def main():
ctx = zmq.Context()
sock = ctx.socket(zmq.PUB)
sock.connect("tcp://127.0.0.1:3002")
logfile = open(
'showarucoboard.py_log_%s.json' %
datetime.datetime.utcnow().strftime("%Y_%m_%d_%H_%M_%S"), 'w')
vs = VideoStream(src=1).start()
pe = RealAntPoseEstimator()
last_time = None
while True:
# Read latest image
img, utcnowms = vs.read()
# Compute fps
fps = 0
if last_time != None:
if last_time == utcnowms:
continue
fps = 1000 / (utcnowms - last_time)
last_time = utcnowms
# Estimate pose
d, img = pe.get_pose(img, utcnowms)
if d is not None:
sock.send_json(d)
d["sent"] = True
print("fps %5.1f " % fps, end='')
print(
"- %d dist %2.1f x %1.3fm y %1.3fm z %1.3fm roll %3.0f pitch %3.0f yaw %3.0f"
% tuple([
d[x] for x in [
"server_epoch_ms", "dist", "x", "y", "z", "roll",
"pitch", "yaw"
]
]),
end='')
if "xvel" in d:
print(" xvel%6.3f %6.3f y%6.3f z%6.3f" %
(d["xvel"], d["xvel_raw"], d["yvel"], d["zvel"]))
else:
print()
logfile.write(json.dumps(d) + '\n')
cv2.imshow('ant', img)
if cv2.waitKey(1) == 27:
break # esc to quit
vs.stop()
cv2.destroyAllWindows()
from face_decorator import FaceDecorator
from eye_aspect_ratio import EyeAspectRatio
from config import args
vs = VideoStream(args["path"]).start()
workers = [ GrayConverter(), FaceDetector(), FaceMarker(args["landmark_model"]), EyeAspectRatio(), FaceDecorator() ]
winname = args["display"]
graphWin = "Graph"
cv2.namedWindow(winname)
cv2.moveWindow(winname, 200, 300)
cv2.namedWindow(graphWin)
cv2.moveWindow(graphWin, 900, 300)
while True:
frame = vs.read()
if frame is None: break
info = {}
for w in workers: w.workon(frame, info)
cv2.imshow(winname, info["output"])
cv2.imshow(graphWin, info["graph"])
key = cv2.waitKey(10) & 0xFF
if key == ord('q') or key == 27:
break
elif key == ord(' '):
cv2.waitKey(0)
cv2.destroyAllWindows()
vs.stop()
vs.t.join()
t2 = cv2.getTickCount()
time1 = (t2 - t1) / freq
frame_rate_calc = 1 / time1
time_arr.append(time.time() - start_time)
fps_arr.append(frame_rate_calc)
if SHOW_OUTPUT:
videostream.show_frame(bboxes)
if SAVE_MODE:
videostream.save_frame(bboxes)
# Press 'q' to quit
if cv2.waitKey(1) == ord('q'):
break
finally:
# Clean up
videostream.stop()
servo.stop()
print(f"Average fps = {sum(fps_arr)/len(fps_arr)}")
import matplotlib.pyplot as plt
plt.rcParams["figure.figsize"] = (20, 10)
plt.plot(time_arr, fps_arr)
plt.xlabel("Time, s")
plt.ylabel("Framerate, frame/s")
plt.savefig("fps.png")
def recognize_video(detector,
embedder: Embedder,
recognizer: Recognizer,
detector_params='default',
source=0):
# инициализация видеопотока
print('Starting video stream...')
vs = VideoStream(src=source).start()
if not is_detector(detector):
raise TypeError('Incorrect type of detector')
# разогрев камеры
time.sleep(0.5)
# запуск оценщика пропускной способности FPS
fps = FPS().start()
# цикл по фреймам из видео
while True:
frame = vs.read()
if detector_params == 'default':
faces_roi, boxes = detector.calc_image(frame, return_mode='both')
elif type(detector) == DetectorSSD:
confidence = detector_params[0]
faces_roi, boxes = detector.calc_image(frame,
confidence=confidence,
return_mode='both')
elif type(detector) == DetectorVJ or type(detector) == DetectorLBP:
[scale_factor, min_neighbors] = detector_params
faces_roi, boxes = detector.calc_image(frame,
scale_factor=scale_factor,
min_neighbors=min_neighbors,
return_mode='both')
elif type(detector) == DetectorHOG or type(detector) == DetectorMMOD:
upsampling_times = detector_params[0]
faces_roi, boxes = detector.calc_image(
frame, upsampling_times=upsampling_times, return_mode='both')
for i in range(len(faces_roi)):
embeddings = embedder.calc_face(faces_roi[i])
name = recognizer.recognize(embeddings)
start_x, start_y, end_x, end_y = boxes[i]
text = '{}'.format(name)
y = start_y - 10 if start_y - 10 > 10 else start_y + 10
cv2.rectangle(frame, (start_x, start_y), (end_x, end_y),
(0, 0, 255), 2)
cv2.putText(frame, text, (start_x, y), cv2.FONT_HERSHEY_SIMPLEX,
0.45, (0, 0, 255), 2)
# обновление счетчика FPS
fps.update()
# показ выходного фрейма
cv2.imshow('Frame', frame)
key = cv2.waitKey(1) & 0xFF
# завершение при нажатии 'q'
if key == ord("q"):
break
fps.stop()
print('Elasped time: {:.2f}'.format(fps.elapsed()))
print('Approx. FPS: {:.2f}'.format(fps.fps()))
cv2.destroyAllWindows()
vs.stop()
def main():
''' Main method '''
global RUNNING
# Create a socket and connect to the server
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s.connect((HOST, PORT))
PRINT('Connected to ' + ENC_VALUE(HOST + ':' + str(PORT)) + '.', SUCCESS)
# connect to the arduino via serial
ser = serial.Serial('/dev/ttyACM0', 9600, timeout=1)
ser.flush()
cr = '\n'
# Start the camera video thread
stream = VideoStream().start()
last_serial_time = time.time(
) # stores the last time a serial value was sent
while RUNNING:
# Get the current frame read by the video stream
try:
stream_frame = stream.read()
_, frame = cv2.imencode('.jpg', stream_frame, ENCODE_PARAM)
# Send data
send(s, [frame])
except Exception as e: # Prints Error
PRINT(str(e), ERROR)
# Recieve data
recv_data = recv(s)
print(recv_data[1])
# Check if a command was sent
if recv_data[
DATA_IDX_COMMAND] == COMMAND_QUIT: # If quit command was recieved RUNNING = false
PRINT('Recieved command ' + ENC_VALUE(COMMAND_QUIT) + '.', INFO)
joy_vrt = round(4 * (1 - 0))
joy_fwd = round(4 * (1 - 0))
joy_rot = round(4 * (1 + 0))
submit = str(joy_vrt * 100 + joy_fwd * 10 + joy_rot)
ser.write(submit.encode('utf-8'))
ser.write(cr.encode('utf-8'))
RUNNING = False
elif time.time() - last_serial_time >= 1:
if recv_data and len(
recv_data[1]) == 3: # checks if recv data is empty
print('running' + str(recv_data))
joy_vrt = round(4 * (1 - recv_data[1][1][3]))
joy_fwd = round(4 * (1 - recv_data[1][1][1]))
joy_rot = round(4 * (1 + recv_data[1][1][2]))
submit = str(joy_vrt * 100 + joy_fwd * 10 + joy_rot)
print(submit)
ser.write(submit.encode('utf-8'))
ser.write(cr.encode('utf-8'))
line = ser.readline().decode('utf-8').rstrip()
print(line)
last_serial_time = time.time()
s.close() # Closes socket
stream.stop() # Stops stream
PRINT('Quit.', SUCCESS)
class VideoWidget(QtGui.QWidget):
newFrame = QtCore.pyqtSignal(np.ndarray)
sourceChanged = QtCore.pyqtSignal()
stateChanged = QtCore.pyqtSignal(int)
def __init__(self, mainWindow, parent=None):
super(VideoWidget, self).__init__(parent)
self.mainWindow = mainWindow
self.videoStream = VideoStream(0)
self.videoStream.newFrame.connect(self.onNewFrame)
self.videoStream.sourceChanged.connect(self.onSourceChanged)
self.videoStream.stateChanged.connect(self.onStateChanged)
self.inputFilename = None
self.outputFilename = None
self.setupUi()
self.setRecordingControlsState()
self.switchToWebCamBtn.setChecked(True)
self.play()
def setupUi(self):
self.videoScreen = VideoScreen(self.videoStream, self, self)
self.fileWidget = FileWidget(self.mainWindow, self, 'Set input')
self.fileWidget.setObjectName(_fromUtf8("fileWidget"))
self.fileWidget.fileChanged.connect(self.onInputChanged)
self.switchToWebCamBtn = QtGui.QPushButton(QtGui.QIcon("webcam.png"), "", self)
self.switchToWebCamBtn.setStyleSheet("margin-right: 7px; padding: 6px")
self.switchToWebCamBtn.clicked.connect(self.onSwitchToWebCamBtnClicked)
self.switchToWebCamBtn.setFlat(True)
self.switchToWebCamBtn.setCheckable(True)
self.spacer1 = QtGui.QWidget()
self.spacer1.setSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding)
self.playAction = QtGui.QAction(
self.style().standardIcon(QtGui.QStyle.SP_MediaPlay), "Play",
self, shortcut="Ctrl+P", enabled=True)
self.playAction.triggered.connect(self.play)
self.pauseAction = QtGui.QAction(
self.style().standardIcon(QtGui.QStyle.SP_MediaPause), "Pause",
self, shortcut="Ctrl+A", enabled=True)
self.pauseAction.triggered.connect(self.pause)
self.stopAction = QtGui.QAction(
self.style().standardIcon(QtGui.QStyle.SP_MediaStop), "Stop",
self, shortcut="Ctrl+S", enabled=True)
self.stopAction.triggered.connect(self.stop)
self.inputBar = QtGui.QToolBar(self)
self.inputBar.addWidget(self.fileWidget)
self.inputBar.addWidget(self.spacer1)
self.inputBar.addAction(self.playAction)
self.inputBar.addAction(self.pauseAction)
self.inputBar.addAction(self.stopAction)
self.inputBar.addWidget(self.switchToWebCamBtn)
self.saveAsWidget = FileWidget(self.mainWindow, self, 'Set output', True)
self.saveAsWidget.fileChanged.connect(self.onOutputChanged)
self.recordAction = QtGui.QAction(
QtGui.QIcon("record.png"), "Record",
self, shortcut="Ctrl+R", enabled=True)
self.recordAction.triggered.connect(self.record)
self.recordAction.setVisible(True)
self.recordStopAction = QtGui.QAction(
QtGui.QIcon("recording.png"), "Stop recording",
self, shortcut="Ctrl+R", enabled=True)
self.recordStopAction.triggered.connect(self.recordStop)
self.recordStopAction.setVisible(False)
self.spacer2 = QtGui.QWidget()
self.spacer2.setSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.QSizePolicy.Expanding)
self.processBtn = QtGui.QPushButton("Process", self)
self.processBtn.setStyleSheet("margin-right: 7px; padding: 5px; width: 140px")
self.processBtn.clicked.connect(self.onProcessBtnClicked)
self.outputBar = QtGui.QToolBar(self)
self.outputBar.addWidget(self.saveAsWidget)
self.outputBar.addWidget(self.spacer2)
self.outputBar.addAction(self.recordAction)
self.outputBar.addAction(self.recordStopAction)
self.outputBar.addWidget(self.processBtn)
hbox = QtGui.QVBoxLayout(self)
hbox.addWidget(self.videoScreen)
hbox.addStretch()
hbox.addWidget(self.inputBar)
hbox.addWidget(self.outputBar)
hbox.setContentsMargins(-1, -1, -1, 2)
def onProcessBtnClicked(self):
self.play()
self.videoStream.record()
def onSwitchToWebCamBtnClicked(self):
if self.switchToWebCamBtn.isChecked():
self.videoStream.resetSource(0)
self.play()
else:
self.videoStream.resetSource()
def onInputChanged(self, filename):
self.inputFilename = filename
self.switchToWebCamBtn.setChecked(False)
self.setRecordingControlsState()
self.videoStream.resetSource(str(filename))
def onOutputChanged(self, filename):
self.outputFilename = filename
self.setRecordingControlsState()
self.videoStream.resetOutput(str(filename))
def pause(self):
self.videoStream.pause()
def play(self):
self.videoStream.play()
def stop(self):
self.videoStream.stop()
def record(self):
self.recordAction.setVisible(False)
self.recordStopAction.setVisible(True)
self.videoStream.record()
def recordStop(self):
self.recordAction.setVisible(True)
self.recordStopAction.setVisible(False)
self.videoStream.recordStop()
@QtCore.pyqtSlot(np.ndarray)
def onNewFrame(self, frame):
self.newFrame.emit(frame)
def onSourceChanged(self):
self.sourceChanged.emit()
@QtCore.pyqtSlot(int)
def onStateChanged(self, state):
if state == VideoStream.State.CLOSED:
self.setClosedState()
elif state == VideoStream.State.STOPPED:
self.setStoppedState()
elif state == VideoStream.State.PAUSED:
self.setPausedState()
elif state == VideoStream.State.PLAYING:
self.setPlayingState()
self.stateChanged.emit(state)
def setClosedState(self):
self.playAction.setEnabled(False)
self.pauseAction.setEnabled(False)
self.stopAction.setEnabled(False)
def setStoppedState(self):
self.playAction.setEnabled(True)
self.pauseAction.setEnabled(False)
self.stopAction.setEnabled(False)
def setPausedState(self):
self.playAction.setEnabled(True)
self.pauseAction.setEnabled(False)
self.stopAction.setEnabled(True)
def setPlayingState(self):
self.playAction.setEnabled(False)
self.pauseAction.setEnabled(True)
self.stopAction.setEnabled(True)
def setRecordingControlsState(self):
self.recordAction.setEnabled(bool(self.outputFilename))
self.recordStopAction.setEnabled(bool(self.outputFilename))
self.processBtn.setEnabled(bool(self.outputFilename) and bool(self.inputFilename))
class VideoWidget(QtGui.QWidget):
newFrame = QtCore.pyqtSignal(np.ndarray)
sourceChanged = QtCore.pyqtSignal()
stateChanged = QtCore.pyqtSignal(int)
def __init__(self, mainWindow, parent=None):
super(VideoWidget, self).__init__(parent)
self.mainWindow = mainWindow
self.videoStream = VideoStream(0)
self.videoStream.newFrame.connect(self.onNewFrame)
self.videoStream.sourceChanged.connect(self.onSourceChanged)
self.videoStream.stateChanged.connect(self.onStateChanged)
self.inputFilename = None
self.outputFilename = None
self.setupUi()
self.setRecordingControlsState()
self.switchToWebCamBtn.setChecked(True)
self.play()
def setupUi(self):
self.videoScreen = VideoScreen(self.videoStream, self, self)
self.fileWidget = FileWidget(self.mainWindow, self, 'Set input')
self.fileWidget.setObjectName(_fromUtf8("fileWidget"))
self.fileWidget.fileChanged.connect(self.onInputChanged)
self.switchToWebCamBtn = QtGui.QPushButton(QtGui.QIcon("webcam.png"),
"", self)
self.switchToWebCamBtn.setStyleSheet("margin-right: 7px; padding: 6px")
self.switchToWebCamBtn.clicked.connect(self.onSwitchToWebCamBtnClicked)
self.switchToWebCamBtn.setFlat(True)
self.switchToWebCamBtn.setCheckable(True)
self.spacer1 = QtGui.QWidget()
self.spacer1.setSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
self.playAction = QtGui.QAction(self.style().standardIcon(
QtGui.QStyle.SP_MediaPlay),
"Play",
self,
shortcut="Ctrl+P",
enabled=True)
self.playAction.triggered.connect(self.play)
self.pauseAction = QtGui.QAction(self.style().standardIcon(
QtGui.QStyle.SP_MediaPause),
"Pause",
self,
shortcut="Ctrl+A",
enabled=True)
self.pauseAction.triggered.connect(self.pause)
self.stopAction = QtGui.QAction(self.style().standardIcon(
QtGui.QStyle.SP_MediaStop),
"Stop",
self,
shortcut="Ctrl+S",
enabled=True)
self.stopAction.triggered.connect(self.stop)
self.inputBar = QtGui.QToolBar(self)
self.inputBar.addWidget(self.fileWidget)
self.inputBar.addWidget(self.spacer1)
self.inputBar.addAction(self.playAction)
self.inputBar.addAction(self.pauseAction)
self.inputBar.addAction(self.stopAction)
self.inputBar.addWidget(self.switchToWebCamBtn)
self.saveAsWidget = FileWidget(self.mainWindow, self, 'Set output',
True)
self.saveAsWidget.fileChanged.connect(self.onOutputChanged)
self.recordAction = QtGui.QAction(QtGui.QIcon("record.png"),
"Record",
self,
shortcut="Ctrl+R",
enabled=True)
self.recordAction.triggered.connect(self.record)
self.recordAction.setVisible(True)
self.recordStopAction = QtGui.QAction(QtGui.QIcon("recording.png"),
"Stop recording",
self,
shortcut="Ctrl+R",
enabled=True)
self.recordStopAction.triggered.connect(self.recordStop)
self.recordStopAction.setVisible(False)
self.spacer2 = QtGui.QWidget()
self.spacer2.setSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
self.processBtn = QtGui.QPushButton("Process", self)
self.processBtn.setStyleSheet(
"margin-right: 7px; padding: 5px; width: 140px")
self.processBtn.clicked.connect(self.onProcessBtnClicked)
self.outputBar = QtGui.QToolBar(self)
self.outputBar.addWidget(self.saveAsWidget)
self.outputBar.addWidget(self.spacer2)
self.outputBar.addAction(self.recordAction)
self.outputBar.addAction(self.recordStopAction)
self.outputBar.addWidget(self.processBtn)
hbox = QtGui.QVBoxLayout(self)
hbox.addWidget(self.videoScreen)
hbox.addStretch()
hbox.addWidget(self.inputBar)
hbox.addWidget(self.outputBar)
hbox.setContentsMargins(-1, -1, -1, 2)
def onProcessBtnClicked(self):
self.play()
self.videoStream.record()
def onSwitchToWebCamBtnClicked(self):
if self.switchToWebCamBtn.isChecked():
self.videoStream.resetSource(0)
self.play()
else:
self.videoStream.resetSource()
def onInputChanged(self, filename):
self.inputFilename = filename
self.switchToWebCamBtn.setChecked(False)
self.setRecordingControlsState()
self.videoStream.resetSource(str(filename))
def onOutputChanged(self, filename):
self.outputFilename = filename
self.setRecordingControlsState()
self.videoStream.resetOutput(str(filename))
def pause(self):
self.videoStream.pause()
def play(self):
self.videoStream.play()
def stop(self):
self.videoStream.stop()
def record(self):
self.recordAction.setVisible(False)
self.recordStopAction.setVisible(True)
self.videoStream.record()
def recordStop(self):
self.recordAction.setVisible(True)
self.recordStopAction.setVisible(False)
self.videoStream.recordStop()
@QtCore.pyqtSlot(np.ndarray)
def onNewFrame(self, frame):
self.newFrame.emit(frame)
def onSourceChanged(self):
self.sourceChanged.emit()
@QtCore.pyqtSlot(int)
def onStateChanged(self, state):
if state == VideoStream.State.CLOSED:
self.setClosedState()
elif state == VideoStream.State.STOPPED:
self.setStoppedState()
elif state == VideoStream.State.PAUSED:
self.setPausedState()
elif state == VideoStream.State.PLAYING:
self.setPlayingState()
self.stateChanged.emit(state)
def setClosedState(self):
self.playAction.setEnabled(False)
self.pauseAction.setEnabled(False)
self.stopAction.setEnabled(False)
def setStoppedState(self):
self.playAction.setEnabled(True)
self.pauseAction.setEnabled(False)
self.stopAction.setEnabled(False)
def setPausedState(self):
self.playAction.setEnabled(True)
self.pauseAction.setEnabled(False)
self.stopAction.setEnabled(True)
def setPlayingState(self):
self.playAction.setEnabled(False)
self.pauseAction.setEnabled(True)
self.stopAction.setEnabled(True)
def setRecordingControlsState(self):
self.recordAction.setEnabled(bool(self.outputFilename))
self.recordStopAction.setEnabled(bool(self.outputFilename))
self.processBtn.setEnabled(
bool(self.outputFilename) and bool(self.inputFilename))