panel.append(p)
# print
print("panel", panel)
gcode=robotcontrol.panel_soldering(self.project_data, panel, False)
self.queue_printer_command(gcode)
def test_soldering(self):
### toolbar test soldering button
# prepare panel
panel=[]
for p in range(excellon.get_num_panel(self.project_data['Panel'])):
if p not in self.paneldisselection:
panel.append(p)
# print
gcode=robotcontrol.panel_soldering(self.project_data, panel, True)
self.queue_printer_command(gcode)
def pause_soldering(self):
### toolbar pause soldering button
if self.print.printing:
self.print.pause()
def resume_soldering(self):
### toolbar resume soldering button
if self.print.printing:
self.print.resume()
def stop_soldering(self):
### toolbar stop soldering button
if self.print.printing:
self.print.cancelprint()
def queue_printer_command(self, gcode):
garray=robotcontrol.make_array(gcode)
#print("gcode raw", gcode, garray)
gcoded = gcoder.LightGCode(garray)
#print("gcoded", gcoded)
if hasattr(self,'print') and self.print is not None:
if not self.print.online or not self.print.printer:
print("Problem with printer", self.print.online, self.print.printer)
if self.print.printing:
self.print.send(gcoded)
else:
self.print.startprint(gcoded)
else:
print("Problem with printer interface")
#### Connect menu
def set_printer(self):
### Connect Menu / Connect Printer
content = EditPopup(save=self.save_printer_port, cancel=self.dismiss_popup)
content.ids["text_port"].text = self.project_data['Setup']['RobotPort']
self._popup = Popup(title="Select Printer port", content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data['CADMode']="None"
def save_printer_port(self, txt_port):
self.project_data['Setup']['RobotPort'] = txt_port
try:
self.printer_disconnect()
self.printer_connect()
except Exception as e:
print(e,"exception save robot port")
pass
self.dismiss_popup()
def set_camera(self):
# set camera device
content = EditPopup(save=self.save_camera_port, cancel=self.dismiss_popup)
content.ids["text_port"].text = self.project_data['Setup']['CameraPort']
self._popup = Popup(title="Select Camera port", content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data['CADMode']="None"
def save_camera_port(self, txt_port):
self.project_data['Setup']['CameraPort'] = txt_port
try:
self.camera_disconnect()
self.camera_connect()
except Exception as e:
print(e,"exception save cam port")
pass
self.dismiss_popup()
def dismiss_popup(self):
self._popup.dismiss()
def camera_connect(self):
### connect camera
self.capture = VideoCaptureAsync(self.project_data['Setup']['CameraPort'])
self.capture.start()
def camera_disconnect(self):
if self.capture is not None:
self.capture.stop()
self.capture = None
def printer_connect(self):
if self.print is None:
self.print = printcore(self.project_data['Setup']['RobotPort'], 115200)
def printer_disconnect(self):
if self.print is not None:
self.print.disconnect()
self.print = None
def show_status(self, dt):
self.ids["lbl_layer_status"].text="Layer: "+self.project_data['SolderSide']
self.ids["lbl_cad_status"].text="CADMode: "+self.project_data['CADMode']
profile=excellon.get_list_soldering_profile(self.project_data['SolderingProfile'])
self.ids["lbl_profile_status"].text="Profile: "+profile[self.project_data['SelectedSolderingProfile']]
if hasattr(self,'capture') and self.capture is not None:
self.ids["lbl_cam_status"].text="Camera: Connected"
else:
self.ids["lbl_cam_status"].text="Camera: Not Found"
#printer
if hasattr(self,'print') and self.print is not None:
if self.print.printer is None:
self.ids["lbl_printer_status"].text="Robot: No 3d printer found"
elif self.print.printing:
if len(self.print.mainqueue)>0:
self.ids["lbl_printer_status"].text="Robot: Soldering "+ str(round(float(self.print.queueindex) / len(self.print.mainqueue)*100,2))+"%"
else:
self.ids["lbl_printer_status"].text="Robot: Soldering"
elif self.print.online:
self.ids["lbl_printer_status"].text="Robot: Idle"
else:
self.ids["lbl_printer_status"].text="Robot: Connected"
else:
self.ids["lbl_printer_status"].text="Robot: Not Found"
def test(n_frames=500, width=1280, height=720):
cap1 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch1")
cap2 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch2")
cap3 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch3")
cap4 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch4")
cap1.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap1.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap2.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap2.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap3.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap3.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap4.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap4.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
newcameramtx, roi = cv2.getOptimalNewCameraMatrix(camera_matrix,
dist_coefs, (720, 480),
1, (720, 480))
x, y, w, h = roi
#M = cv2.getRotationMatrix2D((720,480),5,2)
cap1.start()
cap2.start()
cap3.start()
cap4.start()
while 1:
_, frame1 = cap1.read()
_, frame2 = cap2.read()
_, frame3 = cap3.read()
_, frame4 = cap4.read()
frame11 = cv2.undistort(frame1, camera_matrix, dist_coefs, None,
newcameramtx)
#frame11 = frame11[130:390, 110:550]
frame22 = cv2.undistort(frame2, camera_matrix, dist_coefs, None,
newcameramtx)
#frame22 = frame22[130:390, 110:550]
frame33 = cv2.undistort(frame3, camera_matrix, dist_coefs, None,
newcameramtx)
#frame33 = frame33[130:390, 110:550]
frame44 = cv2.undistort(frame4, camera_matrix, dist_coefs, None,
newcameramtx)
#frame44 = frame44[130:390, 110:550]
cv2.imshow('Frame1', frame1)
cv2.imshow('Frame11', frame11)
cv2.imshow('Frame2', frame2)
cv2.imshow('Frame22', frame22)
cv2.imshow('Frame3', frame3)
cv2.imshow('Frame33', frame33)
cv2.imshow('Frame4', frame4)
cv2.imshow('Frame44', frame44)
if cv2.waitKey(1) == 27:
cv2.destroyAllWindows()
break
cap1.stop()
cap2.stop()
cap3.stop()
cap4.stop()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename,batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine", max_cosine_distance, nn_budget)
tracker = Tracker(metric)
writeVideo_flag = True
asyncVideo_flag = False
file_path = 'video.webm'
if asyncVideo_flag :
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output_yolov4.avi', fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if ret != True:
break
t1 = time.time()
image = Image.fromarray(frame[...,::-1]) # bgr to rgb
boxs = yolo.detect_image(image)[0]
confidence = yolo.detect_image(image)[1]
features = encoder(frame,boxs)
detections = [Detection(bbox, confidence, feature) for bbox, confidence, feature in zip(boxs, confidence, features)]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])),(255,255,255), 2)
cv2.putText(frame, str(track.track_id),(int(bbox[0]), int(bbox[1])),0, 5e-3 * 200, (0,255,0),2)
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2)
cv2.rectangle(frame,(int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])),(255,0,0), 2)
cv2.putText(frame, score + '%', (int(bbox[0]), int(bbox[3])), 0, 5e-3 * 130, (0,255,0),2)
cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
fps = (fps + (1./(time.time()-t1))) / 2
print("FPS = %f"%(fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine", max_cosine_distance, nn_budget)
tracker = Tracker(metric)
np.random.seed(42)
COLORS = np.random.randint(0, 255, size=(200, 3),
dtype="uint8")
writeVideo_flag = True
asyncVideo_flag = False
file_path = 'testvideo2.avi'
# load the COCO class labels our YOLO model was trained on 加载我们的YOLO模型经过培训的COCO类标签
labelsPath = os.path.sep.join(["model_data", "coco_classes.txt"])
LABELS = open(labelsPath).read().strip().split("\n")
# print(str(len(LABELS))+"load successfully")
# print(LABELS)
class_nums = np.zeros(80)
counter = np.zeros(80)
track_id_max = -1
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('testvideo2_out.avi', fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
img_num = 0
frame_cnt = 0
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
frame_copy = frame.copy()
if ret != True or frame_cnt > 30:
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxs, confidence, class_names = yolo.detect_image(image)
features = encoder(frame, boxs)
detections = [Detection(bbox, confidence, feature) for bbox, confidence, feature in
zip(boxs, confidence, features)]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap, scores)
# print("print indices!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
# print(indices)
# for i in indices:
# print(str(i)+class_names[i][0])
# print(indices.shape)
detections = [detections[i] for i in indices]
class_names = [class_names[i] for i in indices]
print("class_name:" + str(class_names))
class_IDs = []
current_nums = np.zeros(80)
# class_IDs=[]
for class_name in class_names:
for i, LABEL in enumerate(LABELS):
if class_name[0] == LABEL:
current_nums[i] += 1
class_IDs.append(i)
# print("person:"+str(current_nums[0]))
cv2.putText(frame, 'Current', (20, 70), cv2.FONT_HERSHEY_DUPLEX, 0.75, (255, 255, 255), 2)
cv2.putText(frame, 'Total', (180, 70), cv2.FONT_HERSHEY_DUPLEX, 0.75, (0, 255, 255), 2)
x1 = 20
y1 = 100
for i, cl in enumerate(current_nums):
if cl > 0:
cv2.putText(frame, LABELS[i] + "=" + str(cl), (x1, y1), cv2.FONT_HERSHEY_DUPLEX, 0.6, (255, 255, 255),
1) # 当前帧各类别数量
y1 = y1 + 20
for i, det in enumerate(detections):
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (255, 255, 255), 1)
cv2.putText(frame, score + '%', (int(bbox[0]), int(bbox[1]) + 10), cv2.FONT_HERSHEY_DUPLEX, 0.3,
(255, 255, 255), 1)
# cv2.putText(frame, class_names[i],(int(bbox[0]), int(bbox[1])-5), 0, 5e-3 * 130, (0, 255, 0), 2)
# cv2.putText(frame, class_names[i], (int(bbox[0]), int(bbox[1])), 0, 5e-3 * 130,(0, 255, 255), 2)
print("Total of detections:" + str(len(detections)))
# Call the tracker
tracker.predict()
tracker.update(detections, class_IDs)
# for i, cl in enumerate(class_nums):
# if cl > 0:
# print("add: " + LABELS[i] + str(cl - class_last_nums[i]))
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
print("not track.is_confirmed() or track.time_since_update > 1: " + str(track.track_id))
continue
bbox = track.to_tlbr()
color = [int(c) for c in COLORS[track.class_id % len(COLORS)]]
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), color, 2)
cv2.putText(frame, str(track.track_id) + ' ' + LABELS[track.class_id], (int(bbox[0]), int(bbox[1]) - 5),
cv2.FONT_HERSHEY_DUPLEX, 0.4, color, 1)
if track.track_id > track_id_max:
counter[track.class_id] = counter[track.class_id] + 1
track_id_max = track.track_id
dest = frame_copy[int(bbox[1]):int(bbox[3]), int(bbox[0]):int(bbox[2])]
pdest = "./output_image/" + str(LABELS[track.class_id]) + str(int(counter[track.class_id])) + ".png"
cv2.imwrite(pdest, dest)
img_num += 1
# class_nums[track.class_id].append(track.track_id)
# print(str(LABELS[track.class_id])+":"+class_nums[track.class_id])
# print("track.id: " + str(track.track_id))
# print("track.class_name: " + str(LABELS[track.class_id]))
print(str(counter))
print("--------------------------该帧输出完毕！--------------------------------------")
# cv2.putText(frame, 'Total', (200, 60), cv2.FONT_HERSHEY_DUPLEX, 0.75, (255, 0, 0), 2)
# x2 = 200
# y2 = 100
# for i, cl in enumerate(class_nums):
# if cl > 0:
# cv2.putText(frame, LABELS[i] + "=" + str(cl), (x2, y2), cv2.FONT_HERSHEY_DUPLEX, 0.5, (255, 0, 0), 2)
# y2 = y2 + 20
cv2.putText(frame, "FPS: %f" % (fps), (int(20), int(40)), 0, 5e-3 * 200, (0, 255, 0), 3) # ！！！！！！！！！输出FPS
x2 = 180
y2 = 100
for i, cl in enumerate(counter):
if cl > 0:
cv2.putText(frame, LABELS[i] + "=" + str(cl), (x2, y2), cv2.FONT_HERSHEY_DUPLEX, 0.6, (0, 255, 255), 1)
y2 = y2 + 20
# cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
fps = (fps + (1. / (time.time() - t1))) / 2
# print("FPS = %f"%(fps))
frame_cnt += 1
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine", max_cosine_distance, nn_budget)
tracker = Tracker(metric)
tracking = True
writeVideo_flag = False
asyncVideo_flag = False
webcamera_flag = True
ipcamera_flag = False
udp_flag = True
file_path = '/workspace/data/C0133_v4.mp4'
if asyncVideo_flag :
video_capture = VideoCaptureAsync(file_path)
elif ipcamera_flag :
video_capture = cv2.VideoCapture('rtsp://*****:*****@192.168.2.201/ONVIF/MediaInput?profile=def_profile1')
elif webcamera_flag :
video_capture = cv2.VideoCapture(0)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output_yolov4.avi', fourcc, 30, (w, h))
frame_index = -1
if udp_flag:
HOST = ''
PORT = 5000
address = '192.168.2.255'
sock =socket(AF_INET, SOCK_DGRAM)
sock.setsockopt(SOL_SOCKET, SO_BROADCAST, 1)
sock.bind((HOST, PORT))
fps = 0.0
fps_imutils = imutils.video.FPS().start()
savetime = 0
while True:
nowtime = datetime.datetime.now().isoformat()
ret, frame = video_capture.read() # frame shape 640*480*3
t1 = time.time()
if time.time() - savetime >= 30:
print('save data')
cv2.imwrite("/workspace/images/image.png", frame)
savetime = time.time()
image = Image.fromarray(frame[...,::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
if tracking:
features = encoder(frame, boxes)
detections = [Detection(bbox, confidence, cls, feature) for bbox, confidence, cls, feature in
zip(boxes, confidence, classes, features)]
else:
detections = [Detection_YOLO(bbox, confidence, cls) for bbox, confidence, cls in
zip(boxes, confidence, classes)]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
if tracking:
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id), (int(bbox[0]), int(bbox[1])), 0,
1.5e-3 * frame.shape[0], (0, 255, 0), 1)
# socket
message = str(nowtime + "," + str(track.track_id) + "," + str(int(bbox[0])) + "," + str(int(bbox[1])) + "," + str(int(bbox[2])) + "," + str(int(bbox[3])))
bmessage = message.encode('utf-8')
print(type(bmessage))
if udp_flag:
sock.sendto(message.encode('utf-8'), (address, PORT))
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2) + "%"
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (255, 0, 0), 2)
if len(classes) > 0:
cls = det.cls
cv2.putText(frame, str(cls) + " " + score, (int(bbox[0]), int(bbox[3])), 0,
1.5e-3 * frame.shape[0], (0, 255, 0), 1)
#cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1./(time.time()-t1))) / 2
print("FPS = %f"%(fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
class CameraSource(object):
def __init__(self, cameraSource, height, output_file=None, startFrame=0,
async_read=False, outputToServer=False, capture_size=None):
if async_read:
self.camera = VideoCaptureAsync(cameraSource)
else:
self.camera = cv2.VideoCapture(cameraSource)
if capture_size is not None:
print(capture_size)
self.camera.set(cv2.CAP_PROP_FRAME_WIDTH, capture_size[0])
self.camera.set(cv2.CAP_PROP_FRAME_HEIGHT, capture_size[1])
if async_read:
self.ORIGINAL_WIDTH = self.camera.width
self.ORIGINAL_HEIGHT = self.camera.height
else:
self.ORIGINAL_WIDTH = int(self.camera.get(cv2.CAP_PROP_FRAME_WIDTH))
self.ORIGINAL_HEIGHT = int(self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT))
print('CameraSource')
print('Requested capture size', capture_size)
print('Actual capture size', self.ORIGINAL_WIDTH, self.ORIGINAL_HEIGHT)
self.HEIGHT = height
self.WIDTH = self.ORIGINAL_WIDTH * self.HEIGHT // self.ORIGINAL_HEIGHT
self.WIDTH = self.WIDTH + self.WIDTH % 2 # Make it even.
self.startFrame = startFrame
self.nFrames = 0
self.writer = VideoWriter(output_file)
if async_read:
self.camera.start()
self.outputToServer = outputToServer
if outputToServer:
# https://robotpy.readthedocs.io/en/stable/vision/code.html
pass
#self.outputStream = CameraServer.getInstance().putVideo(
# 'ProcessedVisionFrame', self.WIDTH, self.HEIGHT)
def GetFrame(self):
# Processing on first call.
if self.nFrames == 0:
# Skip some frames if requested.
if self.startFrame > 0:
skippedFrames = 0
while True:
ret, frame = self.camera.read()
if not ret or frame is None:
print('No more frames')
return None
skippedFrames += 1
if skippedFrames >= self.startFrame:
break
# Start timer for first frame.
self.startTime = time.time()
# Get frame.
frame = None
frameTime = time.time()
if self.nFrames > 0 and self.nFrames % 50 == 0:
print('FPS: ', self.nFrames / (frameTime - self.startTime))
self.nFrames += 1
ret, frame = self.camera.read()
if ret and frame is not None:
if frame.shape[0] != self.HEIGHT:
frame = cv2.resize(frame, (self.WIDTH, self.HEIGHT))
return frame
def ImageSize(self):
return (self.WIDTH, self.HEIGHT)
def OutputFrameAndTestContinue(self, message, frame, height=None):
self.writer.OutputFrame(frame)
if self.outputToServer:
self.outputStream.putFrame(frame)
return ShowFrameAndTestContinue(message, frame, height)
def __del__(self):
self.camera.release()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
tracking = True
writeVideo_flag = True
asyncVideo_flag = False
file_path = 'IMG_3326.MOV'
dfObj = pd.DataFrame(
columns=['frame_num', 'track', 'cx', 'cy', 'w', 'h', 'track_temp'])
dfObjDTP = pd.DataFrame(columns=[
'filename', 'frame_num', 'bb1', 'bb2', 'bb3', 'bb4', 'track',
'track_temp', 'Height'
])
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output_yolov4.avi', fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if ret != True:
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
if tracking:
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls, feature)
for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
else:
detections = [
Detection_YOLO(bbox, confidence, cls)
for bbox, confidence, cls in zip(boxes, confidence, classes)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap,
scores)
detections = [detections[i] for i in indices]
if tracking:
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
#Ini buat cropping gambar per frame
#cropped_image = frame[int(bbox[1]):int(bbox[1])+(int(bbox[3])-int(bbox[1])),int(bbox[0]):int(bbox[0])+(int(bbox[2])-int(bbox[0]))]
cropped_image = frame[int(bbox[1]):int(bbox[1]) + 256,
int(bbox[0]):int(bbox[0]) + 128]
# cropped_image = frame[2:5,6:10]
# Matiin atau comment biar ga ada box putih
# cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
#
# cv2.putText(frame, "ID: " + str(track.track_id), (int(bbox[0]), int(bbox[1])), 0,
# 1.5e-3 * frame.shape[0], (0, 255, 0), 1)
# print(cropped_image)
dirname = "output_crop/{}".format(track.track_id)
if not os.path.exists(dirname):
os.makedirs(dirname)
if (cropped_image.size == 0):
continue
else:
writeStatus = cv2.imwrite(
"output_crop/{}/frame_{}.png".format(
track.track_id, frame_index), cropped_image)
print("output_crop/{}/frame_{}.png".format(
track.track_id, frame_index))
# Write CSV
dfObj = dfObj.append(pd.Series([
frame_index, track.track_id,
int(bbox[0]),
int(bbox[1]),
int(bbox[2]) - int(bbox[0]),
int(bbox[3]) - int(bbox[1]), track.time_since_update
],
index=dfObj.columns),
ignore_index=True)
dfObjDTP = dfObjDTP.append(pd.Series([
file_path, frame_index,
int(bbox[0]),
int(bbox[1]),
int(bbox[2]),
int(bbox[3]), track.track_id, track.time_since_update,
int(bbox[3]) - int(bbox[1])
],
index=dfObjDTP.columns),
ignore_index=True)
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2) + "%"
#Matiin atau comment biar ga ada box putih di crop image
# cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (255, 0, 0), 2)
# if len(classes) > 0:
# cls = det.cls
# cv2.putText(frame, str(cls) + " " + score, (int(bbox[0]), int(bbox[3])), 0,
# 1.5e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
print("FPS = %f" % (fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
dfObj = dfObj.sort_values(["track", "frame_num"], ascending=(True, True))
dfObj.to_csv(r'result_temp.csv', index=False)
dfObjDTP = dfObjDTP.sort_values(["track", "frame_num"],
ascending=(True, True))
dfObjDTP.to_csv(r'result_temp_dtp.csv', index=False)
convert_to_final()
cv2.destroyAllWindows()
def test(width, height):
cap1 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch1")
cap2 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch2")
cap3 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch3")
cap4 = VideoCaptureAsync(
"rtsp://*****:*****@192.168.15.200:554/moxa-cgi/udpstream_ch4")
cap1.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap1.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap2.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap2.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap3.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap3.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
cap4.set(cv2.CAP_PROP_FRAME_WIDTH, width)
cap4.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
alpha = 90
beta = 90
gamma = 90
focalLength = 500
dist = 500
move_upper = 0
move_left = 0
move_right = 0
move_lower = 0
move_together = 0
cv2.namedWindow('tune_upper')
cv2.namedWindow('tune_left')
cv2.namedWindow('tune_right')
cv2.namedWindow('tune_lower')
cv2.namedWindow('move')
cv2.createTrackbar('Alpha', 'tune_upper', 60, 180, nothing)
cv2.createTrackbar('Beta', 'tune_upper', 90, 180, nothing)
cv2.createTrackbar('Gamma', 'tune_upper', 90, 180, nothing)
cv2.createTrackbar('f', 'tune_upper', 300, 2000, nothing)
cv2.createTrackbar('Distance', 'tune_upper', 500, 2000, nothing)
cv2.createTrackbar('Alpha', 'tune_left', 90, 180, nothing)
cv2.createTrackbar('Beta', 'tune_left', 70, 180, nothing)
cv2.createTrackbar('Gamma', 'tune_left', 90, 180, nothing)
cv2.createTrackbar('f', 'tune_left', 300, 2000, nothing)
cv2.createTrackbar('Distance', 'tune_left', 500, 2000, nothing)
cv2.createTrackbar('Alpha', 'tune_right', 90, 180, nothing)
cv2.createTrackbar('Beta', 'tune_right', 110, 180, nothing)
cv2.createTrackbar('Gamma', 'tune_right', 90, 180, nothing)
cv2.createTrackbar('f', 'tune_right', 300, 2000, nothing)
cv2.createTrackbar('Distance', 'tune_right', 500, 2000, nothing)
cv2.createTrackbar('Alpha', 'tune_lower', 60, 180, nothing)
cv2.createTrackbar('Beta', 'tune_lower', 90, 180, nothing)
cv2.createTrackbar('Gamma', 'tune_lower', 90, 180, nothing)
cv2.createTrackbar('f', 'tune_lower', 300, 2000, nothing)
cv2.createTrackbar('Distance', 'tune_lower', 500, 2000, nothing)
cv2.createTrackbar('Move upper', 'move', 0, 400, nothing)
cv2.createTrackbar('Move left', 'move', 0, 400, nothing)
cv2.createTrackbar('Move right', 'move', 0, 400, nothing)
cv2.createTrackbar('Move lower', 'move', 0, 400, nothing)
cv2.createTrackbar('Move together', 'move', 200, 400, nothing)
cap1.start()
cap2.start()
cap3.start()
cap4.start()
h = 480
w = 720
vis = np.zeros(((w + h * 2), (w + h * 2), 3), np.uint8)
vis_center = np.zeros(((w + h * 2), h, 3), np.uint8)
vis_left = np.zeros(((w + h * 2), h, 3), np.uint8)
vis_right = np.zeros(((w + h * 2), h, 3), np.uint8)
void = np.zeros((w, w, 3), np.uint8)
void_side = np.zeros((h, h, 3), np.uint8)
while 1:
_, frame1 = cap1.read()
_, frame2 = cap2.read()
_, frame3 = cap3.read()
_, frame4 = cap4.read()
frame11 = undistort(frame1)
frame22 = undistort(frame2)
frame33 = undistort(frame3)
frame44 = undistort(frame4)
alpha_upper = cv2.getTrackbarPos('Alpha', 'tune_upper')
beta_upper = cv2.getTrackbarPos('Beta', 'tune_upper')
gamma_upper = cv2.getTrackbarPos('Gamma', 'tune_upper')
focalLength_upper = cv2.getTrackbarPos('f', 'tune_upper')
dist_upper = cv2.getTrackbarPos('Distance', 'tune_upper')
alpha_left = cv2.getTrackbarPos('Alpha', 'tune_left')
beta_left = cv2.getTrackbarPos('Beta', 'tune_left')
gamma_left = cv2.getTrackbarPos('Gamma', 'tune_left')
focalLength_left = cv2.getTrackbarPos('f', 'tune_left')
dist_left = cv2.getTrackbarPos('Distance', 'tune_left')
alpha_right = cv2.getTrackbarPos('Alpha', 'tune_right')
beta_right = cv2.getTrackbarPos('Beta', 'tune_right')
gamma_right = cv2.getTrackbarPos('Gamma', 'tune_right')
focalLength_right = cv2.getTrackbarPos('f', 'tune_right')
dist_right = cv2.getTrackbarPos('Distance', 'tune_right')
alpha_lower = cv2.getTrackbarPos('Alpha', 'tune_lower')
beta_lower = cv2.getTrackbarPos('Beta', 'tune_lower')
gamma_lower = cv2.getTrackbarPos('Gamma', 'tune_lower')
focalLength_lower = cv2.getTrackbarPos('f', 'tune_lower')
dist_lower = cv2.getTrackbarPos('Distance', 'tune_lower')
move_upper = cv2.getTrackbarPos('Move upper', 'move')
move_left = cv2.getTrackbarPos('Move left', 'move')
move_right = cv2.getTrackbarPos('Move right', 'move')
move_lower = cv2.getTrackbarPos('Move lower', 'move')
move_together = cv2.getTrackbarPos('Move together', 'move')
alpha_upper = (alpha_upper - 90) * math.pi / 180
beta_upper = (beta_upper - 90) * math.pi / 180
gamma_upper = (gamma_upper - 90) * math.pi / 180
alpha_left = (alpha_left - 90) * math.pi / 180
beta_left = (beta_left - 90) * math.pi / 180
gamma_left = (gamma_left - 90) * math.pi / 180
alpha_right = (alpha_right - 90) * math.pi / 180
beta_right = (beta_right - 90) * math.pi / 180
gamma_right = (gamma_right - 90) * math.pi / 180
alpha_lower = (alpha_lower - 90) * math.pi / 180
beta_lower = (beta_lower - 90) * math.pi / 180
gamma_lower = (gamma_lower - 90) * math.pi / 180
#rotation_mat = cv2.getRotationMatrix2D((360,240), 180, 1)
#print("Transformation: ", Transformation.shape)
#print("Rotation: ", rotation_mat.shape)
transformation_upper = get_transformation(w, h, alpha_upper,
beta_upper, gamma_upper,
dist_upper,
focalLength_upper)
transformation_left = get_transformation(h, w, alpha_left, beta_left,
gamma_left, dist_left,
focalLength_left)
transformation_right = get_transformation(h, w, alpha_right,
beta_right, gamma_right,
dist_right,
focalLength_right)
transformation_lower = get_transformation(w, h, alpha_lower,
beta_lower, gamma_lower,
dist_lower,
focalLength_lower)
left = rotate_bound(frame33, 270)
right = rotate_bound(frame22, 90)
result_upper = cv2.warpPerspective(frame11, transformation_upper,
(720, 480))
result_left = cv2.warpPerspective(left, transformation_left,
(480, 720))
result_right = cv2.warpPerspective(right, transformation_right,
(480, 720))
result_lower = cv2.warpPerspective(frame44, transformation_lower,
(720, 480))
#cv2.imshow('Frame1', frame1)
#cv2.imshow('Frame11', frame11)
#cv2.imshow('Frame2', frame2)
#cv2.imshow('Frame22', frame22)
#cv2.imshow('Frame3', frame3)
#cv2.imshow('Frame33', frame33)
#cv2.imshow('Frame4', frame4)
#cv2.imshow('Frame44', frame44)
#left = rotate_bound(result_left, 270)
#right = rotate_bound(result_right, 90)
result_lower = cv2.flip(result_lower, 0)
#cv2.imshow('left', left)
#cv2.imshow('right',right)
#vis_center = np.concatenate((result,void,frame44),axis=0)
#vis_right = np.concatenate((void_side,right,void_side),axis=0)
#vis_left = np.concatenate((void_side,left,void_side),axis=0)
#vis = np.concatenate((vis_left,vis_center,vis_right),axis=1)
vis[move_upper + move_together:result_upper.shape[0] + move_upper +
move_together,
h - (result_upper.shape[1] - 720) / 2:result_upper.shape[1] + h -
(result_upper.shape[1] - 720) / 2, :] = result_upper
vis[h:result_left.shape[0] + h,
move_left + move_together:result_left.shape[1] + move_left +
move_together:] += result_left
vis[h:result_right.shape[0] + h,
h + w - move_right - move_together:result_right.shape[1] -
move_right - move_together + w + h, :] += result_right
vis[h + w - move_lower - move_together:result_lower.shape[0] -
move_lower - move_together + w + h,
h:result_lower.shape[1] + h, :] += result_lower
height, width = vis.shape[:2]
res = cv2.resize(vis, (width * 4 / 7, height * 4 / 7),
interpolation=cv2.INTER_CUBIC)
#cv2.imshow('combined', vis_center)
#cv2.imshow('combined_left', vis_left)
#cv2.imshow('combined_right', vis_right)
cv2.imshow('vis', res)
vis = np.zeros(((w + h * 2), (w + h * 2), 3), np.uint8)
if cv2.waitKey(1) == 27:
cv2.destroyAllWindows()
break
cap1.stop()
cap2.stop()
cap3.stop()
cap4.stop()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
with open("cfg/detection_tracker_cfg.json") as detection_config:
detect_config = json.load(detection_config)
with open("cfg/doors_info.json") as doors_config:
doors_config = json.load(doors_config)
with open("cfg/around_doors_info.json") as around_doors_config:
around_doors_config = json.load(around_doors_config)
model_filename = detect_config["tracking_model"]
input_folder, output_folder = detect_config["input_folder"], detect_config[
"output_folder"]
meta_folder = detect_config["meta_folder"]
output_format = detect_config["output_format"]
# Deep SORT
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
show_detections = True
asyncVideo_flag = False
check_gpu()
# from here should start loop to process videos from folder
# for video_name in os.listdir(input_folder):
HOST = "localhost"
PORT = 8075
with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
sock.bind((HOST, PORT))
sock.listen()
conn, addr = sock.accept()
with conn:
print('Connected by', addr)
# loop over all videos
while True:
data = conn.recv(1000)
video_motion_list = data.decode("utf-8").split(';')
videos_que = deque()
for video_motion in video_motion_list:
videos_que.append(video_motion)
video_name = videos_que.popleft()
if not video_name.endswith(output_format):
continue
print('elements in que', len(videos_que))
print("opening video: {}".format(video_name))
full_video_path = join(input_folder, video_name)
# full_video_path = "rtsp://*****:*****@192.168.1.52:554/1/h264major"
meta_name = meta_folder + video_name[:-4] + ".json"
with open(meta_name) as meta_config_json:
meta_config = json.load(meta_config_json)
camera_id = meta_config["camera_id"]
if not os.path.exists(output_folder + str(camera_id)):
os.mkdir(output_folder + str(camera_id))
output_name = output_folder + camera_id + '/out_' + video_name
counter = Counter(counter_in=0, counter_out=0, track_id=0)
tracker = Tracker(metric)
if asyncVideo_flag:
video_capture = VideoCaptureAsync(full_video_path)
video_capture.start()
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
video_capture = cv2.VideoCapture(full_video_path)
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(output_name, fourcc, 25, (w, h))
door_array = doors_config["{}".format(camera_id)]
around_door_array = tuple(
around_doors_config["{}".format(camera_id)])
rect_door = Rectangle(door_array[0], door_array[1],
door_array[2], door_array[3])
border_door = door_array[3]
# loop over video
save_video_flag = False
while True:
fps_imutils = imutils.video.FPS().start()
ret, frame = video_capture.read()
if not ret:
with open('videos_saved/log_results.txt', 'a') as log:
log.write(
'processed (ret). Time: {}, camera id: {}\n'.
format(video_name, camera_id))
break
t1 = time.time()
# lost_ids = counter.return_lost_ids()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
# image = image.crop(around_door_array)
boxes, confidence, classes = yolo.detect_image(image)
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls, feature)
for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
classes = np.array([d.cls for d in detections])
indices = preprocessing.non_max_suppression(
boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
cv2.rectangle(frame,
(int(door_array[0]), int(door_array[1])),
(int(door_array[2]), int(door_array[3])),
(23, 158, 21), 3)
if len(detections) != 0:
counter.someone_inframe()
for det in detections:
bbox = det.to_tlbr()
if show_detections and len(classes) > 0:
score = "%.2f" % (det.confidence * 100) + "%"
cv2.rectangle(frame,
(int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])),
(255, 0, 0), 3)
else:
if counter.need_to_clear():
counter.clear_all()
# identities = [track.track_id for track in tracker.tracks]
# counter.update_identities(identities)
for track in tracker.tracks:
if not track.is_confirmed(
) or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
if track.track_id not in counter.people_init or counter.people_init[
track.track_id] == 0:
# counter.obj_initialized(track.track_id)
ratio_init = find_ratio_ofbboxes(
bbox=bbox, rect_compare=rect_door)
if ratio_init > 0:
if ratio_init >= 0.5: # and bbox[3] < door_array[3]:
counter.people_init[
track.track_id] = 2 # man in the door
elif ratio_init < 0.5: # and bbox[3] > door_array[3]: # initialized in the outside
counter.people_init[track.track_id] = 1
else:
counter.people_init[track.track_id] = 1
counter.people_bbox[track.track_id] = bbox
counter.cur_bbox[track.track_id] = bbox
adc = "%.2f" % (track.adc * 100
) + "%" # Average detection confidence
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])),
(255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1]) + 50), 0,
1e-3 * frame.shape[0], (0, 255, 0), 3)
if not show_detections:
track_cls = track.cls
cv2.putText(frame, str(track_cls),
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 3)
cv2.putText(frame, 'ADC: ' + adc,
(int(bbox[0]),
int(bbox[3] + 2e-2 * frame.shape[1])),
0, 1e-3 * frame.shape[0], (0, 255, 0),
3)
# if track.time_since_update >= 15:
# id_get_lost.append(track.track_id)
id_get_lost = [
track.track_id for track in tracker.tracks
if track.time_since_update >= 15
]
for val in counter.people_init.keys():
ratio = 0
cur_c = find_centroid(counter.cur_bbox[val])
init_c = find_centroid(counter.people_bbox[val])
if val in id_get_lost and counter.people_init[
val] != -1:
ratio = find_ratio_ofbboxes(
bbox=counter.cur_bbox[val],
rect_compare=rect_door)
if counter.people_init[val] == 2 \
and ratio < 0.6: # and counter.people_bbox[val][3] > border_door \
counter.get_out()
save_video_flag = True
print(counter.people_init[val], ratio)
elif counter.people_init[val] == 1 \
and ratio >= 0.6:
counter.get_in()
save_video_flag = True
print(counter.people_init[val], ratio)
counter.people_init[val] = -1
ins, outs = counter.return_counter()
cv2.rectangle(frame, (frame.shape[1] - 150, 0),
(frame.shape[1], 50), (0, 0, 0), -1, 8)
cv2.putText(frame, "in: {}, out: {} ".format(ins, outs),
(frame.shape[1] - 140, 20), 0,
1e-3 * frame.shape[0], (255, 255, 255), 3)
out.write(frame)
fps_imutils.update()
if not asyncVideo_flag:
pass
# fps = (1. / (time.time() - t1))
# print("FPS = %f" % fps)
# if len(fpeses) < 15:
# fpeses.append(round(fps, 2))
#
# elif len(fpeses) == 15:
# # fps = round(np.median(np.array(fpeses)))
# median_fps = float(np.median(np.array(fpeses)))
# fps = round(median_fps, 1)
# print('max fps: ', fps)
# # fps = 20
# counter.fps = fps
# fpeses.append(fps)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if asyncVideo_flag:
video_capture.stop()
del video_capture
else:
video_capture.release()
if save_video_flag:
with open('videos_saved/log_results.txt', 'a') as log:
log.write(
'detected!!! time: {}, camera id: {}, detected move in: {}, out: {}\n'
.format(video_name, camera_id, ins, outs))
log.write('video written {}\n\n'.format(output_name))
out.release()
else:
if out.isOpened():
out.release()
if os.path.isfile(output_name):
os.remove(output_name)
if os.path.isfile(full_video_path):
os.remove(full_video_path)
if os.path.isfile(meta_name):
os.remove(meta_name)
save_video_flag = False
cv2.destroyAllWindows()
def main():
PATH_TO_CKPT_PERSON = 'models/faster_rcnn_restnet50.pb'
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = 200
nms_max_overlap = 1.0
yolo = YOLO()
reid = PERSON_REID()
frozen_person = FROZEN_GRAPH_INFERENCE(PATH_TO_CKPT_PERSON)
# # Deep SORT
# model_filename = 'model_data/mars-small128.pb'
# encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
# file_path = 0
if VIDEO_CAPTURE == 0 and asyncVideo_flag == True:
video_capture = VideoCaptureAsync(file_path)
elif VIDEO_CAPTURE == 1 and asyncVideo_flag == True:
video_capture = myVideoCapture(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
im_width = int(video_capture.get(3))
im_height = int(video_capture.get(4))
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(output_filename, fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
boxs = list()
confidence = list()
persons = list()
frame_count = 0
track_count = 0
num_files = 0
while True:
t1 = time.time()
ret, frame = video_capture.read() # frame shape 640*480*3
frame_org = frame.copy()
if ret != True:
break
frame_count += 1
# print('Frame count: {}'.format(frame_count))
# Person detection using Frozen Graph
persons = frozen_person.run_frozen_graph(frame, im_width, im_height)
boxs = [[
person['left'], person['top'], person['width'], person['height']
] for person in persons]
confidence = [person['confidence'] for person in persons]
cropped_persons = list(person['cropped'] for person in persons)
# # Person detection using YOLO - Keras-converted model
# image = Image.fromarray(frame[...,::-1]) # bgr to rgb
# boxs = yolo.detect_image(image)[0]
# confidence = yolo.detect_image(image)[1]
# cropped_persons = [np.array(frame[box[1]:box[1]+box[3], box[0]:box[0]+box[2]]) for box in boxs] #[x,y,w,h]
# features = encoder(frame, boxs)
if len(cropped_persons) > 0:
features = reid.extract_feature_imgTensor(cropped_persons)
# print(features.shape)
detections = [
Detection(bbox, confidence,
feature) for bbox, confidence, feature in zip(
boxs, confidence, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(
boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (0, 0, 255), 2)
cv2.putText(frame, str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0, 5e-3 * 200,
(0, 255, 0), 2)
directory = os.path.join('output', str(track.track_id))
if not os.path.exists(directory):
os.makedirs(directory)
# file_count = len([name for name in os.listdir(directory+'/') if os.path.isfile(name)])
file_count = sum(
[len(files) for root, dirs, files in os.walk(directory)])
# print(file_count)
if file_count == 0:
cv2.imwrite(
directory + '/' + str(file_count + 1) + '.jpg',
frame_org[int(bbox[1]):int(bbox[3]),
int(bbox[0]):int(bbox[2])])
elif file_count > 0 and track_count % 10 == 0:
cv2.imwrite(
directory + '/' + str(file_count + 1) + '.jpg',
frame_org[int(bbox[1]):int(bbox[3]),
int(bbox[0]):int(bbox[2])])
track_count += 1
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 2)
cv2.putText(frame, score + '%', (int(bbox[0]), int(bbox[3])),
0, 5e-3 * 130, (0, 255, 0), 2)
cv2.imshow('YOLO DeepSort', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
fps = (fps + (1. / (time.time() - t1))) / 2
# print("FPS = %f"%(fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
# print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
# Calculate cosine Distance Metric
metric = nn_matching.NearestNeighborDistanceMetric("cosine", max_cosine_distance, nn_budget)
tracker = Tracker(metric)
# Flags for process
tracking = True # Set False if you only want to do detection
writeVideo_flag = True # Set False if you don't want to write frames locally
asyncVideo_flag = False # It uses asynchronous processing for better FPS :Warning: Shuttering Problem
# Video File Path
file_path = '/mydrive/test.mp4'
# Check if asyncVideo flag set to True
if asyncVideo_flag :
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
output_file = os.path.basename(file_path)[:-4]
out = cv2.VideoWriter('./Output/' + output_file + "-prueba-test.avi", fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
while True:
ret, frame = video_capture.read() # Capture frames
if ret != True:
break
t1 = time.time()
# bgr to rgb frame conversion
image = Image.fromarray(frame[...,::-1])
# YOLOv4 Detection
boxes, confidence, classes = yolo.detect_image(image)
if tracking:
# Encodes the frame and boxes for DeepSORT
features = encoder(frame, boxes)
# DeepSORT Detection
detections = [Detection(bbox, confidence, cls, feature) for bbox, confidence, cls, feature in
zip(boxes, confidence, classes, features)]
else:
# Only YOLOv4 Detection
detections = [Detection_YOLO(bbox, confidence, cls) for bbox, confidence, cls in
zip(boxes, confidence, classes)]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
if tracking:
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
# Draw white bbox for DeepSORT
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id), (int(bbox[0]), int(bbox[1])), cv2.FONT_HERSHEY_COMPLEX_SMALL, 1.5,(0, 255, 0), 1)
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2)
# Check the class for colored bbox
if len(classes) > 0:
cls = det.cls
center_bbox = (int(bbox[2]), int(bbox[2]))
if str(cls) == 'person':
# Draw Blue bbox for YOLOv4 person detection
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (219, 152, 52), 2)
elif str(cls) == 'backpack' or 'handbag' or 'suitcase':
# Draw Orange bbox for YOLOv4 handbag, backpack and suitcase detection
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])), (int(bbox[2]), int(bbox[3])), (65, 176, 245), 2)
if not asyncVideo_flag:
fps = (fps + (1./(time.time()-t1))) / 2
print("FPS = %f"%(fps))
cv2.putText(frame, "GPU: NVIDIA Tesla P100", (5, 70), cv2.FONT_HERSHEY_COMPLEX_SMALL, 0.8, (0, 255, 0), 1)
cv2.putText(frame, "FPS: %.2f" % fps, (5, 50), cv2.FONT_HERSHEY_COMPLEX_SMALL, 0.8, (0, 255, 0), 1)
# draw the timestamp on the frame
timestamp = datetime.datetime.now()
ts = timestamp.strftime("%d/%m/%Y, %H:%M:%S")
cv2.putText(frame, ts, (5, 30), cv2.FONT_HERSHEY_COMPLEX_SMALL, 0.8, (0, 255, 0), 1)
#cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
# hyper-parameters for bounding boxes shape
# loading models
face_detection = cv2.CascadeClassifier(detection_model_path)
emotion_classifier = load_model(emotion_model_path, compile=False)
EMOTIONS = [
"angry", "disgust", "scared", "happy", "sad", "surprised", "neutral"
]
#feelings_faces = []
#for index, emotion in enumerate(EMOTIONS):
# feelings_faces.append(cv2.imread('emojis/' + emotion + '.png', -1))
# starting video streaming
cv2.namedWindow('your_face')
camera = VideoCaptureAsync()
camera.start()
#camera = cv2.VideoCapture(0)
while True:
frame = camera.read()[1]
frame = camera.read()[1]
frame = camera.read()[1]
#reading the frame
#frame = imutils.resize(frame,width=300)
frame = cv2.resize(frame, (300, 250))
##
#r = 300.0 / float(frame.shape[1])
#dim = (300, int(frame.shape[1] * frame.shape[0]))
# resize the image
frame = cv2.resize(frame, dim)
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
tracking = True
writeVideo_flag = True
asyncVideo_flag = False
file_path = 'video.webm'
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output_yolov4.avi', fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
model_par, valid_transform = model_init_par()
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if ret != True:
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
if tracking:
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls, feature)
for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
else:
detections = [
Detection_YOLO(bbox, confidence, cls)
for bbox, confidence, cls in zip(boxes, confidence, classes)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap,
scores)
detections = [detections[i] for i in indices]
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2) + "%"
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 2)
if len(classes) > 0:
cls = det.cls
cv2.putText(frame,
str(cls) + " " + score,
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
if tracking:
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
#crop_img = frame[int(bbox[1]):int(bbox[3]),int(bbox[0]):int(bbox[2])]
crop_img = image.crop(
[int(bbox[0]),
int(bbox[1]),
int(bbox[2]),
int(bbox[3])])
#res_txt = demo_par(model_par, valid_transform, crop_img)
#draw.rectangle(xy=person_bbox[:-1], outline='red', width=1)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
font = ImageFont.truetype(
'/home/sohaibrabbani/PycharmProjects/Strong_Baseline_of_Pedestrian_Attribute_Recognition/arial.ttf',
size=10)
# positive_cnt = 1
# for txt in res_txt:
# if 'personal' in txt:
# #draw.text((x1, y1 + 20 * positive_cnt), txt, (255, 0, 0), font=font)
# cv2.putText(frame, txt, (int(bbox[0]), int(bbox[1]) + 20 * positive_cnt), 0,
# 1e-3 * frame.shape[0], (0, 255, 0), 1)
# positive_cnt += 1
cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
print("FPS = %f" % (fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.2
nn_budget = None
nms_max_overlap = 1.0
output_format = 'mp4'
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
show_detections = True
writeVideo_flag = True
asyncVideo_flag = False
fpeses = []
check_gpu()
video_name = 'test1.mp4'
print("opening video: {}".format(video_name))
file_path = join('data_files/videos', video_name)
output_name = 'save_data/out_' + video_name[0:-3] + output_format
counter = Counter(counter_in=0, counter_out=0, track_id=0)
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
if writeVideo_flag:
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(output_name, fourcc, 15, (w, h))
left_array = [0, 0, w / 2, h]
fps = 0.0
fps_imutils = imutils.video.FPS().start()
rect_left = Rectangle(left_array[0], left_array[1], left_array[2],
left_array[3])
border_door = left_array[3]
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if not ret:
with open('log_results.txt', 'a') as log:
log.write('1')
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls,
feature) for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
classes = np.array([d.cls for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap,
scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
cv2.rectangle(frame, (int(left_array[0]), int(left_array[1])),
(int(left_array[2]), int(left_array[3])), (23, 158, 21),
3)
if len(detections) != 0:
counter.someone_inframe()
for det in detections:
bbox = det.to_tlbr()
if show_detections and len(classes) > 0:
score = "%.2f" % (det.confidence * 100) + "%"
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 3)
else:
if counter.need_to_clear():
counter.clear_all()
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
if track.track_id not in counter.people_init or counter.people_init[
track.track_id] == 0:
counter.obj_initialized(track.track_id)
ratio_init = find_ratio_ofbboxes(bbox=bbox,
rect_compare=rect_left)
if ratio_init > 0:
if ratio_init >= 0.8 and bbox[3] < left_array[3]:
counter.people_init[
track.track_id] = 2 # man in left side
elif ratio_init < 0.8 and bbox[3] > left_array[
3]: # initialized in the bus, mb going out
counter.people_init[track.track_id] = 1
else:
counter.people_init[track.track_id] = 1
counter.people_bbox[track.track_id] = bbox
counter.cur_bbox[track.track_id] = bbox
adc = "%.2f" % (track.adc *
100) + "%" # Average detection confidence
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1]) + 50), 0,
1e-3 * frame.shape[0], (0, 255, 0), 5)
if not show_detections:
track_cls = track.cls
cv2.putText(frame, str(track_cls),
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.putText(
frame, 'ADC: ' + adc,
(int(bbox[0]), int(bbox[3] + 2e-2 * frame.shape[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
id_get_lost = [
track.track_id for track in tracker.tracks
if track.time_since_update >= 5
]
# TODO clear people_init and other dicts
for val in counter.people_init.keys():
ratio = 0
cur_c = find_centroid(counter.cur_bbox[val])
init_c = find_centroid(counter.people_bbox[val])
vector_person = (cur_c[0] - init_c[0], cur_c[1] - init_c[1])
if val in id_get_lost and counter.people_init[val] != -1:
ratio = find_ratio_ofbboxes(bbox=counter.cur_bbox[val],
rect_compare=rect_left)
if vector_person[0] > 200 and counter.people_init[val] == 2 \
and ratio < 0.7: # and counter.people_bbox[val][3] > border_door \
counter.get_out()
print(vector_person[0], counter.people_init[val], ratio)
elif vector_person[0] < -100 and counter.people_init[val] == 1 \
and ratio >= 0.7:
counter.get_in()
print(vector_person[0], counter.people_init[val], ratio)
counter.people_init[val] = -1
del val
ins, outs = counter.show_counter()
cv2.rectangle(frame, (700, 0), (950, 50), (0, 0, 0), -1, 8)
cv2.putText(frame, "in: {}, out: {} ".format(ins, outs), (710, 35), 0,
1e-3 * frame.shape[0], (255, 255, 255), 3)
cv2.namedWindow('video', cv2.WINDOW_NORMAL)
# cv2.resizeWindow('video', 1422, 800)
cv2.imshow('video', frame)
if writeVideo_flag:
out.write(frame)
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
print("FPS = %f" % fps)
if len(fpeses) < 15:
fpeses.append(round(fps, 2))
elif len(fpeses) == 15:
# fps = round(np.median(np.array(fpeses)))
median_fps = float(np.median(np.array(fpeses)))
fps = round(median_fps, 1)
print('max fps: ', fps)
fps = 20
counter.fps = fps
fpeses.append(fps)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def run(self):
asyncVideo_flag = self.args.asyncVideo_flag
writeVideo_flag = self.args.writeVideo_flag
if asyncVideo_flag:
video_capture = VideoCaptureAsync(self.video_path)
else:
video_capture = cv2.VideoCapture(self.video_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter('output_yolov4.avi', fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
count_frame = 0
while True:
count_frame += 1
t1 = time.time()
ret, frame = video_capture.read()
if ret != True:
break
_frame = frame
# process
frame = self.process(frame, _frame, count_frame)
# visualize
if self.args.visualize:
frame = imutils.resize(frame, width=1000)
cv2.imshow("Final result", frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
print("FPS = %f" % (fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.2
nn_budget = None
nms_max_overlap = 1.0
output_format = 'mp4'
video_name = 'bus4_2in_4out.mp4'
file_path = join('data_files/videos', video_name)
output_name = 'save_data/out_' + video_name[0:-3] + output_format
initialize_door_by_yourself = False
door_array = None
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
show_detections = True
writeVideo_flag = True
asyncVideo_flag = False
counter = Counter(counter_in=0, counter_out=0, track_id=0)
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(output_name, fourcc, 15, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
ret, first_frame = video_capture.read()
if door_array is None:
if initialize_door_by_yourself:
door_array = select_object(first_frame)[0]
print(door_array)
else:
all_doors = read_door_info('data_files/doors_info.csv')
door_array = all_doors[video_name]
border_door = door_array[3]
error_values = []
truth = get_truth(video_name)
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if not ret:
total_count = counter.return_total_count()
true_total = truth.inside + truth.outside
err = abs(total_count - true_total) / true_total
log_res = "in video: {}\n predicted / true\n counter in: {} / {}\n counter out: {} / {}\n" \
" total: {} / {}\n error: {}\n______________\n".format(video_name, counter.counter_in,
truth.inside,
counter.counter_out, truth.outside,
total_count, true_total, err)
with open('log_results.txt', 'w') as file:
file.write(log_res)
print(log_res)
error_values.append(err)
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls,
feature) for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
classes = np.array([d.cls for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap,
scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
cv2.rectangle(frame, (int(door_array[0]), int(door_array[1])),
(int(door_array[2]), int(door_array[3])), (23, 158, 21),
2)
for det in detections:
bbox = det.to_tlbr()
if show_detections and len(classes) > 0:
score = "%.2f" % (det.confidence * 100) + "%"
rect_head = Rectangle(bbox[0], bbox[1], bbox[2], bbox[3])
rect_door = Rectangle(int(door_array[0]), int(door_array[1]),
int(door_array[2]), int(door_array[3]))
intersection = rect_head & rect_door
if intersection:
squares_coeff = rect_square(*intersection) / rect_square(
*rect_head)
cv2.putText(
frame,
score + " inter: " + str(round(squares_coeff, 3)),
(int(bbox[0]), int(bbox[3])), 0, 1e-3 * frame.shape[0],
(0, 100, 255), 5)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 3)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
# first appearence of object with id=track.id
if track.track_id not in counter.people_init or counter.people_init[
track.track_id] == 0:
counter.obj_initialized(track.track_id)
rect_head = Rectangle(bbox[0], bbox[1], bbox[2], bbox[3])
rect_door = Rectangle(door_array[0], door_array[1],
door_array[2], door_array[3])
res = rect_head & rect_door
if res:
inter_square = rect_square(*res)
head_square = rect_square(*rect_head)
# was initialized in door, probably going in
if (inter_square / head_square) >= 0.8:
counter.people_init[track.track_id] = 2
# initialized in the bus, mb going out
elif (inter_square /
head_square) <= 0.4 or bbox[3] > border_door:
counter.people_init[track.track_id] = 1
# res is None, means that object is not in door contour
else:
counter.people_init[track.track_id] = 1
counter.people_bbox[track.track_id] = bbox
counter.cur_bbox[track.track_id] = bbox
adc = "%.2f" % (track.adc *
100) + "%" # Average detection confidence
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0, 1e-3 * frame.shape[0],
(0, 255, 0), 5)
if not show_detections:
track_cls = track.cls
cv2.putText(frame, str(track_cls),
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.putText(
frame, 'ADC: ' + adc,
(int(bbox[0]), int(bbox[3] + 2e-2 * frame.shape[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
id_get_lost = [
track.track_id for track in tracker.tracks
if track.time_since_update >= 25 and track.age >= 29
]
id_inside_tracked = [
track.track_id for track in tracker.tracks if track.age > 60
]
for val in counter.people_init.keys():
# check bbox also
cur_c = find_centroid(counter.cur_bbox[val])
init_c = find_centroid(counter.people_bbox[val])
vector_person = (cur_c[0] - init_c[0], cur_c[1] - init_c[1])
if val in id_get_lost and counter.people_init[val] != -1:
# if vector_person < 0 then current coord is less than initialized, it means that man is going
# in the exit direction
if vector_person[1] > 70 and counter.people_init[
val] == 2: # and counter.people_bbox[val][3] > border_door \
counter.get_in()
elif vector_person[1] < -70 and counter.people_init[val] == 1:
counter.get_out()
counter.people_init[val] = -1
print(f"person left frame")
print(f"current centroid - init : {cur_c} - {init_c}\n")
print(f"vector: {vector_person}\n")
del val
# elif val in id_inside_tracked and val not in id_get_lost and counter.people_init[val] == 1 \
# and bb_intersection_over_union(counter.cur_bbox[val], door_array) <= 0.3 \
# and vector_person[1] > 0: # and \
# # counter.people_bbox[val][3] > border_door:
# counter.get_in()
#
# counter.people_init[val] = -1
# print(f"person is tracked for a long time")
# print(f"current centroid - init : {cur_c} - {init_c}\n")
# print(f"vector: {vector_person}\n")
# imaggg = cv2.line(frame, find_centroid(counter.cur_bbox[val]),
# find_centroid(counter.people_bbox[val]),
# (0, 0, 255), 7)
# cv2.imshow('frame', imaggg)
# cv2.waitKey(0)
ins, outs = counter.show_counter()
cv2.putText(frame, "in: {}, out: {} ".format(ins, outs), (10, 30), 0,
1e-3 * frame.shape[0], (255, 0, 0), 5)
cv2.namedWindow('image', cv2.WINDOW_NORMAL)
cv2.resizeWindow('image', 1400, 800)
cv2.imshow('image', frame)
if writeVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
# print("FPS = %f" % (fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
mean_error = np.mean(error_values)
print("mean error for {} video: {}".format(video_name, mean_error))
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.25
max_cross_cosine_distance = 0.5
nn_budget = None
nms_max_overlap = 0.5
frame_rate = 12
file_path = 'reid-wide2'
file_path2 = 'reid-long2'
show_detections = False
writeVideo_flag = False
asyncVideo_flag = False
beta_calulate_flag = False
predict_ns_flag = False
predict_time = 0.5
multi_camera_flag = True
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric, frame_rate=frame_rate)
if multi_camera_flag:
metric2 = nn_matching.NearestNeighborDistanceMetric(
"cosine", max_cosine_distance, nn_budget)
tracker2 = Tracker(metric2, frame_rate=frame_rate)
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path + ".mp4")
else:
video_capture = cv2.VideoCapture(file_path + ".mp4")
if multi_camera_flag:
video_capture2 = cv2.VideoCapture(file_path2 + ".mp4")
if asyncVideo_flag:
video_capture.start()
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
if writeVideo_flag:
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(file_path2 + "-output.avi", fourcc, frame_rate,
(w, h))
frame_index = -1
if multi_camera_flag:
out2 = cv2.VideoWriter(file_path + "-output2.avi", fourcc,
frame_rate, (w, h))
fps = 0.0
fps_imutils = imutils.video.FPS().start()
alpha = np.arctan((326 + (369 - 326) * (250 - 110) /
(300 - 110) - w / 2) / w * 6.4 / 3.6) * 180 / np.pi
beta = 0
beta_last = 0
x_temp = 0
track_angle = np.array([])
x_axis = np.array([])
x_predict = np.array([])
x_current = np.array([])
x_kalman = np.array([])
matches_id = []
alert_mode_flag = False
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if ret != True:
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls,
feature) for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
classes = np.array([d.cls for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap,
scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
if predict_ns_flag:
tracker.predict_ns(predict_time)
if alert_mode_flag:
if len(tracker.tracks) > p:
ret = tracker.tracks[track1_idx].is_confirmed()
if not ret:
alert_mode_flag = False
else:
alert_mode_flag = False
if not alert_mode_flag:
for det in detections:
bbox = det.to_tlbr()
if show_detections and len(classes) > 0:
det_cls = det.cls
score = "%.2f" % (det.confidence * 100) + "%"
cv2.putText(frame,
str(det_cls) + " " + score,
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 2)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 5:
continue
bbox = track.to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
if predict_ns_flag:
if track.x_predict > 0 and track.x_predict < w:
cv2.circle(frame, (track.x_predict, int(h / 2)), 15,
(0, 0, 255), -1)
x_temp += 1 / frame_rate
x_axis = np.append(x_axis, x_temp)
x_predict = np.append(x_predict, track.x_predict)
x_current = np.append(x_current, track.x_current)
x_kalman = np.append(x_kalman, track.mean[0])
if beta_calulate_flag:
beta = np.arctan(
(track.mean[0] - w / 2) / w * 6.4 / 16) * 180 / np.pi
else:
bbox = tracker.tracks[track1_idx].to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (0, 0, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0, 1e-3 * frame.shape[0],
(0, 255, 0), 1)
# if not show_detections:
# track_cls = track.cls
# adc = "%.2f" % (track.adc * 100) + "%" # Average detection confidence
# cv2.putText(frame, str(track_cls), (int(bbox[0]), int(bbox[3])), 0, 1e-3 * frame.shape[0], (0, 255, 0),
# 1)
# cv2.putText(frame, 'ADC: ' + adc, (int(bbox[0]), int(bbox[3] + 2e-2 * frame.shape[1])), 0,
# 1e-3 * frame.shape[0], (0, 255, 0), 1)
if beta_calulate_flag:
if np.isclose(beta, beta_last) and abs(beta) > 7:
beta = np.sign(beta) * np.arctan(3.2 / 16) * 180 / np.pi
cv2.putText(frame, "Beta_angle: " + '{:4.2f}'.format(beta),
(20, 20), 0, 1e-3 * frame.shape[0], (0, 0, 255), 1)
beta_last = beta
x_temp += 1 / frame_rate
x_axis = np.append(x_axis, x_temp)
track_angle = np.append(track_angle, alpha + beta)
cv2.imshow('camera1', frame)
if writeVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
if multi_camera_flag:
ret, frame = video_capture2.read() # frame shape 640*480*3
if ret != True:
break
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls, feature)
for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
classes = np.array([d.cls for d in detections])
indices = preprocessing.non_max_suppression(
boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker2.predict()
tracker2.update(detections)
matches, unmatched_tracks_1, unmatched_tracks_2 = cross_tracker_match(
tracker, tracker2, max_cross_cosine_distance)
matches_id.clear()
for track_1_idx, track_2_idx in matches:
matches_id.append((tracker.tracks[track_1_idx].track_id,
tracker2.tracks[track_2_idx].track_id))
print("Matches:", matches_id)
if alert_mode_flag:
if len(tracker2.tracks) > track2_idx:
ret = tracker2.tracks[track2_idx].is_confirmed()
if not ret:
alert_mode_flag = False
else:
alert_mode_flag = False
if not alert_mode_flag:
for det in detections:
bbox = det.to_tlbr()
if show_detections and len(classes) > 0:
det_cls = det.cls
score = "%.2f" % (det.confidence * 100) + "%"
cv2.putText(frame,
str(det_cls) + " " + score,
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])),
(255, 0, 0), 2)
for track in tracker2.tracks:
if not track.is_confirmed() or track.time_since_update > 5:
continue
bbox = track.to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])),
(255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
if cv2.waitKey(1) & 0xFF == ord('t'):
roi = cv2.selectROI("Select Target", frame)
Roi = [Detection(roi, 0, None, 0)]
ret, track2_idx = ROI_target_match(tracker2, Roi)
cv2.destroyWindow("Select Target")
if ret:
t_list = [i for (i, j) in matches if j == track2_idx]
if t_list != []:
track1_idx = t_list[0]
alert_mode_flag = True
else:
bbox = tracker2.tracks[track2_idx].to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (0, 0, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.imshow('camera2', frame)
if writeVideo_flag:
# save a frame
out2.write(frame)
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# if not asyncVideo_flag:
# fps = (fps + (1. / (time.time() - t1))) / 2
# print("FPS = %.2f" % (fps))
fps_imutils.update()
fps_imutils.stop()
print('imutils FPS: {:.2f}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
if multi_camera_flag:
out2.release()
if predict_ns_flag:
np.save("x_axis.npy", x_axis)
np.save("x_predict.npy", x_predict)
np.save("x_current.npy", x_current)
np.save("x_kalman.npy", x_kalman)
plt.plot(x_axis, x_current, label='X_Measured')
plt.plot(x_axis, x_kalman, label='X_Filtered')
plt.plot(x_axis, x_predict, label='X_Predicted')
plt.legend()
plt.xlabel('Time (s)')
plt.ylabel('Pixel')
plt.title('Motion Prediction')
plt.show()
if beta_calulate_flag:
np.save("x_axis.npy", x_axis)
np.save("track_angle.npy", track_angle)
plt.plot(x_axis, track_angle)
plt.xlabel('Time (s)')
plt.ylabel('Angle (deg)')
plt.title('Target Angle')
plt.show()
cv2.destroyAllWindows()
img = np.tile(img[..., None], [1, 1, 3])
img = resize(img, (256, 256))[..., :3]
avatars.append(img)
log('load checkpoints..')
generator, kp_detector = load_checkpoints(config_path=opt.config,
checkpoint_path=opt.checkpoint,
device=device)
fa = face_alignment.FaceAlignment(face_alignment.LandmarksType._2D,
flip_input=True,
device=device)
cap = VideoCaptureAsync(opt.cam)
cap.start()
if _streaming:
ret, frame = cap.read()
stream = pyfakewebcam.FakeWebcam(f'/dev/video{opt.virt_cam}',
frame.shape[1], frame.shape[0])
cur_ava = 0
avatar = None
change_avatar(fa, avatars[cur_ava])
passthrough = False
cv2.namedWindow('cam', cv2.WINDOW_GUI_NORMAL)
cv2.namedWindow('avatarify', cv2.WINDOW_GUI_NORMAL)
cv2.moveWindow('cam', 0, 0)
cv2.moveWindow('avatarify', 600, 0)
import pyautogui
import pyttsx3
from gui import Interface
if __name__ == '__main__':
eyeTrack = EyeTrack()
int2Text = ['zero', 'um', 'dois', 'tres', 'quatro', 'cinco']
contadorOlhosFechados = 0
gui = Interface()
gui.speech_assistant(
'Olá estou aqui para ajudar você a expressar algumas necessidades. Por favor, olhe em direção ao cartão que expressa a sua necessidade'
)
video = VideoCaptureAsync(0)
video.start()
pyautogui.press('tab')
while True:
(grabed, frame) = video.read()
if not grabed:
break
coords, frame = eyeTrack.getCoordenada(frame, debug=False)
if coords:
direcao = eyeTrack.getEyeDirection(coords)
if direcao == Direction.DIREITA:
gui.speech_assistant('direita')
class ListScreen(Screen):
def __init__(self, **kwargs):
super(ListScreen, self).__init__(**kwargs)
# run clock
Clock.schedule_interval(self.init_gui, 0.2)
Clock.schedule_interval(self.show_status, 0.03)
def init_gui(self, dt):
self.new_file()
Clock.unschedule(self.init_gui)
Clock.schedule_interval(self.cam_update, 0.03)
def cam_capture_video(
self,
frame,
path,
scalex,
scaley,
footprint,
designator,
angle,
polarity,
bodyShape,
bodySize,
maskShape,
maskSize,
):
frame2 = frame.copy()
rotated = imutils.rotate(frame, int(angle))
# create a mask image of the same shape as input image, filled with 0s (black color)
mask = np.zeros_like(rotated)
if maskShape == "Rectangular":
# create a white filled ellipse
center = (rotated.shape[1] * 0.5, rotated.shape[0] * 0.5)
bottomleft = (
int(center[0] - maskSize[0] * scalex * 0.5),
int(center[1] - maskSize[1] * scaley * 0.5),
)
topright = (
int(center[0] + maskSize[0] * scalex * 0.5),
int(center[1] + maskSize[1] * scaley * 0.5),
)
maskMask = cv2.rectangle(mask, bottomleft, topright,
(255, 255, 255), -1)
cropped = rotated[bottomleft[1]:topright[1],
topright[0]:bottomleft[0]]
elif maskShape == "Circular":
# create a white filled ellipse
center = (int(rotated.shape[1] * 0.5), int(rotated.shape[0] * 0.5))
axis = (int(maskSize[0] * scalex * 0.5),
int(maskSize[1] * scaley * 0.5))
maskMask = cv2.ellipse(mask, center, axis, 0, 0, 360,
(255, 255, 255), -1)
cropped = rotated[center[1] - axis[1]:center[1] + axis[1],
center[0] - axis[0]:center[0] + axis[0], ]
# Bitwise AND operation to black out regions outside the mask
resultMask = np.bitwise_and(rotated, maskMask)
# create a mask image of the same shape as input image, filled with 0s (black color)
mask = np.zeros_like(rotated)
if bodyShape == "Rectangular":
# create a white filled ellipse
center = (rotated.shape[1] * 0.5, rotated.shape[0] * 0.5)
bottomleft = (
int(center[0] - bodySize[0] * scalex * 0.5),
int(center[1] - bodySize[1] * scaley * 0.5),
)
topright = (
int(center[0] + bodySize[0] * scalex * 0.5),
int(center[1] + bodySize[1] * scaley * 0.5),
)
maskBody = cv2.rectangle(mask, bottomleft, topright,
(255, 255, 255), -1)
elif bodyShape == "Circular":
# create a white filled ellipse
center = (int(rotated.shape[1] * 0.5), int(rotated.shape[0] * 0.5))
axis = (int(bodySize[0] * scalex * 0.5),
int(bodySize[1] * scaley * 0.5))
maskBody = cv2.ellipse(mask, center, axis, 0, 0, 360,
(255, 255, 255), -1)
# Bitwise AND operation to black out regions outside the mask
maskSolder = np.bitwise_and(maskMask, np.invert(maskBody))
resultBody = np.bitwise_and(rotated, maskBody)
resultSolder = np.bitwise_and(rotated, maskSolder)
station = self.project_data["Setup"]["Station"]
timestamp = time.time()
filename = inspection.create_part_identifier(
station,
timestamp,
self.capture_video_panel,
designator,
footprint,
angle,
polarity,
bodyShape,
bodySize,
maskShape,
maskSize,
)
joined = os.path.join(path, filename)
print("Capturing", joined + "*.png")
if self.capture_video_calibration:
if len(self.project_data["Marker"]) == 0:
print("No marker teached")
else:
template_rgb = imageprocessing.convert_image_from_base64(
self.project_data["Marker"])
template_rgb, template_gray = brightness_correction.BrightnessAndContrastAuto(
template_rgb, 2.0)
calibrate_rgb, calibrate_gray = brightness_correction.BrightnessAndContrastAuto(
rotated, 2.0)
center = [rotated.shape[1] * 0.5, rotated.shape[0] * 0.5]
pixscale = [
self.project_data["Setup"]["CalibrationScaleX"],
self.project_data["Setup"]["CalibrationScaleY"],
]
# find the marker
markers, templatelocm, keypointsm = findmarker.find_marker(
calibrate_gray,
pixscale,
bodyShape,
bodySize,
maskShape,
maskSize,
template_gray,
self.project_data["Setup"]["MarkerThreshold"],
center,
debug=False,
)
if len(markers) >= 1:
self.project_data["Setup"]["CalibrationScaleX"] = (
np.sqrt(
np.square(markers[0]["RefX"] - center[0]) +
np.square(markers[0]["RefY"] - center[1])) /
self.project_data["Setup"]["CalibrationOffset"])
self.project_data["Setup"]["CalibrationScaleY"] = (
np.sqrt(
np.square(markers[0]["RefX"] - center[0]) +
np.square(markers[0]["RefY"] - center[1])) /
self.project_data["Setup"]["CalibrationOffset"])
else:
print("marker not detected")
cv2.imwrite(joined + "RotatedMask.jpg", resultMask,
[cv2.IMWRITE_JPEG_QUALITY, 90])
cv2.imwrite(joined + "RotatedBody.jpg", resultBody,
[cv2.IMWRITE_JPEG_QUALITY, 90])
cv2.imwrite(joined + "RotatedSolder.jpg", resultSolder,
[cv2.IMWRITE_JPEG_QUALITY, 90])
cv2.imwrite(joined + "MaskMask.png", maskMask,
[cv2.IMWRITE_PNG_COMPRESSION, 9])
cv2.imwrite(joined + "MaskBody.png", maskBody,
[cv2.IMWRITE_PNG_COMPRESSION, 9])
cv2.imwrite(joined + "MaskSolder.png", maskSolder,
[cv2.IMWRITE_PNG_COMPRESSION, 9])
cv2.imwrite(joined + "Raw.jpg", frame2, [cv2.IMWRITE_JPEG_QUALITY, 90])
if self.capture_video_marker:
self.project_data[
"Marker"] = imageprocessing.convert_image_to_base64(cropped)
def cam_draw_crosshair(self, frame):
center = (int(frame.shape[1] * 0.5), int(frame.shape[0] * 0.5))
left = (center[0] - 100, center[1])
right = (center[0] + 100, center[1])
top = (center[0], center[1] - 100)
bottom = (center[0], center[1] + 100)
cv2.line(frame, left, right, (255, 0, 0), 2)
cv2.line(frame, top, bottom, (255, 0, 0), 2)
for i in range(-5, 6):
# horizontal dashes
start = (center[0] + i * 20, center[1] + 5)
end = (center[0] + i * 20, center[1] - 5)
cv2.line(frame, start, end, (255, 0, 0), 2)
# vertical dashes
start = (center[0] + 5, center[1] + i * 20)
end = (center[0] - 5, center[1] + i * 20)
cv2.line(frame, start, end, (255, 0, 0), 2)
def cam_teachin_part(
self,
frame,
scalex,
scaley,
angle,
polarity,
bodyShape,
bodySize,
maskShape,
maskSize,
):
# translated = imutils.translate(frame, x,y)
# or use center in rotate function
rotated = imutils.rotate(frame, int(angle))
cv2.putText(
rotated,
self.overlay_teachin_designator + " " +
self.overlay_teachin_footprint,
(10, 35),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(0, 0, 0),
2,
)
if polarity == True:
center = (5, 5)
axis = (5, 5)
cv2.ellipse(rotated, center, axis, 0, 0, 360, (0, 0, 0), 2)
# draw body
if bodyShape == "Rectangular":
center = (rotated.shape[1] * 0.5, rotated.shape[0] * 0.5)
bottomleft = (
int(center[0] - bodySize[0] * scalex * 0.5),
int(center[1] - bodySize[1] * scaley * 0.5),
)
topright = (
int(center[0] + bodySize[0] * scalex * 0.5),
int(center[1] + bodySize[1] * scaley * 0.5),
)
cv2.rectangle(rotated, bottomleft, topright, (0, 0, 0), 2)
elif bodyShape == "Circular":
center = (int(rotated.shape[1] * 0.5), int(rotated.shape[0] * 0.5))
axis = (int(bodySize[0] * scalex * 0.5),
int(bodySize[1] * scaley * 0.5))
cv2.ellipse(rotated, center, axis, 0, 0, 360, (0, 0, 0), 2)
# draw mask
if maskShape == "Rectangular":
center = (rotated.shape[1] * 0.5, rotated.shape[0] * 0.5)
bottomleft = (
int(center[0] - maskSize[0] * scalex * 0.5),
int(center[1] - maskSize[1] * scaley * 0.5),
)
topright = (
int(center[0] + maskSize[0] * scalex * 0.5),
int(center[1] + maskSize[1] * scaley * 0.5),
)
cv2.rectangle(rotated, bottomleft, topright, (0, 0, 0), 2)
elif maskShape == "Circular":
center = (int(rotated.shape[1] * 0.5), int(rotated.shape[0] * 0.5))
axis = (int(maskSize[0] * scalex * 0.5),
int(maskSize[1] * scaley * 0.5))
cv2.ellipse(rotated, center, axis, 0, 0, 360, (0, 0, 0), 2)
return rotated
def cam_update(self, dt):
try:
_, frame = self.capture.read()
# capture
if (self.capture_video or self.capture_video_marker
or self.capture_video_calibration):
path = os.path.expanduser(
self.project_data["Setup"]["ReportingPath"])
inspectpart = self.project_data["InspectionPath"][
self.capture_video_inspectionpart]
panel = self.capture_video_panel
partref = inspectpart["Partsdefinition"]
if partref != -1:
part = inspection.get_part_definition(
self.project_data["PartsDefinition"]
["PartsDefinition"], partref)
body_shape = part["BodyShape"]
body_size = part["BodySize"]
mask_shape = part["MaskShape"]
mask_size = part["MaskSize"]
rotation = inspectpart["Rotation"] - part["Rotation"]
polarity = part["Polarity"]
designator = inspectpart["Designator"]
footprint = inspectpart["Footprint"]
self.cam_capture_video(
frame,
path,
self.project_data["Setup"]["CalibrationScaleX"],
self.project_data["Setup"]["CalibrationScaleY"],
footprint,
designator,
rotation,
polarity,
body_shape,
body_size,
mask_shape,
mask_size,
)
self.capture_video = 0
self.capture_video_marker = 0
self.capture_video_calibration = 0
# overlay cross
if self.overlay_crosshair:
self.cam_draw_crosshair(frame)
if self.overlay_teachin:
# print("overlay", self.overlay_teachin_body_shape, self.overlay_teachin_body_size, self.overlay_teachin_mask_shape, self.overlay_teachin_mask_size, self.overlay_teachin_rotation)
frame = self.cam_teachin_part(
frame,
self.project_data["Setup"]["CalibrationScaleX"],
self.project_data["Setup"]["CalibrationScaleY"],
self.overlay_teachin_rotation,
self.overlay_teachin_polarity,
self.overlay_teachin_body_shape,
self.overlay_teachin_body_size,
self.overlay_teachin_mask_shape,
self.overlay_teachin_mask_size,
)
buf1 = cv2.flip(frame, 0)
buf = buf1.tostring()
texture1 = Texture.create(size=(frame.shape[1], frame.shape[0]),
colorfmt="rgb")
texture1.blit_buffer(buf, colorfmt="bgr", bufferfmt="ubyte")
self.ids["img_cam"].texture = texture1
except Exception as e:
print("cam exception", e)
pass
#### File menu
def exit_app(self):
self.camera_disconnect()
self.printer_disconnect()
App.get_running_app().stop()
def new_file(self):
## File menu / New Project
self.init_project()
def init_project(self):
# init data
self.project_file_path = ""
self.project_data = data.init_project_data()
self.project_data["CADMode"] = "None"
self.ids["img_cad_origin"].set_cad_view(self.project_data,
self.teachin)
self.ids["img_cad_origin"].redraw_cad_view()
self.capture = None
self.print = None
self.paneldisselection = []
self.overlay_crosshair = 0
self.overlay_teachin = 0
self.capture_video_marker = 0
self.capture_video = 0
try:
self.camera_disconnect()
self.camera_connect()
self.printer_disconnect()
self.printer_connect()
except Exception as e:
print(e, "cam or printer start problem")
pass
def load_file(self):
### File Menu / Load project
content = LoadDialog(load=self.load, cancel=self.dismiss_popup)
self._popup = Popup(title="Load file",
content=content,
size_hint=(0.9, 0.9))
self._popup.open()
self.project_data["CADMode"] = "None"
def load(self, path, filename):
### click load button of Loading Dialog
### load all info from pre saved project file
try:
### if proper project file
self.project_file_path = os.path.expanduser(filename[0])
self.project_data = data.read_project_data(self.project_file_path)
self.paneldisselection = []
try:
self.camera_disconnect()
self.camera_connect()
self.printer_disconnect()
self.printer_connect()
except Exception as e:
print(e, "cam or printer start problem")
pass
self.ids["img_cad_origin"].set_cad_view(self.project_data,
self.teachin)
self.ids["img_cad_origin"].redraw_cad_view()
except:
### if not proper project file
print("Problem loading file")
self.dismiss_popup()
return
self.dismiss_popup()
def save_file(self):
### File Menu / Save Project
if self.project_file_path == "":
self.save_as_file()
else:
data.write_project_data(self.project_file_path, self.project_data)
def save_as_file(self):
### File Menu / Save as Project
content = SaveDialog(save=self.save, cancel=self.dismiss_popup)
self._popup = Popup(title="Save file",
content=content,
size_hint=(0.9, 0.9))
self._popup.open()
self.project_data["CADMode"] = "None"
def save(self, path, filename):
### after click Save button of Save Dialog
self.project_file_path = os.path.expanduser(
os.path.join(path, filename))
print(path, filename, self.project_file_path)
data.write_project_data(self.project_file_path, self.project_data)
self.dismiss_popup()
def export_partsdefinition(self):
### File Menu / Export Partsdefinition
old = data.helper_read_json("partsdefinition")
data.helper_write_json("temp/partsdefinition", old)
new = self.project_data["PartsDefinition"].copy()
inspection.merge_partsdefinition(new, old)
data.helper_write_json("partsdefinition", new)
#### program menu ####
def import_file(self):
### Program menu / import pick and place
content = ImportDialog(load=self.import_pp, cancel=self.dismiss_popup)
self._popup = Popup(title="Import file",
content=content,
size_hint=(0.9, 0.9))
self._popup.open()
self.project_data["CADMode"] = "None"
def import_pp(self, path, filename):
### after click load button of Loading button
try:
### if proper project file
pp_file_path = os.path.expanduser(filename[0])
inspection.load_pick_place(self.project_data, pp_file_path)
inspection.assign_partsdefinition(self.project_data)
# print("data", self.project_data)
# redraw
self.ids["img_cad_origin"].redraw_cad_view()
except:
### if not proper project file
self.dismiss_popup()
return
self.dismiss_popup()
def teachin_select(self):
### Program Menu / Teachin select part
self.project_data["CADMode"] = "Teachin"
def select_side(self):
### Program menu / Select Soldering Side
side = [
{
"text": "Top",
"is_selected": self.project_data["InspectionSide"] == "Top",
},
{
"text": "Bottom",
"is_selected": self.project_data["InspectionSide"] == "Bottom",
},
]
self.ignore_first = not side[0]["is_selected"]
content = ListPopup()
args_converter = lambda row_index, rec: {
"text": rec["text"],
"is_selected": rec["is_selected"],
"size_hint_y": None,
"height": 50,
}
list_adapter = ListAdapter(
data=side,
args_converter=args_converter,
propagate_selection_to_data=True,
cls=ListItemButton,
selection_mode="single",
allow_empty_selection=False,
)
list_view = ListView(adapter=list_adapter)
content.ids.profile_list.add_widget(list_view)
list_view.adapter.bind(on_selection_change=self.selected_side)
self._popup = Popup(title="Select Soldering Side",
content=content,
size_hint=(0.5, 0.6))
self._popup.open()
self.project_data["CADMode"] = "None"
def selected_side(self, adapter):
if self.ignore_first:
self.ignore_first = False
return
self.project_data["InspectionSide"] = adapter.selection[0].text
self.dismiss_popup()
self.ids["img_cad_origin"].redraw_cad_view()
def set_reference1(self):
### Program Menu / Set Reference point 1
self.project_data["CADMode"] = "Ref1"
def set_reference2(self):
### Program Menu / Set Reference Point 2
self.project_data["CADMode"] = "Ref2"
def teachin(self, partindex):
### Program Menu / Teachin
if partindex == -1:
partindex = inspection.find_first_unassigned_part(
self.project_data["InspectionPath"])
if partindex == -1:
return
self.set_part_overlay(partindex)
self.ids["tab_panel"].switch_to(self.ids["tab_panel"].tab_list[0])
self.content = TeachinPopup(
controlTeachin=self.control_teachin,
save=self.select_teachin_save,
cancel=self.dismiss_popup,
)
# initialize control
self.content.ids["body_input_x"].text = str(
self.overlay_teachin_body_size[0])
self.content.ids["body_input_y"].text = str(
self.overlay_teachin_body_size[1])
self.content.ids["mask_input_x"].text = str(
self.overlay_teachin_mask_size[0])
self.content.ids["mask_input_y"].text = str(
self.overlay_teachin_mask_size[1])
self.content.ids["rotation"].text = str(self.overlay_teachin_rotation)
self.content.ids[
"polarity_switch"].active = self.overlay_teachin_polarity
if self.overlay_teachin_body_shape == "Rectangular":
self.content.ids["body_switch"].active = True
else:
self.content.ids["body_switch"].active = False
if self.overlay_teachin_mask_shape == "Rectangular":
self.content.ids["mask_switch"].active = True
else:
self.content.ids["mask_switch"].active = False
self._popup = Popup(
title="Teachin Part",
content=self.content,
size_hint=(0.2, 0.5),
background_color=[0, 0, 0, 0.0],
)
self._popup.pos_hint = {"center_x": 0.9, "center_y": 0.75}
self._popup.open()
self.overlay_crosshair = 1
self.overlay_teachin = 1
self.project_data["CADMode"] = "None"
def control_teachin(self, field, value):
if field == "TextRotation":
val = min(360, max(-360, float(self.content.ids["rotation"].text)))
self.content.ids["rotation"].text = str(val)
self.overlay_teachin_rotation = val
elif field == "SwitchBody":
if value == True:
self.overlay_teachin_body_shape = "Rectangular"
else:
self.overlay_teachin_body_shape = "Circular"
elif field == "SwitchMask":
if value == True:
self.overlay_teachin_mask_shape = "Rectangular"
else:
self.overlay_teachin_mask_shape = "Circular"
elif field == "SwitchPolarity":
self.overlay_teachin_polarity = value
elif field == "TextBodyX":
val = min(100, max(0,
float(self.content.ids["body_input_x"].text)))
self.overlay_teachin_body_size = [
val, self.overlay_teachin_body_size[1]
]
self.content.ids["body_input_x"].text = str(val)
elif field == "TextBodyY":
val = min(100, max(0,
float(self.content.ids["body_input_y"].text)))
self.overlay_teachin_body_size = [
self.overlay_teachin_body_size[0], val
]
self.content.ids["body_input_y"].text = str(val)
elif field == "TextMaskX":
val = min(100, max(0,
float(self.content.ids["mask_input_x"].text)))
self.overlay_teachin_mask_size = [
val, self.overlay_teachin_mask_size[1]
]
self.content.ids["mask_input_x"].text = str(val)
elif field == "TextMaskY":
val = min(100, max(0,
float(self.content.ids["mask_input_y"].text)))
self.overlay_teachin_mask_size = [
self.overlay_teachin_mask_size[0], val
]
self.content.ids["mask_input_y"].text = str(val)
def select_teachin_save(self):
index = inspection.helper_get_index_by_designator(
self.project_data["InspectionPath"],
self.overlay_teachin_designator)
if self.project_data["InspectionSide"] == "Top":
rot = (self.project_data["InspectionPath"][index]["Rotation"] -
self.overlay_teachin_rotation)
else:
rot = (self.overlay_teachin_rotation -
self.project_data["InspectionPath"][index]["Rotation"])
part = {
"BodyShape": self.overlay_teachin_body_shape,
"BodySize": self.overlay_teachin_body_size,
"Id": self.overlay_teachin_footprint,
"MaskShape": self.overlay_teachin_mask_shape,
"MaskSize": self.overlay_teachin_mask_size,
"Polarity": self.overlay_teachin_polarity,
"Rotation": rot,
"Type": "Part",
}
partsdefinition = self.project_data["PartsDefinition"][
"PartsDefinition"]
index = inspection.find_part_in_definition(partsdefinition, part["Id"])
if index != -1:
partsdefinition[index] = part
else:
partsdefinition.append(part)
# try to assign all unassigned parts with that footprint
inspection.assign_partsdefinition(self.project_data)
self.overlay_crosshair = 0
self.overlay_teachin = 0
self.dismiss_popup()
self.ids["img_cad_origin"].redraw_cad_view()
##### panel menu
def set_num_panel(self):
num = inspection.get_num_panel(self.project_data["Panel"])
content = EditPopup(save=self.save_panel_num,
cancel=self.dismiss_popup)
content.ids["btn_connect"].text = "Save"
content.ids["text_port"].text = str(num)
self._popup = Popup(title="Select panel num",
content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data["CADMode"] = "None"
def save_panel_num(self, txt_port):
# set num of panels
num = int(txt_port)
num = max(1, num)
num = min(self.project_data["Setup"]["MaxPanel"], num)
inspection.set_num_panel(self.project_data["Panel"], num)
self.dismiss_popup()
def set_part_overlay(self, partindex):
partref = -1
if partindex != -1:
inspectpart = self.project_data["InspectionPath"][partindex]
partref = inspectpart["Partsdefinition"]
self.overlay_teachin_designator = inspectpart["Designator"]
self.overlay_teachin_footprint = inspectpart["Footprint"]
else:
self.overlay_teachin_designator = ""
self.overlay_teachin_footprint = ""
if partref != -1:
part = inspection.get_part_definition(
self.project_data["PartsDefinition"]["PartsDefinition"],
partref)
self.overlay_teachin_body_shape = part["BodyShape"]
self.overlay_teachin_body_size = part["BodySize"]
self.overlay_teachin_mask_shape = part["MaskShape"]
self.overlay_teachin_mask_size = part["MaskSize"]
self.overlay_teachin_polarity = part["Polarity"]
if self.project_data["InspectionSide"] == "Top":
self.overlay_teachin_rotation = (inspectpart["Rotation"] -
part["Rotation"])
else:
self.overlay_teachin_rotation = (part["Rotation"] -
inspectpart["Rotation"])
else:
setup = self.project_data["Setup"]
self.overlay_teachin_body_shape = setup["BodyShape"]
self.overlay_teachin_body_size = setup["BodySize"]
self.overlay_teachin_mask_shape = setup["MaskShape"]
self.overlay_teachin_mask_size = setup["MaskSize"]
self.overlay_teachin_polarity = setup["Polarity"]
self.overlay_teachin_rotation = setup["Rotation"]
# print("overlay", self.overlay_teachin_body_shape, self.overlay_teachin_body_size, self.overlay_teachin_mask_shape, self.overlay_teachin_mask_size, self.overlay_teachin_rotation)
self.overlay_teachin = 1
self.overlay_crosshair = 1
def set_reference_panel(self):
# show dialpad
# print("ref")
self.ids["tab_panel"].switch_to(self.ids["tab_panel"].tab_list[0])
self.content = ControlPopup(
controlXYZ=self.control_XYZ,
set_panel_ref1=self.set_panel_ref1,
set_panel_ref2=self.set_panel_ref2,
get_panel_ref1=self.get_panel_ref1,
get_panel_ref2=self.get_panel_ref2,
calibrate=self.calibrate,
teachin_reference=self.teachin_reference,
cancel=self.dismiss_popup,
)
self.content.ids["cur_X"].text = format(
self.project_data["Setup"]["TravelX"], ".2f")
self.content.ids["cur_Y"].text = format(
self.project_data["Setup"]["TravelY"], ".2f")
self.content.ids["cur_Z"].text = format(
self.project_data["Setup"]["TravelZ"], ".2f")
self.content.ids["cur_panel"].text = "1"
self._popup = Popup(
title="Set reference point",
content=self.content,
size_hint=(0.4, 0.4),
background_color=[0, 0, 0, 0.0],
)
self._popup.pos_hint = {"center_x": 0.8, "center_y": 0.8}
self._popup.open()
self.project_data["CADMode"] = "None"
# set body and mask
ref = inspection.get_reference_1(self.project_data["InspectionPath"])
self.capture_video_inspectionpart = ref
self.set_part_overlay(ref)
# home printer
gcode = robotcontrol.go_home(self.project_data)
self.queue_printer_command(gcode)
def teachin_reference(self):
# trigger capturing to data as base64 here
self.capture_video_marker = 1
return
def control_XYZ(self, axis, value):
### click any button on dialpad, calculate new position
index = int(self.content.ids["cur_panel"].text)
x = float(self.content.ids["cur_X"].text)
y = float(self.content.ids["cur_Y"].text)
z = float(self.content.ids["cur_Z"].text)
if axis == "X":
x += float(value)
elif axis == "Y":
y += float(value)
# TODO cleanup dialpad
# elif axis == "Z":
# z += float(value)
elif axis == "HomeXY":
x = self.project_data["Setup"]["TravelX"]
y = self.project_data["Setup"]["TravelY"]
elif axis == "HomeZ":
z = self.project_data["Setup"]["TravelZ"]
index = max(1, index)
index = min(self.project_data["Setup"]["MaxPanel"], index)
x = max(self.project_data["Setup"]["MinX"], x)
x = min(self.project_data["Setup"]["MaxX"], x)
y = max(self.project_data["Setup"]["MinY"], y)
y = min(self.project_data["Setup"]["MaxY"], y)
z = max(self.project_data["Setup"]["MinZ"], z)
z = min(self.project_data["Setup"]["MaxZ"], z)
self.content.ids["cur_panel"].text = str(index)
self.content.ids["cur_X"].text = format(x, ".2f")
self.content.ids["cur_Y"].text = format(y, ".2f")
self.content.ids["cur_Z"].text = format(z, ".2f")
# go xyz printer
gcode = robotcontrol.go_xyz(self.project_data, x, y, z)
self.queue_printer_command(gcode)
def set_panel_ref1(self):
### click set1 button on dialpad
index = int(self.content.ids["cur_panel"].text)
index = min(index,
inspection.get_num_panel(self.project_data["Panel"]))
index = max(index, 1)
x = float(self.content.ids["cur_X"].text)
y = float(self.content.ids["cur_Y"].text)
z = float(self.content.ids["cur_Z"].text)
inspection.set_panel_reference_1(self.project_data["Panel"], index - 1,
x, y)
def set_panel_ref2(self):
### click set2 button on dialpad
index = int(self.content.ids["cur_panel"].text)
x = float(self.content.ids["cur_X"].text)
y = float(self.content.ids["cur_Y"].text)
z = float(self.content.ids["cur_Z"].text)
inspection.set_panel_reference_2(self.project_data["Panel"], index - 1,
x, y)
def get_panel_ref1(self):
### click on get1 button on dialpad
index = int(self.content.ids["cur_panel"].text)
x, y = inspection.get_panel_reference_1(self.project_data["Panel"],
index - 1)
if x == -1 and y == -1:
x = self.project_data["Setup"]["TravelX"]
y = self.project_data["Setup"]["TravelY"]
z = self.project_data["Setup"]["TravelZ"]
self.content.ids["cur_X"].text = format(x, ".2f")
self.content.ids["cur_Y"].text = format(y, ".2f")
self.content.ids["cur_Z"].text = format(z, ".2f")
# set body and mask
ref = inspection.get_reference_1(self.project_data["InspectionPath"])
self.set_part_overlay(ref)
self.capture_video_inspectionpart = ref
# go xyz printer
gcode = robotcontrol.go_xyz(self.project_data, x, y, z)
self.queue_printer_command(gcode)
def get_panel_ref2(self):
### click on get2 button on dialpad
index = int(self.content.ids["cur_panel"].text)
x, y = inspection.get_panel_reference_2(self.project_data["Panel"],
index - 1)
if x == -1 and y == -1:
x = self.project_data["Setup"]["TravelX"]
y = self.project_data["Setup"]["TravelY"]
z = self.project_data["Setup"]["TravelZ"]
self.content.ids["cur_X"].text = format(x, ".2f")
self.content.ids["cur_Y"].text = format(y, ".2f")
self.content.ids["cur_Z"].text = format(z, ".2f")
# set body and mask
ref = inspection.get_reference_2(self.project_data["InspectionPath"])
self.set_part_overlay(ref)
self.capture_video_inspectionpart = ref
# go xyz printer
gcode = robotcontrol.go_xyz(self.project_data, x, y, z)
self.queue_printer_command(gcode)
def calibrate(self, axis):
### click on calibrate X or Y button on dialpad
index = int(self.content.ids["cur_panel"].text)
x, y = inspection.get_panel_reference_1(self.project_data["Panel"],
index - 1)
if x == -1 and y == -1:
return
z = self.project_data["Setup"]["CameraParameters"]["FocusZ"]
br = self.project_data["Setup"]["CameraParameters"]["IlluminationPWM"]
# add offset for calibration
centerx = x
centery = y
if axis == "X":
x += self.project_data["Setup"]["CalibrationOffset"]
if axis == "Y":
y += self.project_data["Setup"]["CalibrationOffset"]
self.content.ids["cur_X"].text = format(x, ".2f")
self.content.ids["cur_Y"].text = format(y, ".2f")
self.content.ids["cur_Z"].text = format(z, ".2f")
ref = inspection.get_reference_1(self.project_data["InspectionPath"])
self.set_part_overlay(ref)
self.capture_video_inspectionpart = ref
# inspect xyz printer
gcode = robotcontrol.inspect_xyz(self.project_data, x, y, z, br,
centerx, centery, index - 1, ref)
self.queue_printer_command(gcode)
def select_pcb_in_panel(self):
num = inspection.get_num_panel(self.project_data["Panel"])
content = EditPopup(save=self.save_pcb_in_panel,
cancel=self.dismiss_popup)
content.ids["btn_connect"].text = "Save"
content.ids["text_port"].text = ""
self._popup = Popup(
title='Select Panels to exclude from Soldering example "1,2"',
content=content,
size_hint=(0.5, 0.4),
)
self._popup.open()
self.project_data["CADMode"] = "None"
def save_pcb_in_panel(self, txt_port):
# set array of panels
excludepanels = txt_port.split(",")
panel = []
for p in range(inspection.get_num_panel(self.project_data["Panel"])):
if str(p + 1) in excludepanels:
panel.append(p)
self.paneldisselection = panel
self.dismiss_popup()
def start_inspection(self):
### toolbar start soldering button
# prepare panel
panel = []
for p in range(inspection.get_num_panel(self.project_data["Panel"])):
if p not in self.paneldisselection:
panel.append(p)
# print
# print("panel", panel)
gcode = robotcontrol.panel_inspection(self.project_data, panel)
self.queue_printer_command(gcode)
def pause_inspection(self):
### toolbar pause inspection button
if self.print.printing:
self.print.pause()
def resume_inspection(self):
### toolbar resume inspection button
if self.print.printing:
self.print.resume()
def stop_inspection(self):
### toolbar stop inspection button
if self.print.printing:
self.print.cancelprint()
def queue_printer_command(self, gcode):
garray = robotcontrol.make_array(gcode)
# print("gcode raw", gcode, garray)
gcoded = gcoder.LightGCode(garray)
# print("gcoded", gcoded)
if hasattr(self, "print") and self.print is not None:
if not self.print.online or not self.print.printer:
print("Problem with printer", self.print.online,
self.print.printer)
if self.print.printing:
self.print.send(gcoded)
else:
self.print.startprint(gcoded)
else:
print("Problem with printer interface")
#### Connect menu
def set_printer(self):
### Connect Menu / Connect Printer
content = EditPopup(save=self.save_printer_port,
cancel=self.dismiss_popup)
content.ids["text_port"].text = self.project_data["Setup"]["RobotPort"]
self._popup = Popup(title="Select Printer port",
content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data["CADMode"] = "None"
def save_printer_port(self, txt_port):
self.project_data["Setup"]["RobotPort"] = txt_port
try:
self.printer_disconnect()
self.printer_connect()
except Exception as e:
print(e, "exception save robot port")
pass
self.dismiss_popup()
def set_camera(self):
# set camera device
content = EditPopup(save=self.save_camera_port,
cancel=self.dismiss_popup)
content.ids["text_port"].text = self.project_data["Setup"][
"CameraPort"]
self._popup = Popup(title="Select Camera port",
content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data["CADMode"] = "None"
def save_camera_port(self, txt_port):
self.project_data["Setup"]["CameraPort"] = txt_port
try:
self.camera_disconnect()
self.camera_connect()
except Exception as e:
print(e, "exception save cam port")
pass
self.dismiss_popup()
def set_reporting(self):
# set camera device
content = EditPopup(save=self.save_camera_port,
cancel=self.dismiss_popup)
content.ids["text_port"].text = self.project_data["Setup"][
"ReportingPath"]
self._popup = Popup(title="Select Camera port",
content=content,
size_hint=(0.5, 0.4))
self._popup.open()
self.project_data["CADMode"] = "None"
def save_reporting_port(self, txt_port):
self.project_data["Setup"]["ReportingPath"] = txt_port
self.dismiss_popup()
def dismiss_popup(self):
self._popup.dismiss()
self.overlay_crosshair = 0
self.overlay_teachin = 0
def camera_connect(self):
### connect camera
self.capture = VideoCaptureAsync(
self.project_data["Setup"]["CameraPort"],
self.project_data["Setup"]["CameraResX"],
self.project_data["Setup"]["CameraResY"],
)
self.capture.start()
def camera_disconnect(self):
if self.capture is not None:
self.capture.stop()
self.capture = None
def printer_connect(self):
if self.print is None:
self.print = printcore(self.project_data["Setup"]["RobotPort"],
115200)
self.print.addEventHandler(self)
def printer_disconnect(self):
if self.print is not None:
self.print.disconnect()
self.print = None
# printrun events:
def on_init(self):
return # self.__write("on_init")
def on_send(self, command, gline):
return # self.__write("on_send", command)
def on_capture(self, command):
# Trigger capture of image
# String given in command must be translated to body mask....
# See printerinspect.txt for details
# CAPTURE %Panel %PartRef %CenterX %CenterY %PosX %PosY %PosZ %Brightness
panel, partref, centerX, centerY, posX, posY, posZ, brigthness = robotcontrol.parse_capture_command(
command)
self.capture_video_inspectionpart = partref
self.capture_video_panel = panel
self.capture_video = 1
return # self.__write("on_send", command)
def on_recv(self, line):
return # self.__write("on_recv", line.strip())
def on_connect(self):
return # self.__write("on_connect")
def on_disconnect(self):
return # self.__write("on_disconnect")
def on_error(self, error):
return # self.__write("on_error", error)
def on_online(self):
return # self.__write("on_online")
def on_temp(self, line):
return # self.__write("on_temp", line)
def on_start(self, resume):
return # self.__write("on_start", "true" if resume else "false")
def on_end(self):
return # self.__write("on_end")
def on_layerchange(self, layer):
return # self.__write("on_layerchange", "%f" % (layer))
def on_preprintsend(self, gline, index, mainqueue):
return # self.__write("on_preprintsend", gline)
def on_printsend(self, gline):
return # self.__write("on_printsend", gline)
def show_status(self, dt):
self.ids["lbl_layer_status"].text = (
"Layer: " + self.project_data["InspectionSide"])
self.ids[
"lbl_cad_status"].text = "CADMode: " + self.project_data["CADMode"]
unassigned = inspection.get_list_unassigned_parts(self.project_data)
self.ids["lbl_profile_status"].text = "# unassigned parts: " + str(
len(unassigned))
if hasattr(self, "capture") and self.capture is not None:
self.ids["lbl_cam_status"].text = "Camera: Connected"
else:
self.ids["lbl_cam_status"].text = "Camera: Not Found"
# printer
if hasattr(self, "print") and self.print is not None:
if self.print.printer is None:
self.ids[
"lbl_printer_status"].text = "Robot: No 3d printer found"
elif self.print.printing:
if len(self.print.mainqueue) > 0:
self.ids["lbl_printer_status"].text = (
"Robot: Inspecting " + str(
round(
float(self.print.queueindex) /
len(self.print.mainqueue) * 100,
2,
)) + "%")
else:
self.ids["lbl_printer_status"].text = "Robot: Inspecting"
elif self.print.online:
self.ids["lbl_printer_status"].text = "Robot: Idle"
else:
self.ids["lbl_printer_status"].text = "Robot: Connected"
else:
self.ids["lbl_printer_status"].text = "Robot: Not Found"
def main(yolo):
# Definition of the parameters
max_cosine_distance = 0.2
nn_budget = None
nms_max_overlap = 1.0
output_format = 'mp4'
initialize_door_by_yourself = False
door_array = None
# Deep SORT
model_filename = '../model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
show_detections = True
writeVideo_flag = True
asyncVideo_flag = False
error_values = []
check_gpu()
files = sorted(os.listdir('data_files/videos'))
for video_name in files:
print("opening video: {}".format(video_name))
file_path = join('data_files/videos', video_name)
output_name = 'save_data/out_' + video_name[0:-3] + output_format
counter = Counter(counter_in=0, counter_out=0, track_id=0)
truth = get_truth(video_name)
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(output_name, fourcc, 15, (w, h))
frame_index = -1
fps = 0.0
fps_imutils = imutils.video.FPS().start()
all_doors = read_door_info('data_files/doors_info_links.json')
door_array = all_doors[video_name]
rect_door = Rectangle(door_array[0], door_array[1], door_array[2],
door_array[3])
border_door = door_array[3]
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if not ret:
y1 = (counter.counter_in - truth.inside)**2
y2 = (counter.counter_out - truth.outside)**2
total_count = counter.return_total_count()
true_total = truth.inside + truth.outside
if true_total != 0:
err = abs(total_count - true_total) / true_total
else:
err = abs(total_count - true_total)
mse = (y1 + y2) / 2
log_res = "in video: {}\n predicted / true\n counter in: {} / {}\n counter out: {} / {}\n" \
" total: {} / {}\n error: {}\n mse error: {}\n______________\n".format(video_name,
counter.counter_in,
truth.inside,
counter.counter_out,
truth.outside,
total_count,
true_total, err, mse)
with open('../log_results.txt', 'a') as log:
log.write(log_res)
print(log_res)
error_values.append(err)
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes, confidence, classes = yolo.detect_image(image)
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls, feature)
for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
classes = np.array([d.cls for d in detections])
indices = preprocessing.non_max_suppression(
boxes, nms_max_overlap, scores)
detections = [detections[i] for i in indices]
# Call the tracker
tracker.predict()
tracker.update(detections)
cv2.rectangle(frame, (int(door_array[0]), int(door_array[1])),
(int(door_array[2]), int(door_array[3])),
(23, 158, 21), 3)
for det in detections:
bbox = det.to_tlbr()
if show_detections and len(classes) > 0:
score = "%.2f" % (det.confidence * 100) + "%"
# rect_head = Rectangle(bbox[0], bbox[1], bbox[2], bbox[3])
# rect_door = Rectangle( int(door_array[0]), int(door_array[1]), int(door_array[2]), int(door_array[3]) )
# intersection = rect_head & rect_door
#
# if intersection:
# squares_coeff = rect_square(*intersection)/ rect_square(*rect_head)
# cv2.putText(frame, score + " inter: " + str(round(squares_coeff, 3)), (int(bbox[0]), int(bbox[3])), 0,
# 1e-3 * frame.shape[0], (0, 100, 255), 5)
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 3)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
# first appearence of object with id=track.id
if track.track_id not in counter.people_init or counter.people_init[
track.track_id] == 0:
counter.obj_initialized(track.track_id)
rect_head = Rectangle(bbox[0], bbox[1], bbox[2], bbox[3])
intersection = rect_head & rect_door
if intersection:
intersection_square = rect_square(*intersection)
head_square = rect_square(*rect_head)
rat = intersection_square / head_square
# 1e-3 * frame.shape[0], (0, 100, 255), 5)
# was initialized in door, probably going in
if rat >= 0.7:
counter.people_init[track.track_id] = 2
# initialized in the bus, mb going out
elif rat <= 0.4 or bbox[3] > border_door:
counter.people_init[track.track_id] = 1
# initialized between the exit and bus, not obvious state
elif rat > 0.4 and rat < 0.7:
counter.people_init[track.track_id] = 3
counter.rat_init[track.track_id] = rat
# res is None, means that object is not in door contour
else:
counter.people_init[track.track_id] = 1
counter.people_bbox[track.track_id] = bbox
counter.cur_bbox[track.track_id] = bbox
adc = "%.2f" % (track.adc *
100) + "%" # Average detection confidence
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 5)
if not show_detections:
track_cls = track.cls
cv2.putText(frame, str(track_cls),
(int(bbox[0]), int(bbox[3])), 0,
1e-3 * frame.shape[0], (0, 255, 0), 1)
cv2.putText(
frame, 'ADC: ' + adc,
(int(bbox[0]), int(bbox[3] + 2e-2 * frame.shape[1])),
0, 1e-3 * frame.shape[0], (0, 255, 0), 1)
id_get_lost = [
track.track_id for track in tracker.tracks
if track.time_since_update >= 35
]
# and track.age >= 29]
# id_inside_tracked = [track.track_id for track in tracker.tracks if track.age > 60]
for val in counter.people_init.keys():
# check bbox also
inter_square = 0
cur_square = 0
ratio = 0
cur_c = find_centroid(counter.cur_bbox[val])
init_c = find_centroid(counter.people_bbox[val])
vector_person = (cur_c[0] - init_c[0], cur_c[1] - init_c[1])
if val in id_get_lost and counter.people_init[val] != -1:
rect_сur = Rectangle(counter.cur_bbox[val][0],
counter.cur_bbox[val][1],
counter.cur_bbox[val][2],
counter.cur_bbox[val][3])
inter = rect_сur & rect_door
if inter:
inter_square = rect_square(*inter)
cur_square = rect_square(*rect_сur)
try:
ratio = inter_square / cur_square
except ZeroDivisionError:
ratio = 0
# if vector_person < 0 then current coord is less than initialized, it means that man is going
# in the exit direction
if vector_person[1] > 70 and counter.people_init[val] == 2 \
and ratio < 0.9: # and counter.people_bbox[val][3] > border_door \
counter.get_in()
elif vector_person[1] < -70 and counter.people_init[val] == 1 \
and ratio >= 0.6:
counter.get_out()
elif vector_person[1] < -70 and counter.people_init[val] == 3 \
and ratio > counter.rat_init[val] and ratio >= 0.6:
counter.get_out()
elif vector_person[1] > 70 and counter.people_init[val] == 3 \
and ratio < counter.rat_init[val] and ratio < 0.6:
counter.get_in()
counter.people_init[val] = -1
del val
ins, outs = counter.show_counter()
cv2.rectangle(frame, (0, 0), (250, 50), (0, 0, 0), -1, 8)
cv2.putText(frame, "in: {}, out: {} ".format(ins, outs), (10, 35),
0, 1e-3 * frame.shape[0], (255, 255, 255), 3)
cv2.namedWindow('video', cv2.WINDOW_NORMAL)
cv2.resizeWindow('video', 1422, 800)
cv2.imshow('video', frame)
if writeVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
# print("FPS = %f" % fps)
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
del door_array
mean_error = np.mean(error_values)
print("mean error for {} videos: {}".format(len(files), mean_error))
def run_video(self):
# init for classify module
clf_model = None
clf_labels = None
encoder = gdet.create_box_encoder(self.cfg.DEEPSORT.MODEL,
batch_size=4)
metric = nn_matching.NearestNeighborDistanceMetric(
"cosine", self.cfg.DEEPSORT.MAX_COSINE_DISTANCE,
self.cfg.DEEPSORT.NN_BUDGET)
tracker = Tracker(self.cfg, metric)
tracking = True
writeVideo_flag = self.args.out_video
asyncVideo_flag = False
list_classes = ['loai_1', 'loai_2', 'loai_3', 'loai_4']
arr_cnt_class = np.zeros((len(list_classes), self.number_MOI),
dtype=int)
fps = 0.0
fps_imutils = imutils.video.FPS().start()
counted_obj = []
count_frame = 0
objs_dict = {}
if asyncVideo_flag:
video_capture = VideoCaptureAsync(self.video_path)
else:
video_capture = cv2.VideoCapture(self.video_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
output_camname = 'output' + '_' + self.video_name + '.avi'
out = cv2.VideoWriter(output_camname, fourcc, 10, (1280, 720))
frame_index = -1
while True:
count_frame += 1
print('frame processing .......: ', count_frame)
ret, frame = video_capture.read()
if ret != True:
break
frame_info = self.video_name + "_" + str(count_frame - 1)
t1 = time.time()
# frame = cv2.flip(frame, -1)
_frame = self.process(frame, count_frame, frame_info, encoder,
tracking, tracker, objs_dict, counted_obj,
arr_cnt_class, clf_model, clf_labels)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(_frame)
frame_index = frame_index + 1
# visualize
if self.args.visualize:
_frame = imutils.resize(_frame, width=1000)
cv2.imshow("Final result", _frame)
fps_imutils.update()
if not asyncVideo_flag:
fps = (fps + (1. / (time.time() - t1))) / 2
print("FPS = %f" % (fps))
# Press Q to stop!
if cv2.waitKey(1) & 0xFF == ord('q'):
break
fps_imutils.stop()
print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()
cv2.destroyAllWindows()
def main():
parser = argparse.ArgumentParser(description='Process some integers.')
parser.add_argument('input', type=str, help='Input video path')
parser.add_argument('bbox', type=str, help='Input bounding box path')
parser.add_argument('output', type=str, help='Ouput video path')
args = parser.parse_args()
# Definition of the parameters
max_cosine_distance = 0.3
nn_budget = None
nms_max_overlap = 1.0
# Deep SORT
model_filename = 'model_data/mars-small128.pb'
encoder = gdet.create_box_encoder(model_filename, batch_size=1)
metric = nn_matching.NearestNeighborDistanceMetric("cosine",
max_cosine_distance,
nn_budget)
tracker = Tracker(metric)
tracking = True
writeVideo_flag = True
asyncVideo_flag = False
file_path = args.input
if asyncVideo_flag:
video_capture = VideoCaptureAsync(file_path)
else:
video_capture = cv2.VideoCapture(file_path)
if asyncVideo_flag:
video_capture.start()
if writeVideo_flag:
if asyncVideo_flag:
w = int(video_capture.cap.get(3))
h = int(video_capture.cap.get(4))
else:
w = int(video_capture.get(3))
h = int(video_capture.get(4))
fourcc = cv2.VideoWriter_fourcc(*'XVID')
out = cv2.VideoWriter(args.output, fourcc, 30, (w, h))
frame_index = -1
fps = 0.0
# fps_imutils = imutils.video.FPS().start()
with open(args.bbox) as f:
data = json.load(f)
frame_index = 0
while True:
ret, frame = video_capture.read() # frame shape 640*480*3
if ret != True:
break
t1 = time.time()
image = Image.fromarray(frame[..., ::-1]) # bgr to rgb
boxes = np.asarray(
[pred['bbox'] for pred in data[frame_index]['annotations']])
confidence = np.asarray(
[pred['score'] for pred in data[frame_index]['annotations']])
classes = np.asarray(
[pred['label'] for pred in data[frame_index]['annotations']])
if tracking:
features = encoder(frame, boxes)
detections = [
Detection(bbox, confidence, cls, feature)
for bbox, confidence, cls, feature in zip(
boxes, confidence, classes, features)
]
# Run non-maxima suppression.
boxes = np.array([d.tlwh for d in detections])
scores = np.array([d.confidence for d in detections])
indices = preprocessing.non_max_suppression(boxes, nms_max_overlap,
scores)
detections = [detections[i] for i in indices]
if tracking:
# Call the tracker
tracker.predict()
tracker.update(detections)
for track in tracker.tracks:
if not track.is_confirmed() or track.time_since_update > 1:
continue
bbox = track.to_tlbr()
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 255, 255), 2)
cv2.putText(frame, "ID: " + str(track.track_id),
(int(bbox[0]), int(bbox[1])), 0,
1.5e-3 * frame.shape[0], (0, 255, 0), 1)
for det in detections:
bbox = det.to_tlbr()
score = "%.2f" % round(det.confidence * 100, 2) + "%"
cv2.rectangle(frame, (int(bbox[0]), int(bbox[1])),
(int(bbox[2]), int(bbox[3])), (255, 0, 0), 2)
if len(classes) > 0:
cls = det.cls
cv2.putText(frame,
str(cls) + " " + score,
(int(bbox[0]), int(bbox[3])), 0,
1.5e-3 * frame.shape[0], (0, 255, 0), 1)
# cv2.imshow('', frame)
if writeVideo_flag: # and not asyncVideo_flag:
# save a frame
out.write(frame)
frame_index = frame_index + 1
# fps_imutils.update()
# if not asyncVideo_flag:
# fps = (fps + (1./(time.time()-t1))) / 2
# print("FPS = %f"%(fps))
# Press Q to stop!
# if cv2.waitKey(1) & 0xFF == ord('q'):
# break
# fps_imutils.stop()
# print('imutils FPS: {}'.format(fps_imutils.fps()))
if asyncVideo_flag:
video_capture.stop()
else:
video_capture.release()
if writeVideo_flag:
out.release()