def __init__(self, draw=True, colour='blue', side='left', main_pitch=True, load_bg_model=False, corners_from_mem=False):
_filepath = sys.argv[0]
_relpath = os.path.split(_filepath)[0]
if _relpath is not '': _relpath = _relpath + '/'
self._bg = cv.LoadImage(_relpath + "b02.jpg")
self._draw = draw
self._colour = colour
self._side = side
self._n_avg_bg = 30
self._corners_from_mem = corners_from_mem
self._last_update = 0
self._fps_update_interval = 0.5
self._num_frames = 0
self._fps = 0
self._calibrate = Calibrate((9,6))
self.calibrate_cam(from_mem = True)
self._config = yaml.load(file('config/020311-0830-main_pitch.yaml', 'r'))
self._vision = Vision(self._bg, self._calibrate, self._config, fix_distortions = True, main_pitch=main_pitch, corners_from_mem=self._corners_from_mem)
self._vision_com = VisionCom(self._vision, colour=self._colour, side=self._side)
self._ba = None
self._load_bg_model = load_bg_model
self._frame_name = 'annotated'
self._capture = Capture()
self._base_time = 0
class VisionWrapper:
def __init__(self, draw=True, colour='blue', side='left', main_pitch=True, load_bg_model=False, corners_from_mem=False):
_filepath = sys.argv[0]
_relpath = os.path.split(_filepath)[0]
if _relpath is not '': _relpath = _relpath + '/'
self._bg = cv.LoadImage(_relpath + "b02.jpg")
self._draw = draw
self._colour = colour
self._side = side
self._n_avg_bg = 30
self._corners_from_mem = corners_from_mem
self._last_update = 0
self._fps_update_interval = 0.5
self._num_frames = 0
self._fps = 0
self._calibrate = Calibrate((9,6))
self.calibrate_cam(from_mem = True)
self._config = yaml.load(file('config/020311-0830-main_pitch.yaml', 'r'))
self._vision = Vision(self._bg, self._calibrate, self._config, fix_distortions = True, main_pitch=main_pitch, corners_from_mem=self._corners_from_mem)
self._vision_com = VisionCom(self._vision, colour=self._colour, side=self._side)
self._ba = None
self._load_bg_model = load_bg_model
self._frame_name = 'annotated'
self._capture = Capture()
self._base_time = 0
def online_feed(self):
frames = []
if self._load_bg_model: frames = [self._capture.pull()]
else: frames = [self._capture.pull() for i in range(self._n_avg_bg)]
self._vision.avg_bg_frames(frames, load_from_mem=self._load_bg_model)
reset_base = False
last_base_time = 0
time_interval = 60
while 1:
lstart = time.time()
if lstart - last_base_time >= time_interval:
self.calc_baseline()
last_base_time = time.time()
frame = self._capture.pull()
timestamp = datetime.fromtimestamp(self.correct_timestamp() / 1000.0).strftime('%Y-%m-%dT%H:%M:%S.%f')
self._vision.update(frame)
self._vision_com.transmit(timestamp)
self.update_fps()
try:
if self._frame_name == 'annotated':
vframe = self._vision.get_frame(name='source', annotated=True)
else:
vframe = self._vision.get_frame(name=self._frame_name, annotated=False)
except:
vframe = self._vision.get_frame(name='annotated', annotated=True)
font = cv.InitFont(cv.CV_FONT_HERSHEY_PLAIN, 0.75, 0.75, 0.0, 1, cv.CV_AA)
msg = ">> FPS: %.2f" % (self._fps,)
cv.PutText(vframe, msg, (10,15), font, cv.Scalar(0,0,255))
if self._draw:
cv.ShowImage("Feed", vframe)
c = cv.WaitKey(2) % 0x100
if c != -1:
if c == 27 or chr(c) == 'q' : break
if chr(c) == 'p' : cv.SaveImage(timestamp + ".jpg", vframe)
if chr(c) == 'a' : self._frame_name = 'annotated'
if chr(c) == 's' : self._frame_name = 'source'
if chr(c) == 'r' : self._frame_name = 'threshed_red'
if chr(c) == 'y' : self._frame_name = 'threshed_yellow'
if chr(c) == 'b' : self._frame_name = 'threshed_blue'
if chr(c) == 'h' : self._frame_name = 'threshed_black'
if chr(c) == 'g' : self._frame_name = 'threshed_green'
if chr(c) == 'f' : self._frame_name = 'foreground'
if chr(c) == 'c' : self._frame_name = 'foreground_connected'
def offline_feed(self, filename):
capture = cv.CaptureFromFile(filename)
width = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_WIDTH))
height = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_HEIGHT))
fps = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FPS))
frames = int(cv.GetCaptureProperty(capture, cv.CV_CAP_PROP_FRAME_COUNT))
for f in range(frames - 2):
frame = cv.QueryFrame(capture)
timestamp = datetime.now().strftime('%Y-%m-%dT%H:%M:%S.%f')
frame = self._calibrate.undistort_single_image(frame)
self._vision.update(frame)
self._vision_com.transmit(timestamp)
self.update_fps()
if self._draw:
cv.ShowImage("Feed", frame)
if cv.WaitKey(1000 / fps) == 27:
break
def calc_baseline(self):
for i in range(3):
self._capture.pull()
self._base_time = int(round(time.time() * 1000))
def correct_timestamp(self):
t = int(round(time.time() * 1000))
return t - (t - self._base_time) % 40
def update_fps(self):
self._num_frames += 1
current_update = time.time()
if(current_update - self._last_update > self._fps_update_interval):
self._fps = self._num_frames / (current_update - self._last_update)
self._last_update = current_update
self._num_frames = 0
def calibrate_cam(self, from_mem=True, filenames=[]):
if from_mem:
self._calibrate.calibrate_camera_from_mem("calibration_data/")
else:
images = [cv.LoadImage(file) for file in filenames]
self._calibrate.calibrate_camera(images, save_data=True)
