def simple_synchronous():
"""
this function is the most simple version of CV
- no tracking
- no multiprocessing/async/multithreading
"""
for counter in count(start=0,
step=1): # counts up infinitely starting at 0
# get the latest image from the camera
frame = get_latest_frame()
if frame is None:
print(
"assuming the video stream ended because latest frame is None"
)
return
# run the model
boxes, confidences, classIDs = modeling.get_bounding_boxes(
frame, confidence, threshold)
# figure out where to aim
x, y = aiming.aim(boxes)
# optional value for debugging/testing
if not (on_next_frame is None):
on_next_frame(counter, frame, (boxes, confidences), (x, y))
# send data to embedded
embedded_communication.send_output(x, y)
def debug_each_frame(frame_index, frame, model_ouput, aiming_output):
"""
this function is designed to be called every time main() processes a frame
its only purpose is to bundle all of the debugging output
"""
print(f'processing frame {frame_index}')
# extract the output
boxes, confidences = model_ouput
x, y = aiming_output
# load/show the image
image = Image(frame)
for each in boxes:
image.add_bounding_box(each)
if PARAMETERS["testing"]["save_frame_to_file"]:
frames.append(image.img)
if PARAMETERS["testing"]["open_each_frame"]:
# NOTE: this currently fails in nix-shell on Mac with error message:
# qt.qpa.plugin: Could not find the Qt platform plugin "cocoa" in ""
# its fixable, see "qt.qpa.plugin: Could not find the Qt" on https://nixos.wiki/wiki/Qt
# but its hard to fix
image.show("frame")
# allow user to quit by pressing q (at least I think thats what this checks)
if cv2.waitKey(1) & 0xFF == ord('q'):
exit(0)
def update(self, image):
# Attempts to update the object's location
ok, location = self.tracker.update(image)
print("TRACKER CONTINUE", ok)
if ok == False:
self.exists = False
# Returns the location if the location was updated, otherwise None
return location if ok else None
def __init__(self, port, baudrate):
if port is None or port == 0:
self.port = None # disable port
print(
'Embedded Communication: Port is set to None. No communication will be established.'
)
else:
self.port = Serial(port, baudrate=baudrate, timeout=3.0)
def run(self):
"""
Continuously read and save current input from camera
"""
cam = cv2.VideoCapture(self.input_source)
while True:
# Wait for a coherent pair of frames: depth and color
ok, frame = cam.read()
self.frame = frame
print(self.frame.shape)
cv2.waitKey(1)
if self.debug_mode:
current_time = time.time()
print('FPS: ', 1 / (current_time - last_time))
last_time = current_time
def modelMulti(frame, confidence, threshold, best_bounding_box, track,
model, betweenFrames, collectFrames):
#run the model and update best bounding box to the new bounding box if it exists, otherwise keep tracking the old bounding box
boxes, confidences, classIDs, frame = model.get_bounding_boxes(
frame, confidence, threshold)
potentialbbox = track.init(frame, boxes)
for f in range(len(betweenFrames)):
if potentialbbox is None:
break
potentialbbox = track.update(betweenFrames[f])
print(potentialbbox)
best_bounding_box[:] = potentialbbox if potentialbbox else [
-1, -1, -1, -1
]
betweenFrames[:] = []
collectFrames.value = False
def init(self, image, bboxes):
# creates the tracker and returns None if there are no bounding boxes to track
self.tracker = cv2.TrackerKCF_create()
print("inside init for KCF")
print(bboxes)
if len(bboxes) == 0:
return None
# Finds the coordinate for the center of the screen
center = (image.shape[1] / 2, image.shape[0] / 2)
# Makes a dictionary of bounding boxes using the bounding box as the key and its distance from the center as the value
bboxes = {
tuple(bbox):
self.distance(center,
(bbox[0] + bbox[2] / 2, bbox[1] + bbox[3] / 2))
for bbox in bboxes
}
# Finds the centermost bounding box
bbox = min(bboxes, key=bboxes.get)
# Attempts to start the tracker
self.tracker.init(image, bbox)
self.exists = True
print("TRACKER INIT")
# returns the tracked bounding box if tracker was successful, otherwise None
return bbox
def init(image, bboxes, video = []):
global tracker
# creates the tracker and returns None if there are no bounding boxes to track
tracker = TrackerKCF_create()
print("inside init for KCF")
print(bboxes)
if len(bboxes) == 0:
return None
# Finds the coordinate for the center of the screen
center = (image.shape[1] / 2, image.shape[0] / 2)
# Makes a dictionary of bounding boxes using the bounding box as the key and its distance from the center as the value
bboxes = {tuple(bbox): distance(center, (bbox[0] + bbox[2] / 2, bbox[1] + bbox[3] / 2)) for bbox in bboxes}
# Finds the centermost bounding box
bbox = min(bboxes, key=bboxes.get)
# Attempts to start the tracker
ok = tracker.init(image, bbox)
print(ok)
# returns the tracked bounding box if tracker was successful, otherwise None
return bbox if ok else None
# allow user to quit by pressing q (at least I think thats what this checks)
if cv2.waitKey(1) & 0xFF == ord('q'):
exit(0)
#
# setup main(s)
#
simple_synchronous, synchronous_with_tracker = setup(
# comment out lines (arguments) below to get closer
# and closer to realistic output
get_latest_frame=
get_next_video_frame, # can be swapped with get_latest_video_frame
on_next_frame=debug_each_frame,
modeling=test_modeling,
tracker=test_tracking,
aiming=test_aiming
# send_output=simulated_send_output, # this should be commented in once we actually add aiming
)
#
# run mains (with simulated values)
#
print('Starting synchronous_with_tracker() with simulated IO')
synchronous_with_tracker()
# save all the frames as a video
print("Starting process of saving frames to a video file")
Video.create_from_frames(frames, save_to=PATHS["video_output"])
print(f"video output has been saved to {PATHS['video_output']}")
#
# setup main(s)
#
simple_synchronous, synchronous_with_tracker, multiprocessing_with_tracker = setup(
# comment out lines (arguments) below to get closer
# and closer to realistic output
get_frame=get_next_video_frame
if PARAMETERS['videostream']['testing']['grab_frame'] == 0 else
get_latest_video_frame, # 0 means grab next frame, 1 means grab latest frame
on_next_frame=debug_each_frame,
modeling=test_modeling,
tracker=test_tracking,
aiming=test_aiming
# send_output=simulated_send_output, # this should be commented in once we actually add aiming
)
#
# run mains (with simulated values)
#
main_function = PARAMETERS['testing']['main_function']
if main_function == 0:
simple_synchronous()
elif main_function == 1:
synchronous_with_tracker()
else:
multiprocessing_with_tracker()
# save all the frames as a video
print("Starting process of saving frames to a video file")
Video.create_from_frames(frames, save_to=PATHS["video_output"])
print(f"video output has been saved to {PATHS['video_output']}")
import cv2
import pdb, time
from toolbox.globals import ENVIRONMENT, PATHS, PARAMETERS, print
# parameters
# TODO: put this in the info.yaml
SHOW_IMAGES = False
# Configure depth and color streams
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 60)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 60)
profile = pipeline.start(config)
depth_scale = profile.get_device().first_depth_sensor().get_depth_scale()
print(depth_scale)
# Start streaming
try:
while True:
start_t = time.time()
# Wait for a coherent pair of frames: depth and color
frames = pipeline.wait_for_frames()
color_frame = frames.get_color_frame()
align = rs.align(rs.stream.color)
frames = align.process(frames)
depth_frame = frames.get_depth_frame()
if depth_frame and color_frame:
print('ok')
import numpy as np
import cv2
# relative imports
from toolbox.globals import ENVIRONMENT, PATHS, PARAMETERS, print
# TODO: I don't know what this number is, and we should probably figure it out
MAGIC_NUMBER_1 = 416
#
# init the model
#
print("[INFO] loading YOLO from disk...")
net = cv2.dnn.readNetFromDarknet(PATHS["model_config"], PATHS["model_weights"])
layer_names = net.getLayerNames()
output_layer_names = [
layer_names[index[0] - 1] for index in net.getUnconnectedOutLayers()
]
W, H = None, None
def get_bounding_boxes(frame, iconfidence, ithreshold):
"""
ex: boxes, confidences, class_ids = get_bounding_boxes(frame, 0.5, 0.3)
@frame: should be an cv2 image (basically a numpy array)
@iconfidence: should be a value between 0-1
@ithreshold: should be a value between 0-1
-
@@returns:
- a tuple containing
- a list of bounding boxes, each formatted as (x, y, width, height)
import time
# relative imports
from toolbox.video_tools import Video
from toolbox.globals import ENVIRONMENT, PATHS, PARAMETERS, print
#
# initilize
#
test_video = Video(PATHS["main_test_video"])
print('Loading all frames into ram for simulated testing')
all_frames = list(test_video.frames())
print(f'Found {len(all_frames)} frames')
start_time = None
framerate = PARAMETERS["videostream"]["testing"]["assumed_framerate"]
def get_latest_video_frame():
# kick of the start time if hasn't started yet
global start_time
if start_time == None:
start_time = time.time()
# figure out which frame should be retrieved based on the elapsed time
seconds_since_start = time.time() - start_time
which_frame = int(seconds_since_start * framerate)
# get that frame from the list of all frames
if which_frame < len(all_frames):
return all_frames[which_frame]
else:
return None
