def takeVideo():
st = datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string="\n Prises du {} (avec find contours) sur {} itérations\n".format(st,tools.ITERATIONS)
string+="***Comparaison des filtres sur algos***"
i = 0
camera = cv2.VideoCapture(0)
nbImgSec = 0
tag = None
print "Starting video"
dt = st = time.time()
#camera.start_preview()
# capture frames from the camera
while (True):
# time.sleep(0.1)
# Capture frame-by-frame
_, image = camera.read()
nbImgSec += 1
i += 1
string += "\n--------> Prise n°{}".format(i)
# time.sleep(0.1)
# tests sur l'image
# tps = tg.found_tag_img_comp(image)
dt = time.time()
results = tg.found_tag_img(image)
tps = "\nTemps = "+str(time.time() - dt)
# writing if there was or not any tag in the image
if results==[]:
tps+= " ---> No tag found"
else:
tps += " ---> Tags found:"+str(results)
print "Résultats = ",results
#time.sleep(0.5)
string += str(tps)
if tag is None:
# continue
tag = image.copy()
ft = time.time()
# print 'Temps mis = {}'.format(ft-dt)
# show the frame
# cv2.imshow("origin", image)
# cv2.imshow("fin", tag)
key = cv2.waitKey(1) & 0xFF
dt = time.time()
# if the `q` key was pressed, break from the loop
if key == ord("q") or i>=tools.ITERATIONS:
break
if(dt-st>=1):
string+= "\n\t1 seconde écoulée : {} images prises".format(nbImgSec)
st=ft
nbImgSec = 0
# end with
print "\nFin prise"
# When everything done, release the capture
#camera.stop_preview()
cv2.destroyAllWindows()
io.writeOutputFile(string)
def run(thymio, expected=[], demo=False):
STOP = False
print "Raspberry in process"
i = 0
nbImgSec = 0
camera, rawCapture = initCam()
st = dt = time.time()
print "\nStarting vizualization!"
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
if STOP:
break
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
nbImgSec += 1
i += 1
if i % tools.BRIGHTNESS_CHECK != 0:
verif = tools.verify_brightness(image)
else:
verif = tools.verify_brightness(image, go=True)
# there were a modification
if verif != 0:
camera.brightness += verif
print "Brightness", camera.brightness
# tests sur l'image
results = tg.found_tag_img(image, demo=demo)
print "\nTemps = " + str(time.time() - dt)
# writing if there was or not any tag in the image
if results == []:
print " ---> No tag found"
elif any([x in expected for x in results]):
#self.thy_controller.found_good()
print "GOOD -> Robot seen : ", results
else:
#self.thy_controller.found_wrong()
print "WRONG -> Robot seen : ", results
# show the frame
key = cv2.waitKey(1) & 0xFF
rawCapture.truncate(0)
# not working : cv2 not showing
# if the `q` key was pressed, break from the loop
if key == ord("q"): #or i>=tools.ITERATIONS:
STOP = True
break
dt = time.time()
"""
if(dt-st>=1):
#print "\n1seconde ecoulee : {} images prises".format(nbImgSec)
st=ft
nbImgSec = 0
"""
# end with
print "\nEnd vizualization"
# When everything's done, release the capture
#camera.stop_preview()
cv2.destroyAllWindows()
def test_images(classification, directory):
ststr = datetime.datetime.fromtimestamp(
time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string = "\n Prises du {} \n".format(ststr)
string += "***Calculs des true/false-positives/negatives***"
print "\nDébut tests"
nbImgSec = 0
st = time.time()
#accepted = [(3,"10"),(12,"10"),(10,"00"),(0,"00")]
list_img = sorted(os.listdir(tools.IMG_PATH + str(directory)))
for i, img_name in enumerate(list_img):
img = cv2.imread(tools.IMG_PATH + str(directory) + img_name)
nbImgSec += 1
string += "\n--------> Prise n°{}".format(i)
dt = time.time()
# showing what's found
results = tg.found_tag_img(img, demo=True)
ft = time.time()
tps = "\nTemps = " + str(ft - dt)
if results == []:
tps += " ---> No tag found"
else:
tps += " ---> Tags found:" + str(results)
#print "Résultats image",i," = ", results
cv2.imshow("image", img)
string += str(tps)
solution = classification[img_name]
# categorizing
if results == [] and solution == []:
tools.TRUE_NEG += 1
elif results == []:
tools.FALSE_NEG += 1
elif solution == []:
tools.FALSE_POS += 1
else:
resIn = all([x in solution for x in results])
solIn = all([x in results for x in solution])
if solIn and resIn:
# it is a good good one
tools.TRUE_POS += 1
elif solIn:
tools.FALSE_NEG += 1
elif resIn:
tools.FALSE_POS += 1
if cv2.waitKey(1) & 0XFF == ord('q'):
break
if (dt - st >= 1):
print "\n\t1 seconde écoulée : {} images testées".format(nbImgSec)
string += "\n\t1 seconde écoulée : {} images testées".format(
nbImgSec)
st = time.time()
nbImgSec = 0
cv2.destroyAllWindows()
#io.writeOutputFile(string)
#plt.results_pie_chart()
print "\nFin tests"
def run(thymio, expected = [], demo = False):
STOP = False
print "Raspberry in process"
i = 0
nbImgSec = 0
camera,rawCapture = initCam()
st = dt = time.time()
print "\nStarting vizualization!"
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
if STOP:
break
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
nbImgSec += 1
i += 1
if i%tools.BRIGHTNESS_CHECK!=0:
verif = tools.verify_brightness(image)
else:
verif = tools.verify_brightness(image,go=True)
# there were a modification
if verif!=0:
camera.brightness += verif
print "Brightness",camera.brightness
# tests sur l'image
results = tg.found_tag_img(image, demo = demo)
print "\nTemps = "+str(time.time() - dt)
# writing if there was or not any tag in the image
if results==[]:
print " ---> No tag found"
elif any([x in expected for x in results]):
#self.thy_controller.found_good()
print "GOOD -> Robot seen : ",results
else:
#self.thy_controller.found_wrong()
print "WRONG -> Robot seen : ",results
# show the frame
key = cv2.waitKey(1) & 0xFF
rawCapture.truncate(0)
# not working : cv2 not showing
# if the `q` key was pressed, break from the loop
if key == ord("q") :#or i>=tools.ITERATIONS:
STOP = True
break
dt = time.time()
"""
if(dt-st>=1):
#print "\n1seconde ecoulee : {} images prises".format(nbImgSec)
st=ft
nbImgSec = 0
"""
# end with
print "\nEnd vizualization"
# When everything's done, release the capture
#camera.stop_preview()
cv2.destroyAllWindows()
def test_images(classification,directory):
ststr = datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string="\n Prises du {} \n".format(ststr)
string+="***Calculs des true/false-positives/negatives***"
print "\nDébut tests"
nbImgSec = 0
st = time.time()
#accepted = [(3,"10"),(12,"10"),(10,"00"),(0,"00")]
list_img = sorted(os.listdir(tools.IMG_PATH+str(directory)))
for i,img_name in enumerate(list_img):
img = cv2.imread(tools.IMG_PATH+str(directory)+img_name)
nbImgSec += 1
string += "\n--------> Prise n°{}".format(i)
dt = time.time()
# showing what's found
results = tg.found_tag_img(img,demo=True)
ft = time.time()
tps = "\nTemps = " + str(ft - dt)
if results == []:
tps += " ---> No tag found"
else:
tps += " ---> Tags found:" + str(results)
#print "Résultats image",i," = ", results
cv2.imshow("image",img)
string += str(tps)
solution = classification[img_name]
# categorizing
if results==[] and solution==[]:
tools.TRUE_NEG+=1
elif results==[]:
tools.FALSE_NEG+=1
elif solution==[]:
tools.FALSE_POS+=1
else:
resIn = all([x in solution for x in results])
solIn = all([x in results for x in solution])
if solIn and resIn:
# it is a good good one
tools.TRUE_POS+=1
elif solIn :
tools.FALSE_NEG+=1
elif resIn :
tools.FALSE_POS+=1
if cv2.waitKey(1) & 0XFF == ord('q'):
break
if (dt - st >= 1):
print "\n\t1 seconde écoulée : {} images testées".format(nbImgSec)
string += "\n\t1 seconde écoulée : {} images testées".format(nbImgSec)
st = time.time()
nbImgSec = 0
cv2.destroyAllWindows()
#io.writeOutputFile(string)
#plt.results_pie_chart()
print "\nFin tests"
def test_images():
ststr = datetime.datetime.fromtimestamp(
time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string = "\n Prises du {} \n".format(ststr)
string += "***Calculs des true/false-positives/negatives***"
print "\nDébut tests"
nbImgSec = 0
st = time.time()
accepted = [(3, "10"), (12, "10"), (10, "00"), (0, "00")]
list_img = sorted(os.listdir(tools.IMG_PATH))
for i, img_name in enumerate(list_img):
img = cv2.imread(tools.IMG_PATH + img_name)
nbImgSec += 1
string += "\n--------> Prise n°{}".format(i)
dt = time.time()
results = tg.found_tag_img(img)
ft = time.time()
tps = "\nTemps = " + str(ft - dt)
if results == []:
tps += " ---> No tag found"
else:
tps += " ---> Tags found:" + str(results)
#print "Résultats image",i," = ", results
string += str(tps)
if results == []:
tools.FALSE_NEG += 1
else:
if not any([x in accepted for x in results]):
# there is no good one
tools.FALSE_NEG += 1
else:
tools.TRUE_POS += 1
if cv2.waitKey(1) & 0XFF == ord('q'):
break
if (dt - st >= 1):
string += "\n\t1 seconde écoulée : {} images prises".format(
nbImgSec)
st = time.time()
nbImgSec = 0
#print list_img
cv2.destroyAllWindows()
io.writeOutputFile(string)
print "\nFin tests"
def test_images():
ststr = datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string="\n Prises du {} \n".format(ststr)
string+="***Calculs des true/false-positives/negatives***"
print "\nDébut tests"
nbImgSec = 0
st = time.time()
accepted = [(3,"10"),(12,"10"),(10,"00"),(0,"00")]
list_img = sorted(os.listdir(tools.IMG_PATH))
for i,img_name in enumerate(list_img):
img = cv2.imread(tools.IMG_PATH+img_name)
nbImgSec += 1
string += "\n--------> Prise n°{}".format(i)
dt = time.time()
results = tg.found_tag_img(img)
ft = time.time()
tps = "\nTemps = " + str(ft - dt)
if results == []:
tps += " ---> No tag found"
else:
tps += " ---> Tags found:" + str(results)
#print "Résultats image",i," = ", results
string += str(tps)
if results == []:
tools.FALSE_NEG+=1
else:
if not any([x in accepted for x in results]):
# there is no good one
tools.FALSE_NEG+=1
else:
tools.TRUE_POS+=1
if cv2.waitKey(1) & 0XFF == ord('q'):
break
if (dt - st >= 1):
string += "\n\t1 seconde écoulée : {} images prises".format(nbImgSec)
st = time.time()
nbImgSec = 0
#print list_img
cv2.destroyAllWindows()
io.writeOutputFile(string)
print "\nFin tests"
def takeVideo(demo=False, comparison=False, distance=False):
ststr = datetime.datetime.fromtimestamp(
time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string = "\n Prises du {} sur {} itérations\n".format(
ststr, tools.ITERATIONS)
string += "\n***Comparaison des filtres sur algos***"
if distance:
tools.DIST_ANGLE = True
string += "Avec calcul de la distance"
i = 0
nbImgSec = 0
tag = None
st = dt = time.time()
camera, rawCapture = initCam()
print "Starting video"
# camera.start_preview()
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture,
format="bgr",
use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
nbImgSec += 1
i += 1
string += "\n--------> Prise n°{}".format(i)
print "\ntemps ++", time.time() - dt
dt = time.time()
if i % tools.BRIGHTNESS_CHECK != 0:
verif = tools.verify_brightness(image)
else:
verif = tools.verify_brightness(image, go=True)
# there were a modification
if verif != 0:
camera.brightness += verif
print "tps bright", time.time() - dt
# tests sur l'image
results = []
if comparison:
tps = tg.found_tag_img_comps(image)
else:
results = tg.found_tag_img(image, demo=demo)
tps = "\nTemps = " + str(time.time() - dt)
# writing if there was or not any tag in the image
if results == []:
tps += " ---> No tag found"
else:
tps += " ---> Tags found:" + str(results)
print "Résultats = ", results
string += str(tps)
if tag is None:
# continue
tag = image
ft = time.time()
print 'Temps mis = {}'.format(ft - dt)
# show the frame
key = cv2.waitKey(1) & 0xFF
rawCapture.truncate(0)
dt = time.time()
# if the `q` key was pressed, break from the loop
if key == ord("q"): #or i>=tools.ITERATIONS:
break
# to save the image
if (dt - st >= 1):
print "\n\t1 seconde écoulée : {} images prises".format(nbImgSec)
string += "\n\t1 seconde écoulée : {} images prises".format(
nbImgSec)
st = ft
nbImgSec = 0
# end for
print "\nFin prise"
# When everything's done, release the capture
#camera.stop_preview()
cv2.destroyAllWindows()
if comparison:
io.writeOutputFile(string)
plt.plotBestTime()
plt.boxPlotBestTime()
def takeVideo():
st = datetime.datetime.fromtimestamp(
time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string = "\n Prises du {} (avec find contours) sur {} itérations\n".format(
st, tools.ITERATIONS)
string += "***Comparaison des filtres sur algos***"
i = 0
camera = cv2.VideoCapture(0)
nbImgSec = 0
tag = None
print "Starting video"
dt = st = time.time()
#camera.start_preview()
# capture frames from the camera
while (True):
# time.sleep(0.1)
# Capture frame-by-frame
_, image = camera.read()
nbImgSec += 1
i += 1
string += "\n--------> Prise n°{}".format(i)
# time.sleep(0.1)
# tests sur l'image
# tps = tg.found_tag_img_comp(image)
dt = time.time()
results = tg.found_tag_img(image)
tps = "\nTemps = " + str(time.time() - dt)
# writing if there was or not any tag in the image
if results == []:
tps += " ---> No tag found"
else:
tps += " ---> Tags found:" + str(results)
print "Résultats = ", results
#time.sleep(0.5)
string += str(tps)
if tag is None:
# continue
tag = image.copy()
ft = time.time()
# print 'Temps mis = {}'.format(ft-dt)
# show the frame
# cv2.imshow("origin", image)
# cv2.imshow("fin", tag)
key = cv2.waitKey(1) & 0xFF
dt = time.time()
# if the `q` key was pressed, break from the loop
if key == ord("q") or i >= tools.ITERATIONS:
break
if (dt - st >= 1):
string += "\n\t1 seconde écoulée : {} images prises".format(
nbImgSec)
st = ft
nbImgSec = 0
# end with
print "\nFin prise"
# When everything done, release the capture
#camera.stop_preview()
cv2.destroyAllWindows()
io.writeOutputFile(string)
def takeVideo(demo=False,comparison=False,distance=False):
ststr = datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d_%Hh%Mmin%Ssec')
string="\n Prises du {} sur {} itérations\n".format(ststr,tools.ITERATIONS)
string+="\n***Comparaison des filtres sur algos***"
if distance:
tools.DIST_ANGLE = True
string+="Avec calcul de la distance"
i = 0
nbImgSec = 0
tag = None
st = dt = time.time()
camera, rawCapture = initCam()
print "Starting video"
# camera.start_preview()
# capture frames from the camera
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
# grab the raw NumPy array representing the image, then initialize the timestamp
# and occupied/unoccupied text
image = frame.array
nbImgSec += 1
i += 1
string += "\n--------> Prise n°{}".format(i)
print "\ntemps ++", time.time()-dt
dt = time.time()
if i%tools.BRIGHTNESS_CHECK!=0:
verif = tools.verify_brightness(image)
else:
verif = tools.verify_brightness(image,go=True)
# there were a modification
if verif!=0:
camera.brightness += verif
print "tps bright",time.time()-dt
# tests sur l'image
results = []
if comparison:
tps = tg.found_tag_img_comps(image)
else:
results = tg.found_tag_img(image, demo = demo)
tps = "\nTemps = "+str(time.time() - dt)
# writing if there was or not any tag in the image
if results==[]:
tps+= " ---> No tag found"
else:
tps += " ---> Tags found:"+str(results)
print "Résultats = ",results
string += str(tps)
if tag is None:
# continue
tag = image
ft = time.time()
print 'Temps mis = {}'.format(ft-dt)
# show the frame
key = cv2.waitKey(1) & 0xFF
rawCapture.truncate(0)
dt = time.time()
# if the `q` key was pressed, break from the loop
if key == ord("q") :#or i>=tools.ITERATIONS:
break
# to save the image
if(dt-st>=1):
print "\n\t1 seconde écoulée : {} images prises".format(nbImgSec)
string+= "\n\t1 seconde écoulée : {} images prises".format(nbImgSec)
st=ft
nbImgSec = 0
# end for
print "\nFin prise"
# When everything's done, release the capture
#camera.stop_preview()
cv2.destroyAllWindows()
if comparison:
io.writeOutputFile(string)
plt.plotBestTime()
plt.boxPlotBestTime()