def view_imagefile(self, filename):
'''view an image in a zoomable window'''
img = cuav_util.LoadImage(filename, rotate180=self.camera_settings.rotate180)
(w,h) = cuav_util.image_shape(img)
for i in range(len(self.images)):
if filename == self.images[i].filename:
self.current_view = i
self.images[i].shape = (w,h)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
if self.view_image is None or not self.view_image.is_alive():
import wx
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage'),
MPMenuItem('Fit Window\tCtrl+F', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z', 'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B', 'Increase Brightness', 'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B', 'Decrease Brightness', 'decreaseBrightness')])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img, bgr=True)
self.view_image.set_title('View: ' + os.path.basename(filename))
def __init__(self, mpstate):
super(CameraGroundModule,
self).__init__(mpstate,
"camera_ground",
"cuav camera control (ground)",
public=True,
multi_vehicle=True)
self.unload_event = threading.Event()
self.unload_event.clear()
self.transmit_queue = Queue.Queue()
self.decoder = video_play.VideoReader()
self.is_armed = False
self.capture_count = 0
self.image = None
self.last_capture_count = None
self.handled_timestamps = {}
self.viewer = mp_image.MPImage(title='Image',
width=200,
height=200,
auto_size=True)
from MAVProxy.modules.lib.mp_settings import MPSettings, MPSetting
self.camera_settings = MPSettings([
MPSetting('m_bandwidth',
int,
500,
'max bandwidth on mavlink',
increment=1,
tab='GCS'),
MPSetting('m_maxqueue',
int,
5,
'Maximum images queue for mavlink',
tab='GCS'),
],
title='Camera Settings')
self.msocket = None
self.msend = None
self.last_heartbeat = time.time()
self.transmit_thread = self.start_thread(self.transmit_threadfunc)
self.add_command('camera', self.cmd_camera, 'camera control',
['<status>', 'set (CAMERASETTING)'])
self.add_completion_function('(CAMERASETTING)',
self.camera_settings.completion)
# prevent loopback of messages
for mtype in ['DATA16', 'DATA32', 'DATA64', 'DATA96']:
self.module('link').no_fwd_types.add(mtype)
print("camera ground initialised")
pgm = cuav_util.PGM(filename)
im_640 = numpy.zeros((480, 640, 3), dtype='uint8')
raw_image = pgm.array
show_mask(raw_image)
scanner.thermal_convert(pgm.array, im_640, threshold, blue_threshold,
green_threshold)
color_img = cv.CreateImageHeader((640, 480), 8, 3)
cv.SetData(color_img, im_640)
return color_img
view_image = mp_image.MPImage(title='ThermalView',
width=640,
height=480,
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True)
menu = MPMenuTop([])
view_menu = MPMenuSubMenu('View', [
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage')
])
menu.add(view_menu)
view_image.set_menu(menu)
settings = MPSettings([
MPSetting('threshold',
int,
import argparse
import airsim
from MAVProxy.modules.lib import multiproc
from MAVProxy.modules.lib import mp_image
import time
if __name__ == '__main__':
multiproc.freeze_support()
ap = argparse.ArgumentParser()
ap.add_argument("--delay", type=float, default=0.5)
ap.add_argument("--port", type=int, default=19721)
ap.add_argument("--title", type=str, default='FPV Camera Feed')
args = ap.parse_args()
viewer = mp_image.MPImage(title=args.title,
width=320,
height=240,
auto_size=True)
client = airsim.MultirotorClient()
lastt = time.time()
dt_list = []
j = 1
while True:
apiRequest = client.SimGetImages(
[airsim.ImageRequest("0", airsim.ImageType.Scene, False, False)])
apiSingle = apiRequest[0]
encodedImage = apiSingle.image_data_uint8
timestamp = apiSingle.time_stamp
now = time.time()
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
if os.path.isdir(args.directory):
files.extend(file_list(args.directory, ['jpg', 'pgm', 'png']))
else:
if args.directory.find('*') != -1:
files.extend(glob.glob(args.directory))
else:
files.append(args.directory)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=args.service,
elevation=True,
title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
for flag in args.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = slipmap.icon(icon)
slipmap.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
if args.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(args.mission.name)
plist = wp.polygon_list()
if len(plist) > 0:
for i in range(len(plist)):
slipmap.add_object(
mp_slipmap.SlipPolygon('Mission-%s-%u' %
(args.mission.name, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
if args.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(args.mavlog.name)
else:
mpos = None
if args.gammalog is not None:
gamma = parse_gamma_log(args.gammalog)
else:
gamma = None
if args.kmzlog:
kmzpos = mav_position.KmlPosition(args.kmzlog.name)
else:
kmzpos = None
if args.triggerlog:
triggerpos = mav_position.TriggerPosition(args.triggerlog.name)
else:
triggerpos = None
# create a simple lens model using the focal length
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
C_params = cam_params.CameraParams(lens=args.lens,
sensorwidth=args.sensorwidth,
xresolution=args.xresolution,
yresolution=args.yresolution)
if args.target:
target = args.target.split(',')
else:
target = [0, 0, 0]
camera_settings = MPSettings([
MPSetting('roll_stabilised', bool, args.roll_stabilised,
'Roll Stabilised'),
MPSetting('altitude',
int,
args.altitude,
'Altitude',
range=(0, 10000),
increment=1),
MPSetting(
'minalt', int, 30, 'MinAltitude', range=(0, 10000), increment=1),
MPSetting('mpp100',
float,
0.0977,
'MPPat100m',
range=(0, 10000),
increment=0.001),
MPSetting('rotate180', bool, args.rotate_180, 'rotate180'),
MPSetting('filter_type',
str,
'compactness',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('target_lattitude',
float,
float(target[0]),
'target latitude',
increment=1.0e-7),
MPSetting('target_longitude',
float,
float(target[1]),
'target longitude',
increment=1.0e-7),
MPSetting('target_radius',
float,
float(target[2]),
'target radius',
increment=1),
MPSetting('quality',
int,
75,
'Compression Quality',
range=(1, 100),
increment=1),
MPSetting('thumbsize',
int,
args.thumbsize,
'Thumbnail Size',
range=(10, 200),
increment=1),
MPSetting('minscore',
int,
args.minscore,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display'),
],
title='Camera Settings')
image_settings = MPSettings([
MPSetting('MinRegionArea',
float,
0.05,
range=(0, 100),
increment=0.05,
digits=2,
tab='Image Processing'),
MPSetting('MaxRegionArea',
float,
4.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.02,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
1.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('BlueEmphasis', bool, args.blue_emphasis),
MPSetting('SaveIntermediate', bool, args.debug)
],
title='Image Settings')
mosaic = cuav_mosaic.Mosaic(slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True,
classify=args.categories,
thumb_size=args.mosaic_thumbsize)
joelog = cuav_joe.JoeLog(None)
if args.view:
viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True)
start_time = time.time()
for f in files:
if not mosaic.started():
print("Waiting for startup")
if args.start:
mosaic.has_started = True
while not mosaic.started():
mosaic.check_events()
time.sleep(0.01)
if mpos:
# get the position by interpolating telemetry data from the MAVLink log file
# this assumes that the filename contains the timestamp
if gamma is not None:
frame_time = parse_gamma_time(f, gamma)
else:
frame_time = cuav_util.parse_frame_time(f)
frame_time += args.time_offset
if camera_settings.roll_stabilised:
roll = 0
else:
roll = None
try:
pos = mpos.position(frame_time, roll=roll)
except Exception:
print("No position available for %s" % frame_time)
# skip this frame
continue
elif kmzpos is not None:
pos = kmzpos.position(f)
elif triggerpos is not None:
pos = triggerpos.position(f)
else:
# get the position using EXIF data
pos = mav_position.exif_position(f)
pos.time += args.time_offset
# update the plane icon on the map
if pos is not None:
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
if camera_settings.altitude > 0:
pos.altitude = camera_settings.altitude
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
im_orig = cuav_util.LoadImage(f, rotate180=camera_settings.rotate180)
if im_orig is None:
continue
(w, h) = cuav_util.image_shape(im_orig)
if False:
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = im_orig
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
t0 = time.time()
img_scan = im_full
scan_parms = {}
for name in image_settings.list():
scan_parms[name] = image_settings.get(name)
scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate'])
scan_parms['BlueEmphasis'] = float(scan_parms['BlueEmphasis'])
if pos is not None:
(sw, sh) = cuav_util.image_shape(img_scan)
altitude = pos.altitude
if altitude < camera_settings.minalt:
altitude = camera_settings.minalt
scan_parms[
'MetersPerPixel'] = camera_settings.mpp100 * altitude / 100.0
regions = scanner.scan(img_scan, scan_parms)
else:
regions = scanner.scan(img_scan)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full))
count += 1
t1 = time.time()
frame_time = pos.time
if pos:
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=altitude, C=C_params)
if camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (camera_settings.target_lattitude,
camera_settings.target_longitude),
camera_settings.target_radius)
regions = cuav_region.filter_regions(
im_full,
regions,
frame_time=frame_time,
min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type)
scan_count += 1
if pos and len(regions) > 0:
altitude = camera_settings.altitude
if altitude <= 0:
altitude = None
joelog.add_regions(frame_time,
regions,
pos,
f,
width=w,
height=h,
altitude=altitude)
mosaic.add_image(pos.time, f, pos)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
img_view = img_scan
(wview, hview) = cuav_util.image_shape(img_view)
mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(mat, (255, 0, 0))
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
viewer.set_title('Image: ' + os.path.basename(f))
if args.saveview:
cv.CvtColor(mat, mat, cv.CV_RGB2BGR)
cv.SaveImage('view-' + os.path.basename(f), mat)
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(os.path.basename(f), count / total_time, region_count,
scan_count, num_files))
#raw_input("hit ENTER when ready")
print("All images processed (%u seconds)" % (time.time() - start_time))
while True:
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
time.sleep(0.2)
def check_commands(self, bsend):
'''check for remote commands'''
if bsend is None:
return
buf = bsend.recv(0)
if buf is None:
return
try:
obj = cPickle.loads(str(buf))
if obj is None:
return
except Exception as e:
return
if isinstance(obj, cuav_command.StampedCommand):
bidx = None
for i in range(len(self.bsend)):
if bsend == self.bsend[i]:
bidx = i + 1
if bidx is None and bsend == self.msend:
bidx = 0
if bidx is not None:
now = time.time()
self.mcount[bidx] += 1
self.last_msg_stamp[bidx] = now
if obj.timestamp in self.handled_timestamps:
# we've seen this packet before, discard
return
self.handled_timestamps[obj.timestamp] = time.time()
if isinstance(obj, cuav_command.HeartBeat):
self.image_count = obj.icount
self.console.set_status('Images',
'Images %u' % self.image_count,
row=6)
if isinstance(obj, cuav_command.ThumbPacket):
# we've received a set of thumbnails from the plane for a positive hit
if obj.frame_time not in self.thumbs_received:
self.thumbs_received.add(obj.frame_time)
self.thumb_total_bytes += len(buf)
# add the thumbnails to the mosaic
thumbdec = cv2.imdecode(obj.thumb, 1)
if thumbdec is None:
pass
thumbs = cuav_mosaic.ExtractThumbs(thumbdec, len(obj.regions))
thumbsRGB = []
#colour space conversion
for thumb in thumbs:
thumbsRGB.append(cv2.cvtColor(thumb, cv2.COLOR_BGR2RGB))
# log the joe positions
# note the filename is where the fullsize image would be downloaded
# to, if requested
filename = os.path.join(
self.view_dir, cuav_util.frame_time(obj.frame_time)) + ".jpg"
self.log_joe_position(obj.pos, obj.frame_time, obj.regions,
filename, None)
# update the mosaic and map
self.mosaic.add_regions(obj.regions, thumbsRGB, filename, obj.pos)
# update console display
self.region_count += len(obj.regions)
self.thumb_count += 1
self.console.set_status('Regions',
'Regions %u' % self.region_count,
row=6)
self.console.set_status('Thumbs',
'Thumbs %u' % self.thumb_count,
row=7)
self.console.set_status(
'ThumbSize',
'ThumbSize %.0f' % (self.thumb_total_bytes / self.thumb_count),
row=7)
if isinstance(obj, cuav_command.ImagePacket):
# we have an image from the plane
self.image_total_bytes += len(buf)
#save to file
imagedec = cv2.imdecode(obj.jpeg, 1)
ff = os.path.join(self.view_dir,
cuav_util.frame_time(obj.frame_time)) + ".jpg"
write_param = [int(cv2.IMWRITE_JPEG_QUALITY), 99]
cv2.imwrite(ff, imagedec, write_param)
self.mosaic.tag_image(obj.frame_time)
if obj.pos is not None:
self.mosaic.add_image(obj.frame_time, ff, obj.pos)
# update console
self.image_count += 1
color = 'black'
self.console.set_status('Images',
'Images %u' % self.image_count,
row=6,
fg=color)
if isinstance(obj, cuav_command.CommandPacket):
# ground doesn't accept command packets from air
pass
if isinstance(obj, cuav_command.CommandResponse):
# reply to CommandPacket
print('REMOTE: %s' % obj.response)
if isinstance(obj, cuav_command.CameraMessage):
print('CUAV AIR REMOTE: %s' % obj.msg)
if isinstance(obj, cuav_landingregion.LandingZoneDisplay):
lzresult = obj
# display on all maps
for m in self.module_matching('map?'):
m.map.add_object(
mp_slipmap.SlipCircle('LZ',
'LZ',
lzresult.latlon,
lzresult.maxrange,
linewidth=3,
color=(0, 255, 0)))
m.map.add_object(
mp_slipmap.SlipCircle('LZMid',
'LZMid',
lzresult.latlon,
2.0,
linewidth=3,
color=(0, 255, 0)))
lztext = 'LZ: %.6f %.6f E:%.1f AS:%.0f N:%u' % (
lzresult.latlon[0], lzresult.latlon[1], lzresult.maxrange,
lzresult.avgscore, lzresult.numregions)
m.map.add_object(mp_slipmap.SlipInfoText(
'landingzone', lztext))
# assume map2 is the search map
map2 = self.module('map2')
if map2 is not None:
#map2.map.set_zoom(250)
map2.map.set_center(lzresult.latlon[0], lzresult.latlon[1])
map2.map.set_follow(0)
# assume map3 is the lz map
map3 = self.module('map3')
if map3 is not None:
map3.map.set_zoom(max(50, 2 * lzresult.maxrange))
map3.map.set_center(lzresult.latlon[0], lzresult.latlon[1])
map3.map.set_follow(0)
try:
cuav = self.module('CUAV')
cuav.show_JoeZone()
except Exception as ex:
print("err: ", ex)
return
if isinstance(obj, cuav_command.FilePacket):
print("got file %s" % obj.filename)
try:
open(obj.filename, "w").write(obj.contents)
except Exception as ex:
print("file save failed", ex)
return
if obj.filename == "newwp.txt":
try:
wpmod = self.module('wp')
wpmod.wploader.load(obj.filename)
except Exception as ex:
print("wp load failed", ex)
if isinstance(obj, cuav_command.PreviewPacket):
# we have a preview image from the plane
img = cv2.imdecode(obj.jpeg, 1)
if self.preview_window is None or not self.preview_window.is_alive(
):
self.preview_window = mp_image.MPImage(title='Preview',
width=410,
height=308,
auto_size=True)
if self.preview_window is not None:
self.preview_window.set_image(img, bgr=True)
self.preview_window.poll()
if __name__ == '__main__':
import argparse
import sys
from MAVProxy.modules.lib import mp_image
# construct the argument parse and parse the arguments
ap = argparse.ArgumentParser()
ap.add_argument("infile", type=str)
args = ap.parse_args()
decoder = VideoReader()
counter = 0
viewer = mp_image.MPImage(title='Decoded',
width=200,
height=200,
auto_size=True)
f = open(args.infile, "rb")
while True:
time.sleep(0.1)
blk = f.read(512)
if blk is None or len(blk) == 0:
break
print("Block %u" % counter)
counter += 1
img = decoder.get_image(blk)
while img is not None:
viewer.set_image(img)
img = decoder.get_image('')
import video_decode_dec265
encoder = video_encode_x265.VideoWriter()
decoder = video_decode_dec265.VideoReader()
else:
import video_encode
import video_play
encoder = video_encode.VideoWriter()
decoder = video_play.VideoReader()
if args.crop:
encoder.set_cropstr(args.crop)
viewer_in = mp_image.MPImage(title='Original',
width=200,
height=200,
auto_size=True)
viewer_out = mp_image.MPImage(title='Decoded',
width=200,
height=200,
auto_size=True)
idx = 0
timestamp_ms = 0
enc_saved = open("enc.dat", "wb")
total_bytes = 0
total_frames = 0
while True:
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = scan_image_directory(args.imagedir)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if args.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=args.gps_lag)
mpos.set_logfile(args.mavlog)
else:
mpos = None
if args.boundary:
boundary = cuav_util.polygon_load(args.boundary)
else:
boundary = None
if args.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map')
icon = slipmap.icon('redplane.png')
slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
if args.camera_params:
C_params = cam_params.CameraParams.fromfile(args.camera_params.name)
else:
im_orig = cv2.imread(files[0])
(w,h) = cuav_util.image_shape(im_orig)
C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth, xresolution=w, yresolution=h)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if args.joe:
joes = cuav_util.polygon_load(args.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(mp_slipmap.SlipIcon('joe%u' % i, (joe[0],joe[1]), icon, layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if args.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
scan_parms = {
'MinRegionArea' : args.min_region_area,
'MaxRegionArea' : args.max_region_area,
'MinRegionSize' : args.min_region_size,
'MaxRegionSize' : args.max_region_size,
'MaxRarityPct' : args.max_rarity_pct,
'RegionMergeSize' : args.region_merge,
'SaveIntermediate' : float(0),
#'SaveIntermediate' : float(args.debug),
'MetersPerPixel' : args.meters_per_pixel100 * args.altitude / 100.0
}
filenum = 0
for f in files:
filenum += 1
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if args.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, args.max_deltat,roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print(e)
pos = None
else:
pos = None
# check for any events from the map
if args.mosaic:
slipmap.check_events()
mosaic.check_events()
im_orig = cv2.imread(f)
(w,h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_half = cv2.resize(im_orig, (0,0), fx=0.5, fy=0.5)
im_half = numpy.ascontiguousarray(im_half)
im_full = numpy.ascontiguousarray(im_full)
count = 0
total_time = 0
if args.fullres:
img_scan = im_full
else:
img_scan = im_half
t0=time.time()
for i in range(args.repeat):
regions = scanner.scan(img_scan, scan_parms)
regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full))
count += 1
t1=time.time()
if args.filter:
regions = cuav_region.filter_regions(im_full, regions, min_score=args.minscore,
filter_type=args.filter_type)
if len(regions) > 0 and args.debug:
composite = cuav_region.CompositeThumbnail(im_full, regions, thumb_size=args.thumb_size)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
thumb_num = 0
for thumb in thumbs:
print("thumb %u score %f" % (thumb_num, regions[thumb_num].score))
cv2.imwrite('%u_thumb%u.jpg' % (filenum,thumb_num), thumb)
thumb_num += 1
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and args.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(args.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(args.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=args.altitude, C=C_params)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if args.mosaic and len(regions) > 0 and pos:
composite = cuav_region.CompositeThumbnail(im_full, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if args.view:
if args.fullres:
img_view = im_full
else:
img_view = img_scan
#mat = cv.fromarray(img_view)
for r in regions:
r.draw_rectangle(img_view, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1))
img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB)
viewer.set_image(img_view)
total_time += (t1-t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' % (
f, count/total_time, region_count, scan_count, num_files))
def __init__(self, slipmap,
grid_width=20, grid_height=20, thumb_size=35, C=CameraParams(),
camera_settings = None,
image_settings = None,
start_menu=False,
classify=None):
self.thumb_size = thumb_size
self.width = grid_width * thumb_size
self.height = grid_height * thumb_size
self.mosaic = cv.CreateImage((self.height,self.width),8,3)
cuav_util.zero_image(self.mosaic)
self.display_regions = grid_width*grid_height
self.regions = []
self.regions_sorted = []
self.regions_hidden = set()
self.mouse_region = None
self.ridx_by_frame_time = {}
self.page = 0
self.sort_type = 'Time'
self.images = []
self.current_view = 0
self.last_view_latlon = None
self.view_filename = None
self.full_res = False
self.boundary = []
self.displayed_image = None
self.last_click_position = None
self.c_params = C
self.camera_settings = camera_settings
self.image_settings = image_settings
self.start_menu = start_menu
self.classify = classify
self.has_started = not start_menu
import wx
self.image_mosaic = mp_image.MPImage(title='Mosaic',
mouse_events=True,
key_events=True,
auto_size=False,
report_size_changes=True)
self.slipmap = slipmap
self.selected_region = 0
self.view_image = None
self.brightness = 1
# dictionary of image requests, contains True if fullres image is wanted
self.image_requests = {}
self.slipmap.add_callback(functools.partial(self.map_callback))
if classify:
import lxml.objectify, lxml.etree
with open(classify) as f:
categories = lxml.objectify.fromstring(f.read())
cat_names = set()
self.categories = []
try:
for c in categories.category:
self.categories.append((c.get('shortcut') or '', c.text))
if c.text in cat_names:
print 'WARNING: category name',c.text,'used more than once'
else:
cat_names.add(c.text)
except AttributeError as ex:
print ex
print 'failed to load any categories for classification'
self.region_class = lxml.objectify.E.regions()
self.add_menus()
pgm = cuav_util.PGM(filename)
im2 = numpy.zeros((opts.height, opts.width, 3), dtype='uint8')
raw_image = pgm.array
show_mask(raw_image)
scanner.thermal_convert(pgm.array, im2, threshold, blue_threshold,
green_threshold)
color_img = cv.CreateImageHeader((opts.width, opts.height), 8, 3)
cv.SetData(color_img, im2)
return color_img
view_image = mp_image.MPImage(title='ThermalView',
width=opts.width,
height=opts.height,
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True)
menu = MPMenuTop([])
view_menu = MPMenuSubMenu('View', [
MPMenuItem('Next Image\tCtrl+N', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P', 'Previous Image', 'previousImage')
])
menu.add(view_menu)
view_image.set_menu(menu)
settings = MPSettings([
MPSetting('threshold',
int,
def process(args):
'''process a set of files'''
global slipmap, mosaic
scan_count = 0
files = []
for a in args:
if os.path.isdir(a):
files.extend(glob.glob(os.path.join(a, '*.pgm')))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
joes = []
if opts.mavlog:
mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.boundary:
boundary = cuav_util.polygon_load(opts.boundary)
else:
boundary = None
if opts.mosaic:
slipmap = mp_slipmap.MPSlipMap(service='GoogleSat',
elevation=True,
title='Map')
icon = slipmap.icon('planetracker.png')
slipmap.add_object(
mp_slipmap.SlipIcon('plane', (0, 0),
icon,
layer=3,
rotation=0,
follow=True,
trail=mp_slipmap.SlipTrail()))
C_params = cam_params.CameraParams(lens=opts.lens)
path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..',
'..', 'cuav', 'data', 'chameleon1_arecont0.json')
C_params.load(path)
mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
if boundary is not None:
mosaic.set_boundary(boundary)
if opts.joe:
joes = cuav_util.polygon_load(opts.joe)
if boundary:
for i in range(len(joes)):
joe = joes[i]
if cuav_util.polygon_outside(joe, boundary):
print("Error: joe outside boundary", joe)
return
icon = slipmap.icon('flag.png')
slipmap.add_object(
mp_slipmap.SlipIcon('joe%u' % i, (joe[0], joe[1]),
icon,
layer=4))
joelog = cuav_joe.JoeLog('joe.log')
if opts.view:
viewer = mp_image.MPImage(title='Image')
frame_time = 0
scan_parms = {
'MinRegionArea': opts.min_region_area,
'MaxRegionArea': opts.max_region_area,
'MinRegionSize': opts.min_region_size,
'MaxRegionSize': opts.max_region_size,
'MaxRarityPct': opts.max_rarity_pct,
'RegionMergeSize': opts.region_merge,
'SaveIntermediate': float(opts.debug),
'MetersPerPixel': opts.meters_per_pixel
}
if opts.filter_type == 'compactness':
calculate_compactness = True
print("Using compactness filter")
else:
calculate_compactness = False
for f in files:
if mpos:
frame_time = cuav_util.parse_frame_time(f)
try:
if opts.roll_stabilised:
roll = 0
else:
roll = None
pos = mpos.position(frame_time, opts.max_deltat, roll=roll)
slipmap.set_position('plane', (pos.lat, pos.lon),
rotation=pos.yaw)
except mav_position.MavInterpolatorException as e:
print e
pos = None
else:
pos = None
# check for any events from the map
if opts.mosaic:
slipmap.check_events()
mosaic.check_events()
if f.endswith('.pgm'):
pgm = cuav_util.PGM(f)
im = pgm.array
if pgm.eightbit:
im_8bit = im
else:
im_8bit = numpy.zeros((960, 1280, 1), dtype='uint8')
if opts.gamma != 0:
scanner.gamma_correct(im, im_8bit, opts.gamma)
else:
scanner.reduce_depth(im, im_8bit)
im_full = numpy.zeros((960, 1280, 3), dtype='uint8')
scanner.debayer(im_8bit, im_full)
im_640 = numpy.zeros((480, 640, 3), dtype='uint8')
scanner.downsample(im_full, im_640)
else:
im_orig = cv.LoadImage(f)
(w, h) = cuav_util.image_shape(im_orig)
im_full = im_orig
im_640 = cv.CreateImage((640, 480), 8, 3)
cv.Resize(im_full, im_640, cv.CV_INTER_NN)
im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
im_full = numpy.ascontiguousarray(cv.GetMat(im_full))
count = 0
total_time = 0
if opts.fullres:
img_scan = im_full
else:
img_scan = im_640
t0 = time.time()
for i in range(opts.repeat):
regions = scanner.scan(img_scan, scan_parms)
regions = cuav_region.RegionsConvert(
regions, cuav_util.image_shape(img_scan),
cuav_util.image_shape(im_full), calculate_compactness)
count += 1
t1 = time.time()
if opts.filter:
regions = cuav_region.filter_regions(im_full,
regions,
frame_time=frame_time,
min_score=opts.minscore,
filter_type=opts.filter_type)
scan_count += 1
# optionally link all the images with joe into a separate directory
# for faster re-running of the test with just joe images
if pos and opts.linkjoe and len(regions) > 0:
cuav_util.mkdir_p(opts.linkjoe)
if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
joepath = os.path.join(opts.linkjoe, os.path.basename(f))
if os.path.exists(joepath):
os.unlink(joepath)
os.symlink(f, joepath)
if pos and len(regions) > 0:
joelog.add_regions(frame_time,
regions,
pos,
f,
width=1280,
height=960,
altitude=opts.altitude)
if boundary:
regions = cuav_region.filter_boundary(regions, boundary, pos)
region_count += len(regions)
if opts.mosaic and len(regions) > 0:
composite = cuav_mosaic.CompositeThumbnail(
cv.GetImage(cv.fromarray(im_full)), regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
mosaic.add_regions(regions, thumbs, f, pos)
if opts.compress:
jpeg = scanner.jpeg_compress(im_full, opts.quality)
jpeg_filename = f[:-4] + '.jpg'
if os.path.exists(jpeg_filename):
print('jpeg %s already exists' % jpeg_filename)
continue
chameleon.save_file(jpeg_filename, jpeg)
if opts.view:
if opts.fullres:
img_view = im_full
else:
img_view = img_scan
mat = cv.fromarray(img_view)
for r in regions:
(x1, y1, x2, y2) = r.tuple()
(w, h) = cuav_util.image_shape(img_view)
x1 = x1 * w // 1280
x2 = x2 * w // 1280
y1 = y1 * h // 960
y2 = y2 * h // 960
cv.Rectangle(mat, (max(x1 - 2, 0), max(y1 - 2, 0)),
(x2 + 2, y2 + 2), (255, 0, 0), 2)
cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
viewer.set_image(mat)
total_time += (t1 - t0)
if t1 != t0:
print('%s scan %.1f fps %u regions [%u/%u]' %
(f, count / total_time, region_count, scan_count, num_files))
def __init__(self,
slipmap,
grid_width=20,
grid_height=20,
thumb_size=35,
map_thumb_size=None,
C=None,
camera_settings=None,
image_settings=None,
start_menu=False,
classify=None,
image_view_width=700,
search_map=None,
lz_map=None):
if C is None:
raise ValueError("camera parameters must be supplied")
self.thumb_size = thumb_size
if map_thumb_size is not None:
self.map_thumb_size = map_thumb_size
else:
self.map_thumb_size = self.thumb_size
self.width = grid_width * thumb_size
self.height = grid_height * thumb_size
self.mosaic = numpy.zeros((self.height, self.width, 3),
dtype=numpy.uint32)
self.display_regions = grid_width * grid_height
self.regions = []
self.regions_sorted = []
self.regions_hidden = set()
self.mouse_region = None
self.ridx_by_frame_time = {}
self.page = 0
self.sort_type = 'Score'
self.images = []
self.current_view = 0
self.last_view_latlon = None
self.view_filename = None
self.full_res = False
self.autorefresh = True
self.topfifty = False
self.boundary = []
self.displayed_image = None
self.last_click_position = None
self.c_params = C
self.camera_settings = camera_settings
self.image_settings = image_settings
self.start_menu = start_menu
self.classify = classify
self.has_started = not start_menu
self.image_view_width = image_view_width # for image viewer
import wx
self.image_mosaic = mp_image.MPImage(title='Mosaic',
mouse_events=True,
key_events=True,
auto_size=False,
report_size_changes=True)
self.slipmap = slipmap
self.search_map = search_map
self.lz_map = lz_map
self.allmaps = [slipmap]
if self.search_map:
self.allmaps.append(self.search_map)
if self.lz_map:
self.allmaps.append(self.lz_map)
print("allmaps: ", self.allmaps)
self.selected_region = 0
self.have_selected_region = False
self.view_image = None
self.brightness = 0
# dictionary of image requests, contains True if fullres image is wanted
self.image_requests = {}
for m in self.allmaps:
m.add_callback(functools.partial(self.map_callback))
if classify:
import lxml.objectify, lxml.etree
with open(classify) as f:
categories = lxml.objectify.fromstring(f.read())
cat_names = set()
self.categories = []
try:
for c in categories.category:
self.categories.append((c.get('shortcut')
or '', c.text))
if c.text in cat_names:
print 'WARNING: category name', c.text, 'used more than once'
else:
cat_names.add(c.text)
except AttributeError as ex:
print ex
print 'failed to load any categories for classification'
self.region_class = lxml.objectify.E.regions()
self.add_menus()
def view_imagefile(self, filename, focus_region=None):
'''view an image in a zoomable window'''
img = cv2.imread(filename)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
(w, h) = cuav_util.image_shape(img)
for i in range(len(self.images)):
if filename == self.images[i].filename:
self.current_view = i
self.last_view_latlon = None
self.images[i].shape = (w, h)
for r in self.regions:
if r.filename == filename:
r.region.draw_rectangle(img,
colour=(255, 0, 0),
linewidth=min(max(w / 600, 1), 3),
offset=max(w / 200, 1))
if self.view_image is None or not self.view_image.is_alive():
import wx
viewwidth = w
viewheight = h
if self.image_view_width is not None:
if viewwidth > self.image_view_width:
viewwidth = self.image_view_width
viewheight = (h * viewwidth) / w
self.view_image = mp_image.MPImage(title='View',
mouse_events=True,
key_events=True,
can_zoom=True,
can_drag=True,
width=viewwidth,
height=viewheight)
vmenu = MPMenuSubMenu('View',
items=[
MPMenuItem('Next Image\tCtrl+N',
'Next Image', 'nextImage'),
MPMenuItem('Previous Image\tCtrl+P',
'Previous Image',
'previousImage'),
MPMenuItem('Fit Window\tCtrl+F',
'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom\tCtrl+Z',
'Full Zoom', 'fullSize'),
MPMenuItem('Brightness +\tCtrl+B',
'Increase Brightness',
'increaseBrightness'),
MPMenuItem('Brightness -\tCtrl+Shift+B',
'Decrease Brightness',
'decreaseBrightness'),
MPMenuItem('Refresh Image\tCtrl+R',
'Refresh Image',
'refreshImage'),
MPMenuItem('Place Marker\tCtrl+M',
'Place Marker', 'placeMarker')
])
self.view_menu = MPMenuTop([vmenu])
self.view_image.set_menu(self.view_menu)
self.view_image.set_popup_menu(vmenu)
self.view_filename = filename
self.view_image.set_image(img)
if focus_region is not None:
try:
self.view_image.center(focus_region.center())
except Exception:
pass
self.view_image.set_title('View: ' + os.path.basename(filename))
self.view_image.fit_to_window()
def process(folderfile):
'''process a file'''
file_index = 0
files = []
if os.path.isdir(folderfile):
files = file_list(folderfile, ['jpg', 'jpeg', 'png'])
else:
files.append(folderfile)
fname = files[file_index]
settings = MPSettings([
MPSetting('MetersPerPixel',
float,
0.2,
range=(0, 10),
increment=0.01,
digits=2,
tab='Image Processing'),
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionArea',
float,
2.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.1,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting(
'MaxRegionSize', float, 2, range=(0, 100), increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('minscore',
int,
0,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting(
'filter_type', str, 'simple', 'Filter Type', choice=['simple']),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display')
],
title='Settings')
menu = MPMenuSubMenu(
'View',
items=[
MPMenuItem('Original Image', 'Original Image', '_1original.pnm'),
MPMenuItem('Unquantised Image', 'Unquantised Image',
'_1unquantised.pnm'),
MPMenuItem('Thresholded Image', 'Thresholded Image',
'_2thresholded.pnm'),
MPMenuItem('Neighbours Image', 'Neighbours Image',
'_3neighbours.pnm'),
MPMenuItem('Regions Image', 'Regions Image', '_4regions.pnm'),
MPMenuItem('Prune Large Image', 'Prune Large Image',
'_5prunelarge.pnm'),
MPMenuItem('Merged Image', 'Merged Large', '_6merged.pnm'),
MPMenuItem('Pruned Image', 'Pruned Image', '_7pruned.pnm'),
MPMenuItem('Fit Window', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom', 'Full Zoom', 'fullSize'),
MPMenuItem('Next Image', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image', 'Previous Image', 'previousImage')
])
im_orig = cv2.imread(fname, -1)
im_numpy = numpy.ascontiguousarray(im_orig)
# create the various views
view = mp_image.MPImage(title='FullImage', can_zoom=True, can_drag=True)
view.set_popup_menu(menu)
dlg = wxsettings.WXSettings(settings)
selected_image = "_1original.pnm"
while dlg.is_alive() and view.is_alive():
last_change = settings.last_change()
scan_parms = {
'MinRegionArea': settings.MinRegionArea,
'MaxRegionArea': settings.MaxRegionArea,
'MinRegionSize': settings.MinRegionSize,
'MaxRegionSize': settings.MaxRegionSize,
'MaxRarityPct': settings.MaxRarityPct,
'RegionMergeSize': settings.RegionMergeSize,
'SaveIntermediate': 1.0,
'MetersPerPixel': settings.MetersPerPixel
}
t0 = time.time()
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(im_orig),
cuav_util.image_shape(im_orig),
False)
t1 = time.time()
print("Processing %s took %.2f seconds" % (fname, t1 - t0))
show_image(view, str(file_index + 1) + selected_image, im_orig, fname)
while last_change == settings.last_change() and dlg.is_alive():
new_index = file_index
for event in view.events():
if isinstance(event, MPMenuItem):
if event.returnkey == 'nextImage':
new_index = (file_index + 1) % len(files)
elif event.returnkey == 'previousImage':
new_index = (file_index - 1) % len(files)
elif event.returnkey.endswith("pnm"):
selected_image = event.returnkey
show_image(view,
str(file_index + 1) + selected_image,
im_orig, fname)
if new_index != file_index:
file_index = new_index
fname = files[file_index]
im_orig = cv2.imread(fname, -1)
im_numpy = numpy.ascontiguousarray(im_orig)
break
time.sleep(0.1)
#remove all the pnm's
directory = os.getcwd()
lst = os.listdir(directory)
for item in lst:
if item.endswith(".pnm"):
os.remove(os.path.join(directory, item))
def process(args):
'''process a file'''
file_index = 0
if os.path.isdir(args[0]):
files = file_list(args[0], ['jpg', 'pgm', 'png'])
else:
files = args
fname = files[file_index]
settings = MPSettings([
MPSetting('MetersPerPixel',
float,
0.2,
range=(0, 10),
increment=0.01,
digits=2,
tab='Image Processing'),
MPSetting('MinRegionArea',
float,
0.15,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting('MaxRegionArea',
float,
2.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('MinRegionSize',
float,
0.1,
range=(0, 100),
increment=0.05,
digits=2),
MPSetting(
'MaxRegionSize', float, 2, range=(0, 100), increment=0.1,
digits=1),
MPSetting('MaxRarityPct',
float,
0.02,
range=(0, 100),
increment=0.01,
digits=2),
MPSetting('RegionMergeSize',
float,
3.0,
range=(0, 100),
increment=0.1,
digits=1),
MPSetting('minscore',
int,
0,
'Min Score',
range=(0, 1000),
increment=1,
tab='Scoring'),
MPSetting('filter_type',
str,
'simple',
'Filter Type',
choice=['simple', 'compactness']),
MPSetting('brightness',
float,
1.0,
'Display Brightness',
range=(0.1, 10),
increment=0.1,
digits=2,
tab='Display')
],
title='Settings')
menu = MPMenuSubMenu(
'View',
items=[
MPMenuItem('Original Image', 'Original Image', 'originalImage'),
MPMenuItem('Unquantised Image', 'Unquantised Image',
'unquantisedImage'),
MPMenuItem('Thresholded Image', 'Thresholded Image',
'thresholdedImage'),
MPMenuItem('Neighbours Image', 'Neighbours Image',
'neighboursImage'),
MPMenuItem('Regions Image', 'Regions Image', 'regionsImage'),
MPMenuItem('Prune Large Image', 'Prune Large Image',
'prunelargeImage'),
MPMenuItem('Merged Image', 'Merged Large', 'mergedImage'),
MPMenuItem('Pruned Image', 'Pruned Image', 'prunedImage'),
MPMenuItem('Fit Window', 'Fit Window', 'fitWindow'),
MPMenuItem('Full Zoom', 'Full Zoom', 'fullSize'),
MPMenuItem('Next Image', 'Next Image', 'nextImage'),
MPMenuItem('Previous Image', 'Previous Image', 'previousImage')
])
im_orig = cuav_util.LoadImage(fname)
im_numpy = numpy.ascontiguousarray(cv.GetMat(im_orig))
im_rgb = cv.fromarray(im_numpy)
cv.CvtColor(im_rgb, im_rgb, cv.CV_BGR2RGB)
# create the various views
view = mp_image.MPImage(title='FullImage', can_zoom=True, can_drag=True)
view.set_popup_menu(menu)
dlg = wxsettings.WXSettings(settings)
selected_image = "original"
while dlg.is_alive() and view.is_alive():
last_change = settings.last_change()
scan_parms = {
'MinRegionArea': settings.MinRegionArea,
'MaxRegionArea': settings.MaxRegionArea,
'MinRegionSize': settings.MinRegionSize,
'MaxRegionSize': settings.MaxRegionSize,
'MaxRarityPct': settings.MaxRarityPct,
'RegionMergeSize': settings.RegionMergeSize,
'SaveIntermediate': 1.0,
'MetersPerPixel': settings.MetersPerPixel
}
t0 = time.time()
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(im_orig),
cuav_util.image_shape(im_orig),
False)
t1 = time.time()
print("Processing %s took %.2f seconds" % (fname, t1 - t0))
show_image(view, selected_image, im_rgb, fname)
while last_change == settings.last_change() and dlg.is_alive():
new_index = file_index
for event in view.events():
if isinstance(event, MPMenuItem):
if event.returnkey == 'nextImage':
new_index = (file_index + 1) % len(files)
elif event.returnkey == 'previousImage':
new_index = (file_index - 1) % len(files)
elif event.returnkey.endswith("Image"):
selected_image = event.returnkey[:-5]
show_image(view, selected_image, im_rgb, fname)
if new_index != file_index:
file_index = new_index
fname = files[file_index]
im_orig = cuav_util.LoadImage(fname)
im_numpy = numpy.ascontiguousarray(cv.GetMat(im_orig))
im_rgb = cv.fromarray(im_numpy)
cv.CvtColor(im_rgb, im_rgb, cv.CV_BGR2RGB)
break
time.sleep(0.1)
