def __init__(self):
# Make sure the GoPro is turned on, initialize settings and begin capture.
self.imageID = ["frame.jpeg"]
self.current = "frame.jpeg"
self.targetID = "target.png"
self.goproURL = UC()
self.path = os.getcwd()
print self.path
print "Initializing GoPro.."
def __init__(self):
# Make sure the GoPro is turned on, initialize settings and begin capture.
self.imageID = ["frame.jpeg"]
self.current = "frame.jpeg"
self.targetID = "target.png"
self.gopro = UC()
self.path = os.getcwd()
print self.path
print "Initializing GoPro.."
res = self.gopro.turn_on()
time.sleep(5)
class CaptureImage:
def __init__(self):
# Make sure the GoPro is turned on, initialize settings and begin capture.
self.imageID = ["frame.jpeg"]
self.current = "frame.jpeg"
self.targetID = "target.png"
self.goproURL = UC()
self.path = os.getcwd()
print self.path
print "Initializing GoPro.."
#self.gopro.turn_on()
def start_photo_thread(self):
# capture thread to capture photos during flight
t1 = time.time()
print "Started " + threading.currentThread().getName()
im_count = 2
while 1:
# self.gopro.start_capture()
# self.gopro.stop_capture()
im_count += 1
time.sleep(5)
print threading.currentThread().getName() + "image count: " + str(im_count)
t2 = time.time() - t1
print "Closed " + threading.currentThread().getName() + " :: " + str(t2) + "s"
def start_search_thread(self):
# thread to handle the URL requests, we dont want them to cause the captures to fall behind
print "Started " + threading.currentThread().getName()
img_count = 1
t1 = time.time()
while 1:
img_count += 1
self.imageID.append("frame.jpeg")
#self.imageID.append(self.get_photo()) # Add newest photo to list
time.sleep(5)
print threading.currentThread().getName() + "image count: " + str(img_count)
t2 = time.time() - t1
print "Closed " + threading.currentThread().getName() + " :: " + str(t2) + "s"
print "Frames Captured: " + str(img_count)
def start_process_thread(self):
# Thread to process images left in stack
print "Started " + threading.currentThread().getName()
proc_count = 0
t1 = time.time()
hits = 0
os.chdir(cap.path)
# Collect the images captured
img1 = cv2.imread(cap.targetID,0) # Target image from user.
# Create the SURF object
surf = cv2.xfeatures2d.SURF_create(500)
kp1, des1 = surf.detectAndCompute(img1, None) # Detect target keypoints
# FLANN parameters needed for flann matcher
FLANN_INDEX_KDTREE = 0
index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
search_params = dict(checks=50) # higher the # = more accurate/slower
flann = cv2.FlannBasedMatcher(index_params,search_params)
# While thread is executing capture images
# If index is going to be exceeded, wait until it is updated
while 1:
if (len(self.imageID) > proc_count):
os.chdir(cap.path + "/img")
img2 = cv2.imread(cap.imageID[proc_count],0) # Current frame from GoPro
# calculate current frames keypoints
kp2, des2 = surf.detectAndCompute(img2, None)
# Create and match descriptors
matches = flann.knnMatch(des1,des2,k=2)
# Need to draw only good matches, so create a mask
matchesMask = [[0,0] for i in xrange(len(matches))]
# Lowe's ratio test to get the closest matching vectors
good = []
for i,(m,n) in enumerate(matches):
if m.distance < 0.6*n.distance:
matchesMask[i]=[1,0]
good.append(m) # Append the good match for count/comparison
# Adjust the drawing parameters
draw_params = dict(matchColor = (0,255,0),
singlePointColor = (255,255,255),
matchesMask = matchesMask,
flags = 0)
# Draw the image found and save to hits directory
hit = cv2.drawMatchesKnn(img1,kp1,img2,kp2,matches,None,**draw_params)
# Write the hit to file
os.chdir(cap.path + "/hits")
cv2.imwrite("hit.jpeg", hit)
if(len(good)>10):
hits += 1
print "Hit: " + str(hits) + ", Img KP Count: " + str(len(good))
proc_count += 1
print threading.currentThread().getName() + "Process count: " + str(proc_count)
t2 = time.time() - t1
print "Closed " + threading.currentThread().getName() + " :: " + str(t2) + "s"
print "Hits: " + str(hits)
def capture_video(self):
self.gopro.enable_camera_mode() # enable camera video mode
self.gopro.start_capture()
def get_photo(self):
# self.goproURL.get_photo() # This will download the latest photo to the image directory
# return self.goproURL.get_image_id()
print "Get"
def begin_capture(self):
print "Init Threading.."
# Init all of the GoPro Settings to capture a photo
# self.goproURL.enable_photo_mode()
# self.goproURL.start_capture()
# self.goproURL.stop_capture()
# Create the capture and upload threads
t1 = threading.Thread(name="capture_thread", target=cap.start_photo_thread)
t2 = threading.Thread(name="cherokee_thread", target=cap.start_search_thread)
t3 = threading.Thread(name="process_thread", target=cap.start_process_thread)
# Start the threads for processing to begin
t1.start()
t2.start()
t3.start()
def shutdown(self):
self.goproURL.turn_off()
class CaptureImage:
def __init__(self):
# Make sure the GoPro is turned on, initialize settings and begin capture.
self.imageID = ["frame.jpeg"]
self.current = "frame.jpeg"
self.targetID = "target.png"
self.gopro = UC()
self.path = os.getcwd()
print self.path
print "Initializing GoPro.."
res = self.gopro.turn_on()
time.sleep(5)
def start_photo_thread(self):
# capture thread to capture photos during flight
t1 = time.time()
print "Started " + threading.currentThread().getName()
im_count = 2
while 1:
res = self.gopro.start_capture()
res = self.gopro.stop_capture()
time.sleep(10)
im_count += 1
print threading.currentThread().getName() + "image count: " + str(
im_count)
t2 = time.time() - t1
print "Closed " + threading.currentThread().getName() + " :: " + str(
t2) + "s"
def start_search_thread(self):
# thread to handle the URL requests, we dont want them to cause the captures to fall behind
print "Started " + threading.currentThread().getName()
img_count = 1
t1 = time.time()
while 1:
try:
img_count += 1
#self.imageID.append("frame.jpeg")
self.imageID.append(
self.get_photo()) # Add newest photo to list
print "\n" + "Photo List:" + str(self.imageID)
print threading.currentThread().getName(
) + "image count: " + str(img_count)
except:
print "Exception Search Thread"
t2 = time.time() - t1
print "Closed " + threading.currentThread().getName() + " :: " + str(
t2) + "s"
print "Frames Captured: " + str(img_count)
def start_process_thread(self):
# Thread to process images left in stack
print "Started " + threading.currentThread().getName()
proc_count = 0
t1 = time.time()
hits = 0
os.chdir(cap.path)
# Collect the images captured
img1 = cv2.imread(cap.targetID, 0) # Target image from user.
# Create the SURF object
surf = cv2.xfeatures2d.SURF_create(500)
kp1, des1 = surf.detectAndCompute(img1,
None) # Detect target keypoints
# FLANN parameters needed for flann matcher
FLANN_INDEX_KDTREE = 0
index_params = dict(algorithm=FLANN_INDEX_KDTREE, trees=5)
search_params = dict(checks=50) # higher the # = more accurate/slower
flann = cv2.FlannBasedMatcher(index_params, search_params)
# While thread is executing capture images
# If index is going to be exceeded, wait until it is updated
while 1:
try:
if (len(self.imageID) > proc_count):
os.chdir(cap.path + "/img")
img2 = cv2.imread(cap.imageID[proc_count],
0) # Current frame from GoPro
print "\nPROCESS IMAGE:" + cap.imageID[proc_count]
# calculate current frames keypoints
if (os.path.isfile(cap.imageID[proc_count])):
kp2, des2 = surf.detectAndCompute(img2, None)
# Create and match descriptors
matches = flann.knnMatch(des1, des2, k=2)
# Need to draw only good matches, so create a mask
matchesMask = [[0, 0] for i in xrange(len(matches))]
# Lowe's ratio test to get the closest matching vectors
good = []
for i, (m, n) in enumerate(matches):
if m.distance < 0.6 * n.distance:
matchesMask[i] = [1, 0]
good.append(
m
) # Append the good match for count/comparison
# Adjust the drawing parameters
draw_params = dict(matchColor=(0, 255, 0),
singlePointColor=(255, 255, 255),
matchesMask=matchesMask,
flags=0)
# Draw the image found and save to hits directory
hit = cv2.drawMatchesKnn(img1, kp1, img2, kp2, matches,
None, **draw_params)
if (len(good) > 10):
hits += 1
print "Hit: " + str(
hits) + ", Img KP Count: " + str(len(good))
# Write the hit to file
os.chdir(cap.path + "/hits")
cv2.imwrite("hit" + str(i) + ".jpeg", hit)
else:
os.chdir(cap.path + "/img")
cv2.imwrite("img" + str(i) + ".jpeg", hit)
proc_count += 1
print threading.currentThread().getName(
) + "Process count: " + str(proc_count)
except:
print "Failed - sleep 3"
time.sleep(3)
t2 = time.time() - t1
print "Closed " + threading.currentThread().getName() + " :: " + str(
t2) + "s"
print "Hits: " + str(hits)
def capture_video(self):
res = self.gopro.enable_camera_mode() # enable camera video mode
res = self.gopro.start_capture()
def get_photo(self):
res = self.gopro.get_photo(
) # This will download the latest photo to the image directory
print "Image Recieved: " + self.gopro.get_image_id()
return self.gopro.get_image_id()
def begin_capture(self):
print "Init Threading.."
# Init all of the GoPro Settings to capture a photo
res = self.gopro.enable_photo_mode()
res = self.gopro.start_capture()
res = self.gopro.stop_capture()
# Create the capture and upload threads
t1 = threading.Thread(name="capture_thread",
target=cap.start_photo_thread)
t1.setDaemon(True)
t2 = threading.Thread(name="cherokee_thread",
target=cap.start_search_thread)
t1.setDaemon(True)
t3 = threading.Thread(name="process_thread",
target=cap.start_process_thread)
t1.setDaemon(True)
# Start the threads for processing to begin
t1.start()
t2.start()
t3.start()
t1.join()
t2.join()
t3.join()
def shutdown(self):
res = self.gopro.turn_off()
