label3.center = (view.width / 2, 60)
label3.text = "blow realtime"
view.add_subview(label3)
#show location
#label3 =ui.Label()
#label3.size=(view.width,50)
#label3.text_alignment=ui.TEXT_ALIGNMENT_CENTER
#label3.flex = [ui.FLEXIBLE_WIDTH]
#label3.center = (view.width/2, (view.height/2+300))
#loc.start_updating()
#label3.text = str(loc.get_location())
#view.add_subview(label3)
#Capture display
vdo = ui.ImageView()
vdo.size = (400, 425)
vdo.center = (view.width / 2, view.height / 2)
vdo.flex = [
ui.FLEXIBLE_TOP_MARGIN, ui.FLEXIBLE_BOTTOM_MARGIN, ui.FLEXIBLE_LEFT_MARGIN,
ui.FLEXIBLE_RIGHT_MARGIN
]
view.add_subview(vdo)
ui.show_view(view, ui.PRESENTATION_MODE_SHEET)
'''while cap.isOpened():
#convert image to gray scale image
#Capture frame-by-frame
ret, frame = cap.read()
if not ret:
continue
def last_ten_blows():
global markerLength
global file_name
global matrix_coefficients
global distortion_coefficients
#name csv
#name_csv_dist = n_dist +".csv"
#name_csv_blow = n_blow +".csv"
name_csv_check = file_name + ".csv"
#define frame rate limit
frame_rate = 10
#define size of ArUco
#markerLength = 0.2 #m
#for track from camera calibration
#matrix_coefficients = [[394.25885619, 0.00000000e+00, 176.79297187, ], # From calibrte camera
# [0.00000000e+00, 394.43979784, 228.18139903, ],
# [0.00000000e+00, 0.00000000e+00, 1.00000000e+00]]
#distortion_coefficients = [[4.26629830e-01, -3.32281005e+00, -6.00006033e-04, -3.28199014e-03, 8.39347057e+00]] # From calibrte camera
def button_pressed(sender):
track(matrix_coefficients, distortion_coefficients, markerLength,
frame_rate) # start to track
def button_change_data(sender):
global markerLength
global file_name
global matrix_coefficients
global distortion_coefficients
setting()
def button_r_pressed(sender): #reset zero
global tvec_ini
global tvec
global blow
global dist
global data_tvecs
global value_dis
global value_blow
global pile_drive
global cX
global cY
global cX_ini
global cY_ini
global check
data_tvecs = []
value_dis = []
value_blow = []
pile_drive = []
check = []
tvec_ini = tvec
dist = 0
blow = 0
cX_ini = cX
cY_ini = cY
# In[ ]:
def print_pressed(sender): #Editing data collection and handling
#many file to check the data if success it will be only file to release
global value_blow
global data_blow
global data_value_dis
#global data_check
global name_csv_dist
global name_csv_blow
global name_csv_check
check = pd.Series(value_blow)
check = np.float32(check.unique())
data_blow = pd.DataFrame(value_blow, columns=['avg blow'])
data_check = pd.DataFrame(check, columns=['check'])
#data_value_dis.to_csv(name_csv_dist)
#data_blow.to_csv(name_csv_blow)
data_check.to_csv(name_csv_check)
# In[1]:
def track(matrix_coefficients, distortion_coefficients, markerLength,
frame_rate):
print('check markerLengt', markerLength)
global cX_ini
global cY_ini
global cY
global cX
global data_blow
global data_value_dis
global data_check
global tvec_ini
global tvec
global blow
global dist
global data_tvecs
global value_dis
global value_blow
global pile_drive
global i
data_tvecs = [] # Prepare to add tvec
value_dis = [] # Prepare to get result distance(scalar) unit meter
value_blow = []
sum_tvec = 0
tvec_ini = np.array([0, 0, 0])
tvec = np.array([0, 0, 0])
dist = 0
prev = 0
blow = 0.00
cX = 0
cY = 0
cX_ini = 300
cY_ini = 50
check = []
while cap.isOpened():
#convert image to gray scale image
#Capture frame-by-frame
time_elapsed = time.time() - prev
ret, frame = cap.read()
#operations on the frame come here
if not ret:
continue
if time_elapsed > 1. / frame_rate:
prev = time.time()
#frame = cv2.resize(frame, (4000, 5000))
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
gray = cv2.cvtColor(frame,
cv2.COLOR_BGR2GRAY) # Change grayscale
aruco_dict = aruco.Dictionary_get(
aruco.DICT_5X5_250) # Use 5x5 dictionary to find markers
parameters = aruco.DetectorParameters_create(
) # Marker detection parameters
# lists of ids and the corners beloning to each id
corners, ids, rejected_img_points = aruco.detectMarkers(
gray,
aruco_dict,
parameters=parameters,
cameraMatrix=np.float32(matrix_coefficients),
distCoeff=np.float32(distortion_coefficients))
# calculate(ids,corners,matrix_coefficients,distortion_coefficients,frame)
if np.all(ids is not None
): # If there are markers found by detector
for i in range(0, len(ids)): # Iterate in markers
# Estimate pose of each marker and return the values rvec and tvec---different from camera coefficients
rvec, tvec, markerPoints = aruco.estimatePoseSingleMarkers(
corners[i], markerLength,
np.float32(matrix_coefficients),
np.float32(distortion_coefficients))
(rvec - tvec).any(
) # get rid of that nasty numpy value array error
aruco.drawDetectedMarkers(
frame, corners) # Draw A square around the markers
#aruco.drawAxis(frame, np.float32(matrix_coefficients), np.float32(distortion_coefficients),np.float32(rvec), np.float32(tvec), 0.01) # Draw Axis
data_tvecs.append(
tvec) # get every data of tvec in array data_tvecs
length = len(
data_tvecs) # For easy to calculate equation
if length > 1:
diff = data_tvecs[
length -
1] - tvec_ini # Find distance between tvec(vector)
sum_tvec = sqrt(np.sum(
diff**2)) # convert vector to scalar
dist = sum_tvec
value_dis.append(
np.round(sum_tvec, 3)
) # get the distance data(scalar) in array value
#calculate move per blow
length = len(value_dis)
if length > 10:
pile_drive = []
for x in range(10):
pile_drive.append(value_dis[length - x - 1])
#print('pile drive before', pile_drive)
if np.std(pile_drive) <= .005:
#print('pile drive after', pile_drive)
blow = float(np.average(pile_drive))
value_blow.append(np.round(blow, 4))
check = pd.Series(value_blow)
check = check.unique()
value_dis = []
pile_drive = []
if len(corners) > 0:
# flatten the ArUco IDs list
ids = ids.flatten()
# loop over the detected ArUCo corners
for (markerCorner, markerID) in zip(corners, ids):
# extract the marker corners (which are always returned in
# top-left, top-right, bottom-right, and bottom-left order)
find_center = corners.copy()
find_center = markerCorner.reshape((4, 2))
(topLeft, topRight, bottomRight,
bottomLeft) = find_center
# convert each of the (x, y)-coordinate pairs to integers
topRight = (int(topRight[0]), int(topRight[1]))
bottomRight = (int(bottomRight[0]),
int(bottomRight[1]))
bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1]))
topLeft = (int(topLeft[0]), int(topLeft[1]))
# draw the bounding box of the ArUCo detection
#cv2.line(frame, topLeft, topRight, (0, 255, 0), 2)
#cv2.line(frame, topRight, bottomRight, (0, 255, 0), 2)
#cv2.line(frame, bottomRight, bottomLeft, (0, 255, 0), 2)
#cv2.line(frame, bottomLeft, topLeft, (0, 255, 0), 2)
# compute and draw the center (x, y)-coordinates of the ArUco
# marker
cX = int((topLeft[0] + bottomRight[0]) / 2.0)
cY = int((topLeft[1] + bottomRight[1]) / 2.0)
cv2.circle(frame, (cX, cY), 4, (0, 0, 255), -1)
# draw the ArUco marker ID on the image
cv2.putText(frame, str(markerID),
(topLeft[0], topLeft[1] - 15),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0),
2)
cv2.putText(frame, str(topRight),
(topRight[0], topRight[1] - 15),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0),
2)
cv2.circle(frame, (cX_ini, cY_ini), 4, (0, 255, 0), -1)
fps = 1 / time_elapsed
fps = np.round(fps, 1)
cv2.putText(frame, 'F5PS ' + str(fps), (50, 75),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
data_value_dis = pd.DataFrame(value_dis,
columns=['real Distance'])
#data_blow = pd.DataFrame(value_blow, columns = ['avg blow'])
#data_check = pd.DataFrame(check, columns = ['check'])
#for gui
image_in = frame
image_in = Image.fromarray(image_in)
vdo.image = image_in
diff_text = "{:.3f}".format(float(dist))
blow_show = "{:.3f}".format(float(blow))
label1.text = 'distance= ' + diff_text + ' m'
label2.text = ""
#label2.text ='deform per blows='+blow_show + ' m'
#label3.text ='deform per blows realtime ='+ str(np.round(blow,4))+ ' m'
return
cap = cv2.VideoCapture(0) # Get the camera source
#GUI Part
view = ui.View()
view.background_color = ui.COLOR_SYSTEM_BACKGROUND
#GUI botton
button = ui.Button(title="record")
button.size = (100, 50)
button.center = (view.width / 3 + 175, (view.height / 2 + 300))
button.flex = [
ui.FLEXIBLE_TOP_MARGIN, ui.FLEXIBLE_BOTTOM_MARGIN,
ui.FLEXIBLE_LEFT_MARGIN, ui.FLEXIBLE_RIGHT_MARGIN
]
button.action = button_pressed
view.add_subview(button)
button_r = ui.Button(title="reset/start")
button_r.size = (100, 50)
button_r.center = (view.width / 3 - 50, (view.height / 2 + 300))
button_r.flex = [
ui.FLEXIBLE_TOP_MARGIN, ui.FLEXIBLE_BOTTOM_MARGIN,
ui.FLEXIBLE_LEFT_MARGIN, ui.FLEXIBLE_RIGHT_MARGIN
]
button_r.action = button_r_pressed
view.add_subview(button_r)
button_pt = ui.Button(title="print")
button_pt.size = (100, 50)
button_pt.center = (view.width / 2, (view.height / 2 + 300))
button_pt.flex = [
ui.FLEXIBLE_TOP_MARGIN, ui.FLEXIBLE_BOTTOM_MARGIN,
ui.FLEXIBLE_LEFT_MARGIN, ui.FLEXIBLE_RIGHT_MARGIN
]
button_pt.action = print_pressed
view.add_subview(button_pt)
button_ch = ui.Button(title="setting")
button_ch.size = (100, 30)
button_ch.center = (view.width / 2 + 160, 20)
button_ch.flex = [
ui.FLEXIBLE_TOP_MARGIN, ui.FLEXIBLE_BOTTOM_MARGIN,
ui.FLEXIBLE_LEFT_MARGIN, ui.FLEXIBLE_RIGHT_MARGIN
]
button_ch.action = button_change_data
view.add_subview(button_ch)
#show distance
label1 = ui.Label()
label1.size = (view.width, 40)
label1.text_alignment = ui.TEXT_ALIGNMENT_CENTER
label1.flex = [ui.FLEXIBLE_WIDTH]
label1.text = "Pile Drive Develop ver.11"
view.add_subview(label1)
#show the size of marker
label2 = ui.Label()
label2.size = (view.width, 50)
label2.text_alignment = ui.TEXT_ALIGNMENT_CENTER
label2.flex = [ui.FLEXIBLE_WIDTH]
label2.center = (view.width / 2, 150)
label2.text = "| the size of marker " + str(markerLength) + " m. |"
view.add_subview(label2)
#label3 =ui.Label()
#label3.size=(view.width,50)
#label3.text_alignment=ui.TEXT_ALIGNMENT_CENTER
#label3.flex = [ui.FLEXIBLE_WIDTH]
#label3.center = (view.width/2, 60)
#label3.text = "blow realtime"
#view.add_subview(label3)
#show location
label3 = ui.Label()
label3.size = (view.width / 2 + 100, 70)
label3.text_alignment = ui.TEXT_ALIGNMENT_CENTER
label3.flex = [ui.FLEXIBLE_WIDTH]
label3.center = (view.width / 2, 80)
loc.start_updating()
label3.text = str(loc.get_location())
view.add_subview(label3)
#Guidance on use
label4 = ui.Label()
label4.size = (view.width, 550)
label4.text_alignment = ui.TEXT_ALIGNMENT_CENTER
label4.flex = [ui.FLEXIBLE_WIDTH]
label4.text = "Guidance on use\n" + "------------------------\n" + "1.press record to open the camera\n" + "2.press reset/start for start the program\n or reset the data" + "\n3. You can press print to release data on iClound\n " + "------------------------\n" + "note: before you record please check the size \nof marker again"
view.add_subview(label4)
#Capture display
vdo = ui.ImageView()
vdo.size = (400, 425)
vdo.center = (view.width / 2, view.height / 2 + 30)
vdo.flex = [
ui.FLEXIBLE_TOP_MARGIN, ui.FLEXIBLE_BOTTOM_MARGIN,
ui.FLEXIBLE_LEFT_MARGIN, ui.FLEXIBLE_RIGHT_MARGIN
]
view.add_subview(vdo)
ui.show_view(view, ui.PRESENTATION_MODE_SHEET)