def GetDefaultSettingsFilename(self):
'''
@brief Get default save settings filename
@return filename
'''
CheckDir(self._static_settings['settings_params_folder'])
filename = self._static_settings[
'settings_params_folder'] + self._static_settings[
'settings_params_fname']
return filename
def CreateFolders(self):
'''
@brief Create folders before creating camera link or video recorders.
'''
# Create output_folder
if self.__me_master:
side_folder = 'left_camera/'
else:
side_folder = 'right_camera/'
self.__output_folder = self.GetSettings('DATABASE',
'output_folder') + side_folder
CheckDir(self.__output_folder)
def RecordProcessFrames(self):
'''
@brief Record process frames
'''
CheckDir(self.__output_folder)
for key in self.__process_frames:
if not (key in self.__frame_recorders_dict):
self.__frame_recorders_dict[key] = self.CreateFrameRecorder(
self.__fps, self.__output_folder, key,
self.__store_frames_as_video,
self.__store_frames_as_images)
self.RecordFrame(self.__frame_recorders_dict[key],
self.__process_frames[key])
def PrintSettingsInfo(self,
configure_settings=False,
ask_user_for_settings_parameters=False):
'''
@brief Print settings information and configure settings if specified.
@param configure_settings (Default=False)
@param ask_user_for_settings_parameters (default=False)
'''
settings_info = self.GetSettingsInfo()
settings_changed = False
if configure_settings:
print "#------------------------------------------ CONFIGURE SETTINGS ------------------------------------------#"
else:
print "#----------------------------------------- SETTINGS INFORMATION -----------------------------------------#"
for main_settings_key in settings_info:
print "# Settings type: {0}".format(main_settings_key)
for sub_settings_key in settings_info[main_settings_key]:
print "# \t - Setting: {0} \t\t\t - {1}".format(
sub_settings_key,
settings_info[main_settings_key][sub_settings_key])
if configure_settings:
if self.AskUserToConfigureSetting(main_settings_key,
sub_settings_key,
n_tabs=2):
settings_changed = True
print "#------------------------------------- STATIC SETTINGS INFORMATION --------------------------------------#"
static_settings_info = self.GetStaticSettingsInfo()
print "# Following settings are static and may only be configured in the SetttingsConfigured unit."
for static_settings_key in static_settings_info:
print "# \t - Static setting: {0} \t\t\t - {1}".format(
static_settings_key, static_settings_info[static_settings_key])
print "#--------------------------------------------------------------------------------------------------------#"
if configure_settings and settings_changed:
CheckDir(self._static_settings['settings_params_folder'])
settings_filename = self._static_settings[
'settings_params_folder'] + self._static_settings[
'settings_params_fname']
self.SaveSettingsToJson(settings_filename)
if ask_user_for_settings_parameters:
answer = raw_input(
"# Would you like to see the settings parameters? [Y/n]: ")
if answer.upper() == 'Y':
self.PrintSettings()
def TestRecordFrames(self, input_image_fn):
'''
@brief Test unit for RecordFrames
@param input_image_fn
'''
import time
from src.bin.tools import CheckDir
CheckDir(self.vid_rec_folder)
from src.DroneVision.DroneVision_src.hardware.imageTools import GetImage
from src.DroneVision.DroneVision_src.hardware.VideoLink import VideoLink
video_recorder = self.RecordFrames.RecordFrames(
self.vid_rec_fps, self.vid_rec_folder, self.video_rec_output_fname)
while video_recorder.GetNumberOfRecordedFrames() < self.max_rec_frames:
frame = GetImage(input_image_fn)
#video_recorder.WriteFrameThread(frame)
#time.sleep(0.5)
video_recorder.WriteFrame(frame)
print 'N recorded frames: ', video_recorder.GetNumberOfRecordedFrames(
)
video_recorder.CloseRecording()
def StartRecording(self):
'''
@brief Start video recording
Creates a folder for the video, called by the same video filename,
and creates a subfolder for storing each frame.
'''
# Create frames folder
if self.__store_frames_as_images:
self.__frames_folder = self.__folder + self.__video_output_filename + '_frames/'
CheckDir(self.__frames_folder)
if self.__store_frames_as_video:
# Define the codec and create VideoWriter object
fourcc = cv2.VideoWriter_fourcc(*'MJPG')
self.video_out = cv2.VideoWriter(
filename=self.__folder + self.__video_output_filename + '.avi',
fourcc=fourcc,
fps=self.__fps,
frameSize=(self.__width, self.__height),
isColor=True)
self.__frame_i = 0
def test_CameraLink(self):
'''
@brief Test Ptg camera link by receiving frames, and saving them.
'''
if not(self.CheckAllTests()): # Trigger test covers the same manually
return
import timeit
from src.DroneVision.DroneVision_src.hardware.imageTools import WriteImage, GetImage
from src.bin.tools import GetTimestamp, CheckDir
##### SETUP FOLDERS ######
settings_inst = self.Settings.Settings()
settings_inst.ChangeSetting('CAMERA', 'manual_triggering', False)
test_frame_folder = settings_inst.GetSettings('DATABASE', 'output_folder') + '/TEST/' + GetTimestamp() + '/'
test_frame_folder += 'left_test_camera/'
CheckDir(test_frame_folder)
##########################
cameralink = self.CameraLink.CameraLink(True, settings_inst.GetSettings('CAMERA'), settings_inst.GetSettings('LASER'))
start_time = timeit.default_timer()
raise_error = False
i = 0
try:
while timeit.default_timer() - start_time < 5:
frame, sl_frame = cameralink.GetFrame()
print frame.shape
fps, width, height = cameralink.GetFrameProperties()
total_frames = cameralink.GetTotalFrames()
frame_n = cameralink.GetFrameNumber()
print 'GET: ', fps, width, height, total_frames, frame_n
WriteImage(frame, test_frame_folder + 'frame_' + str(frame_n))
frame = GetImage(test_frame_folder + 'frame_' + str(frame_n) + '.tif')
i += 1
except:
raise_error = True
cameralink.StopCamera()
if raise_error:
raise
def MatplotShow(touple_frames,
main_title='',
fig_number=0,
interactive_mode=False,
plt=None,
savefig_folder='matplot_figs/',
default_n_cols=2,
save_fig=False,
save_fig_only=False,
inlude_main_title_in_plot=True):
'''
@brief Show multiple grayscale frames in a single window.
@param touple_frames Touple of frames - example: mult_frames = [('img_name1', frame1), ('img_name2', frame2)]
@param main_title (default='')
@param fig_number (>= 0, to handle more than one figure (default=0))
@param interactive_mode (Flag to handle interactive mode (True/False - default=False)))
@param plt (pyplot object from matplotlib (default=None))
@param savefig_folder (Folder path for saving figures when display isn't available.)
@param default_n_cols (default number of columns (default=2))
@param save_fig (Save figure (default=False))
@param save_fig_only (Save figure, and do not show plot (default=False))
@param inlude_main_title_in_plot (Include main title in plot. Also used as a filename for saving.)
'''
if plt == None:
import matplotlib.pyplot as plt
n_frames = len(touple_frames)
cols = default_n_cols
if n_frames == 0:
return
elif n_frames < cols:
cols = n_frames
rows = int(math.ceil(float(n_frames) / cols))
fig = plt.figure(fig_number)
i = 1
for img_name, frame in touple_frames:
ax = fig.add_subplot(rows, cols, i)
if len(frame.shape) == 2:
plt.imshow(frame, cmap='gray')
else:
plt.imshow(frame)
ax.set_title(img_name)
i += 1
if inlude_main_title_in_plot:
fig.suptitle(main_title)
fig.tight_layout()
if not (CheckDisplayAvailable()) or save_fig or save_fig_only:
CheckDir(savefig_folder)
main_title = os.path.basename(
main_title
) # Does not change a normal title, just removes all paths
fig.savefig(savefig_folder + main_title + '.png')
if not (save_fig_only):
if not (interactive_mode):
if CheckDisplayAvailable():
print 'Press Esc on figure plot to continue..'
try:
plt.show()
except Exception, err:
warnings.simplefilter('always')
warnings.warn(str(err), Warning)
warnings.simplefilter('default')
else:
try:
plt.pause(0.000001)
except Exception, err:
warnings.simplefilter('always')
warnings.warn(str(err), Warning)
warnings.simplefilter('default')
def test_TriggerCamera(self):
'''
@brief Test manual camera triggering
'''
'''
@brief Test Ptg camera link by receiving frames, and saving them.
'''
if self.CheckAllTests(): #Cannot test while auto testing
return
import sys
from getpass import getpass
from src.DroneVision.DroneVision_src.hardware.imageTools import WriteImage, GetImage, MatplotShow
from src.DroneVision.DroneVision_src.imgProcessing.featureDetection.PointDetection import PointDetection
from src.DroneVision.DroneVision_src.imgProcessing.frameTools.frameTools import CheckGrayScale, FilterByColor
from src.bin.tools import GetTimestamp, CheckDir
from src.bin.UserInput.UserInput import UserInput
this_master = True
if self.slave_key in sys.argv:
this_master = False
##### SETUP FOLDERS ######
settings_inst = self.Settings.Settings()
settings_inst.ChangeSetting('CAMERA', 'manual_triggering', self.manual_triggering)
settings_inst.ChangeSetting('CAMERA', 'ptg_recv_frame_timeout', self.camera_capture_timeout)
test_frame_folder = settings_inst.GetSettings('DATABASE', 'output_folder') + '/TEST_TRIGGER/' + GetTimestamp() + '/'
if this_master:
test_frame_folder += 'left_test_camera/'
else:
test_frame_folder += 'right_test_camera/'
CheckDir(test_frame_folder)
##########################
pointDet = PointDetection.PointDetection(True, settings_inst.GetSettings())
pointDet.CalibratePointDetection()
cameralink = self.CameraLink.CameraLink(this_master, settings_inst.GetSettings('CAMERA'), settings_inst.GetSettings('LASER'))
if this_master:
s_title = 'Master Frames'
else:
s_title = 'Slave Frames'
settings_inst.ChangeSetting('USER_INPUT', 'automatic_mode', self.manual_triggering)
getpass('Press enter to start - hold q to quit..')
userInput = UserInput(settings_inst.GetSettings('USER_INPUT'))
print 'START CAMERA TRIGGER TEST'
i = 0
raise_error = False
try:
while (not(userInput.CheckTerminated())):
title = s_title + ' {0}'.format(i)
print 'Reading frame..'
frame, sl_frame = cameralink.GetFrame()
print 'FRAME SHAPE: ', frame.shape
#green_mask, g_frame, g_sl_frame = pointDet.ComputeGreenMask(frame, sl_frame)
green_mask, keypoints, descriptors, frame, sl_frame = pointDet.GetPointList(frame, sl_frame, draw=True, ignore_no_blobs_error=True)
MatplotShow([('green_mask ({0})'.format(green_mask.shape), green_mask), ('frame ({0})'.format(frame.shape), frame), ('sl_frame ({0})'.format(sl_frame.shape), sl_frame)], title, save_fig=self.save_figs, save_fig_only=self.save_figs_only)
#un_frame = pointDet.Undistort(frame)
#un_sl_frame = pointDet.Undistort(sl_frame)
#print 'Captured frame with shape {0}'.format(frame.shape)
#MatplotShow([('Frame ({0})'.format(frame.shape), frame), ('UN FRAME ({0})'.format(un_frame.shape), un_frame), ('SL FRAME ({0})'.format(sl_frame.shape), sl_frame), ('UN SL FRAME ({0})'.format(un_sl_frame.shape), un_sl_frame)], title, save_fig=self.save_figs, save_fig_only=self.save_figs_only)
#WriteImage(frame, test_frame_folder + 'frame_' + str(i))
#WriteImage(sl_frame, test_frame_folder + 'frame_sl_' + str(i))
i += 1
except:
print 'RAISED ERROR'
raise_error = True
userInput.ForceTermination()
cameralink.StopCamera()
if raise_error:
raise