class ItemSource(BareComponent):
def __init__(self):
self.output = Output('item_source')
def push_item(self, item):
self.output.push(item)
class SampleSource(BareComponent):
def __init__(self):
self.output = Output('sample')
def push(self, value):
self.output.push(value)
class SquareFilter(EventDrivenComponent):
def __init__(self, input_, output):
self.input = Latest(input_, trigger=True)
self.output = Output(output)
async def process(self):
self.output.push(self.input.value**2)
class LabelSource(BareComponent):
def __init__(self):
self.output = Output('label')
def push_label(self, label: str):
self.output.push(label)
class PaintDisplay(OpenCvDisplay):
def __init__(self, source):
super().__init__(source)
self.mouse_event: Buffer[MouseEvent] = Buffer(
EventBasedMouseHandler.MOUSE_EVENT)
self.reset_calibration = Output(
ProjectorDriver2d.RESET_CALIBRATION_TRIGGER)
self.clear_canvas = Output('trigger.clear_canvas')
self._menu = Menu([
Label('Menu'),
Button('Calibrate', self.calibrate),
Button('Clear Canvas', self.clear),
],
position=(1, 0))
def calibrate(self):
self.reset_calibration.push(None)
def clear(self):
self.clear_canvas.push(None)
def draw(self, surface: pygame.Surface) -> List[MouseRegion]:
regions = super().draw(surface)
self._menu.handle_mouse_events(self.mouse_event.values)
regions += self._menu.draw(surface)
return regions
class Labeler(EventDrivenComponent):
def __init__(self):
self.item_source = Buffer('item_source', trigger=True)
self.label = Latest('label')
self.output = Output('sink')
async def process(self):
for item in self.item_source.values:
self.output.push(item + self.label.value)
class SquareFilter(IteratingComponent):
target_fps = 10
def __init__(self, input_, output):
self.input = Latest(input_)
self.output = Output(output)
async def process(self):
if self.input.updated:
self.output.push(self.input.value**2)
class SampleSubComponent(SubComponent):
def __init__(self):
self.input = Buffer('sample', trigger=True)
self.output = Output('sample')
self.log = []
def push(self, value):
self.output.push(value)
def do_something(self):
self.log += self.input.values
class TriggerComponent(IteratingComponent):
def __init__(self) -> None:
super().__init__()
self.output = Output('trigger')
@property
def target_fps(self) -> int:
return 1
async def process(self) -> None:
self.output.push(None)
class SampleSource(IteratingComponent):
target_fps = 10
def __init__(self, data, name='sample'):
self.output = Output(name)
self.data = data.copy()
async def process(self):
try:
self.output.push(self.data.pop(0))
except IndexError:
self.logger.warning('End of data reached')
class MyKeyboardHandler(KeyboardHandler):
ACTIONS = [
Action('enter', ['RETURN']),
]
def __init__(self, layout: KeyboardLayout):
super().__init__(layout)
self.state = Output('state')
self.name = Output('name')
self._name = 'World'
def key_down(self, action: str) -> None:
self.state.push('input')
self.capture_text('name', self._name)
def key_up(self, action: str) -> None:
pass
def process(self) -> None:
pass
def text_capture_completed(self, capture_id: str, text: str):
self._name = text
self.name.push(self._name)
self.state.push('hello')
def text_capture_update(self, capture_id: str, text: str):
self.name.push(text)
class FaceDetector(EventDrivenComponent):
FACE_CASCADE = os.path.join(cv2.data.haarcascades, 'haarcascade_frontalface_default.xml')
def __init__(self):
self.source: Latest[Frame] = Latest('source', trigger=True)
self.face_cascade = cv2.CascadeClassifier(self.FACE_CASCADE)
self.output = Output('faces')
async def process(self):
if not self.source.value:
return
faces = await run_in_executor(self._detect_faces, self.source.value.image)
self.output.push(faces)
def _detect_faces(self, image):
return self.face_cascade.detectMultiScale(image, 1.3, 5)
class GameController(EventDrivenComponent):
def __init__(self, game):
self.game = game
self.node = 'start'
self.selection = 0
self.keyboard = Buffer(EventBasedKeyboardHandler.KEYBOARD_EVENT,
trigger=True) # type: Buffer[KeyboardEvent]
self.text = Output('text')
self.choices = Output('choices')
async def setup(self):
self._publish_state()
async def process(self):
changed = False
choices = self.game[self.node]['choices']
for event in self.keyboard.values:
if event.active:
if event.action == 'up' and self.selection > 0:
self.selection -= 1
changed = True
elif event.action == 'down' and self.selection + 1 < len(
choices):
self.selection += 1
changed = True
elif event.action == 'choose' and len(choices):
choice = choices[self.selection]
self.node = choice['goto']
self.selection = 0
changed = True
if changed:
self._publish_state()
def _publish_state(self):
node = self.game[self.node]
self.text.push(node['text'])
choices = [{
'text': choice['text'],
'selected': i == self.selection
} for i, choice in enumerate(node['choices'])]
self.choices.push(choices)
class PaintController(EventDrivenComponent):
COLOR = (0, 255, 0)
BG_COLOR = (0, 0, 0)
THICKNESS = 4
def __init__(self):
self.source = Latest('source', trigger=True) # type: Latest[Frame]
self.output = Output('display')
self.overlay = Output('overlay')
self.mouse_movement = Buffer(
EventBasedMouseHandler.MOUSE_MOVEMENT,
trigger=True) # type: Buffer[MouseMovement]
self.clear_canvas = Latest('trigger.clear_canvas', trigger=True)
self.debug = Output(event.OPENCV_FRAME_EVENT)
self._canvas = None
self._last_position = None
async def process(self):
if not self.source.value:
return
if self.clear_canvas.updated:
self._canvas = None
if self._canvas is None:
self._canvas = np.zeros(self.source.value.image.shape,
dtype='uint8')
for e in self.mouse_movement.values:
if e.region.name in ['display', 'VideoSource0'
] and e.buttons[MouseButton.LEFT]:
if self._last_position:
cv2.line(self._canvas, self._last_position,
e.restored_position, self.COLOR, self.THICKNESS)
self._last_position = e.restored_position
elif e.region.name in ['display', 'VideoSource0'
] and e.buttons[MouseButton.RIGHT]:
if self._last_position:
cv2.line(self._canvas, self._last_position,
e.restored_position, self.BG_COLOR,
self.THICKNESS)
self._last_position = e.restored_position
else:
self._last_position = None
output = self.source.value.image.copy()
mask = (self._canvas > 0).any(-1)
output[mask, :] = self._canvas[mask, :]
output_frame = Frame(output, 'display')
self.output.push(output_frame)
self.debug.push(output_frame)
overlay_frame = Frame(self._canvas, 'overlay')
self.overlay.push(overlay_frame)
self.debug.push(overlay_frame)
class PersonDetector(EventDrivenComponent):
def __init__(self):
self.source = Latest('source', trigger=True) # type: Latest[Frame]
self._hog = cv2.HOGDescriptor()
self._hog.setSVMDetector(cv2.HOGDescriptor_getDefaultPeopleDetector())
self.output = Output('people')
async def process(self):
rects, weights = await run_in_executor(self._detect)
people = [
Person(*rect, weight) for rect, weight in zip(rects, weights)
]
self.output.push(people)
def _detect(self):
step_size = int(self.source.value.width / 200)
scale = 1.5
padding = 16
return self._hog.detectMultiScale(self.source.value.image,
winStride=(step_size, step_size),
scale=scale,
padding=(padding, padding),
useMeanshiftGrouping=True)
class PersonDisplay(EventDrivenComponent):
RECT_COLOR = (255, 0, 0)
HIGHLIGHTED_RECT_COLOR = (255, 255, 0)
RECT_THICKNESS = 2
def __init__(self):
self.source = Latest('source', trigger=True) # type: Latest[Frame]
self.people = Latest('people') # type: Latest[List[Person]]
self.output = Output('display')
self.debug = Output(event.OPENCV_FRAME_EVENT)
self.mouse = Buffer(
EventBasedMouseHandler.MOUSE_EVENT) # type: Buffer[MouseEvent]
self.mouse_move = LatestBy(
EventBasedMouseHandler.MOUSE_MOVEMENT,
lambda m: m.region.name) # type: LatestBy[MouseMovement]
async def process(self):
image = self.source.value.image.copy()
if self.people.value:
for p in self.people.value:
if self._contains_mouse_pointer(p):
color = self.HIGHLIGHTED_RECT_COLOR
else:
color = self.RECT_COLOR
cv2.rectangle(image, (p.x, p.y), (p.x + p.w, p.y + p.h), color,
self.RECT_THICKNESS)
frame = Frame(image, 'display')
self.output.push(frame)
self.debug.push(frame)
def _contains_mouse_pointer(self, person: Person) -> bool:
if not self.mouse_move.value_dict.get('display', None):
return False
x, y = self.mouse_move.value_dict['display'].restored_position
return person.x <= x <= person.x + person.w and person.y <= y <= person.y + person.h
class EventSource(BareComponent):
def __init__(self):
self.output = Output('sample')
def trigger(self):
self.output.push(None)
class EventBasedKeyboardHandler(KeyboardHandler):
"""
Abstract event based keyboard handler base class
This keyboard handler emits events containing `KeyboardEvent` payload on the event key `KEYBOARD_EVENT`, when a key
bound to a configured `Action` is pressed or released.
Text capture can be triggered by sending an event containing a `capture_id` to the key `CAPTURE_TEXT_TRIGGER`.
The results of this text capture flow are emitted via events containing `CaptureTextEvent` payload on the event key
`CAPTURE_TEXT_EVENT`.
Example:
::
class MyKeyboardHandler(EventBasedKeyboardHandler):
ACTIONS = [
Action('up', ['UP', 'w']),
Action('down', ['DOWN', 's']),
Action('left', ['LEFT', 'a']),
Action('right', ['RIGHT', 'd']),
]
"""
CAPTURE_TEXT_TRIGGER: str = 'async2v.keyboard.trigger.capture'
"""
:type: str
"""
CAPTURE_TEXT_EVENT: str = 'async2v.keyboard.text'
"""
:type: str
"""
KEYBOARD_EVENT: str = 'async2v.keyboard.action'
"""
:type: str
"""
def __init__(self, layout: KeyboardLayout):
"""
:param layout: Use layout created by the `layout_from_args` method of the `KeyboardConfigurator` created for
that concrete `KeyboardHandler`
"""
super().__init__(layout)
self.keyboard = Output(self.KEYBOARD_EVENT)
self.text = Output(self.KEYBOARD_EVENT)
self.capture_trigger = Latest(self.CAPTURE_TEXT_TRIGGER)
def key_down(self, action: str) -> None:
self.keyboard.push(KeyboardEvent(action, True))
def key_up(self, action: str) -> None:
self.keyboard.push(KeyboardEvent(action, False))
def process(self) -> None:
if self.capture_trigger.updated:
self.capture_text(self.capture_trigger.value)
def text_capture_update(self, capture_id: str, text: str):
self.text.push(CaptureTextEvent(capture_id, text, complete=False))
def text_capture_completed(self, capture_id: str, text: str):
self.text.push(CaptureTextEvent(capture_id, text, complete=True))
class EventBasedMouseHandler(MouseHandler):
"""
Event based mouse handler
This mouse handler emits events containing `MouseEvent` payload on the event key `MOUSE_EVENT` and
events containing `MouseMovement` payload on the event key `MOUSE_MOVEMENT`.
Supports the `MouseRegion` concept explained above.
"""
MOUSE_EVENT: str = 'async2v.mouse.event'
"""
:type: str
"""
MOUSE_MOVEMENT: str = 'async2v.mouse.movement'
"""
:type: str
"""
def __init__(self):
self._regions: List[MouseRegion] = []
self.event = Output(self.MOUSE_EVENT)
self.movement = Output(self.MOUSE_MOVEMENT)
self._last_region: MouseRegion = None
self._last_position = (-1, -1)
def push_regions(self, regions: [MouseRegion]):
self._regions: List[MouseRegion] = regions
self._get_region()
def _get_region(self,
position: Tuple[int, int] = None) -> Optional[MouseRegion]:
if position:
self._last_position = position
for region in reversed(self._regions):
if region.rect.collidepoint(self._last_position[0],
self._last_position[1]):
if not self._last_region or region.name != self._last_region.name:
if self._last_region:
self.event.push(
MouseEvent(self._last_region, self._last_position,
MouseEventType.LEAVE))
self.event.push(
MouseEvent(region, self._last_position,
MouseEventType.ENTER))
self._last_region = region
return region
else:
if self._last_position != (-1, -1):
self.logger.warning(
f'Position {self._last_position} is not in any region')
return None
def push_button_down(self, position: Tuple[int, int], button: int):
region = self._get_region(position)
button = MouseButton(button)
if region:
self.event.push(
MouseEvent(region,
position,
MouseEventType.DOWN,
button=button))
def push_button_up(self, position: Tuple[int, int], button: int):
region = self._get_region(position)
button = MouseButton(button)
if region:
self.event.push(
MouseEvent(region, position, MouseEventType.UP, button=button))
def push_movement(self, position: Tuple[int, int], rel: Tuple[int, int],
buttons: Tuple[int, int, int]):
region = self._get_region(position)
buttons = {MouseButton(i + 1): buttons[i] > 0 for i in range(3)}
if region:
self.movement.push(MouseMovement(region, position, rel, buttons))
class ProjectorDriver2d(EventDrivenComponent, ContainerMixin):
"""
Draw overlays into the real world with a projector
This component automatically calibrates a projector that projects into the field of view of a camera.
Overlays can then be drawn in coordinates of the camera image. Calibration is performed automatically on start.
It can also be triggered later by sending an arbitrary event to the key stored in `RESET_CALIBRATION_TRIGGER`.
"""
#: Event key for reset command input. Events on this key trigger a new projector calibration.
RESET_CALIBRATION_TRIGGER = 'async2v.projector.trigger.reset_calibration'
@staticmethod
def configurator() -> ProjectorDriver2dConfigurator:
"""
Convenience method to create a matching configurator
"""
return ProjectorDriver2dConfigurator()
def __init__(
self,
source: str,
overlay: str,
projector: str = 'projector',
config: ProjectorDriver2dConfiguration = ProjectorDriver2dConfiguration(
)):
"""
:param source: Key of the video stream input. Needs to provide events with `Frame` payload.
:param overlay: Key of the overlay input. Needs to provide events with `Frame` payload.
:param projector: Key of projector output. `Frame` events are pushed to this output.
:param config: Can be generated via `ProjectorDriver2dConfigurator`
"""
self._calibrator = _ProjectorCalibrator2d(source, projector,
config.debug)
super().__init__([self._calibrator])
self.overlay: Latest[Frame] = Latest(overlay, trigger=True)
self.projector = Output(projector)
self.reset = Latest(self.RESET_CALIBRATION_TRIGGER, trigger=True)
self._calibration_started = False
async def process(self):
if self.reset.updated:
self._calibrator.reset()
if self._calibrator.needs_calibration():
if not self._calibration_started:
self._calibration_started = True
self.logger.info('Starting projector calibration')
self._calibrator.calibrate()
elif self._calibration_started:
self.logger.info('Finished projector calibration')
self._calibration_started = False
self._draw_overlay()
elif self.overlay.updated:
self._draw_overlay()
def _draw_overlay(self):
if not self.overlay.value:
return
canvas = cv2.warpPerspective(self.overlay.value.image,
self._calibrator.transformation_matrix,
self._calibrator.CANVAS_SIZE)
canvas_frame = Frame(canvas, 'projector')
self.projector.push(canvas_frame)
class _ProjectorCalibrator2d(SubComponent):
KERNEL = cv2.getStructuringElement(cv2.MORPH_ELLIPSE, (5, 5))
CANVAS_SIZE = (1200, 900) # TODO make this configurable in a sane way
CALIBRATION_LEARNING_DURATION = 10
CALIBRATION_PATTERN_GRID_SIZE = 100
CALIBRATION_CYCLE = [
('learn_background', CALIBRATION_LEARNING_DURATION),
('draw_pattern', 1),
('wait', 5),
('calibrate_pattern', 5),
('clear_pattern', 1),
('wait', 5),
]
def __init__(self, source, projector, debug):
self._background: cv2.BackgroundSubtractor = cv2.createBackgroundSubtractorMOG2(
)
self._calibration_cycle_i = 0
self._initialize_pattern()
self.source: Latest[Frame] = Latest(source, trigger=True)
self.projector = Output(projector)
if debug:
self.debug = Output(event.OPENCV_FRAME_EVENT)
else:
self.debug = None
self._last_calibrated = 0
self._transformation_matrix = None
def reset(self) -> None:
self._transformation_matrix = None
def needs_calibration(self) -> bool:
return self._transformation_matrix is None
@property
def transformation_matrix(self):
return self._transformation_matrix
def calibrate(self):
if self.source.value is None:
return
self._calibration_cycle_i = (self._calibration_cycle_i + 1) % sum(
[n for action, n in self.CALIBRATION_CYCLE])
action = self._calibration_action()
if action == 'learn_background':
self._background.apply(self.source.value.image,
learningRate=1 /
self.CALIBRATION_LEARNING_DURATION)
elif action == 'wait':
pass
elif action == 'draw_pattern':
pattern = self._draw_pattern()
self._push_pattern_to_projector(pattern)
elif action == 'clear_pattern':
pattern = numpy.zeros(tuple(reversed(self.CANVAS_SIZE)),
dtype=numpy.uint8)
cv2.rectangle(pattern, (0, 0), self.CANVAS_SIZE, 128,
self.CALIBRATION_PATTERN_GRID_SIZE)
self._push_pattern_to_projector(pattern)
elif action == 'calibrate_pattern':
mask = self._background.apply(self.source.value.image,
learningRate=0)
mask = cv2.morphologyEx(mask, cv2.MORPH_OPEN, self.KERNEL)
mask = cv2.blur(mask, (5, 5))
blob_detector = self._create_blob_detector()
found, centers = cv2.findCirclesGrid(
mask, self._calibration_pattern_size,
cv2.CALIB_CB_ASYMMETRIC_GRID + cv2.CALIB_CB_CLUSTERING,
blob_detector, None)
if self.debug:
output = self.source.value.image.copy()
blobs = blob_detector.detect(mask)
output = cv2.drawKeypoints(
output, blobs, numpy.array([]), (0, 0, 255),
cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
cv2.drawChessboardCorners(output,
self._calibration_pattern_size,
centers, found)
self.debug.push(Frame(mask, 'projector.calibration.mask'))
self.debug.push(Frame(output, 'projector.calibration.debug'))
if found:
self._finish_calibration(centers)
else:
raise ValueError(f'Unknown action {action}')
def _draw_pattern(self):
overlay = numpy.zeros(tuple(reversed(self.CANVAS_SIZE)),
dtype=numpy.uint8)
cv2.rectangle(overlay, (0, 0), self.CANVAS_SIZE, 128,
self.CALIBRATION_PATTERN_GRID_SIZE)
r = int(self.CALIBRATION_PATTERN_GRID_SIZE * 0.2)
for pos in self._calibration_pattern:
cv2.circle(overlay, pos, r, (255, 255, 255), -1)
return overlay
def _initialize_pattern(self):
x0 = int(self.CANVAS_SIZE[0] * 0.25)
y0 = int(self.CANVAS_SIZE[1] * 0.25)
a0 = self.CALIBRATION_PATTERN_GRID_SIZE
a1 = numpy.sqrt(3) / 2 * a0
n_x = int(self.CANVAS_SIZE[0] * 0.25 / a0) * 2 + 1
n_y = int(self.CANVAS_SIZE[1] * 0.25 / a1) * 2 + 1
circles = []
for j in range(n_y):
for i in range(n_x):
x = int(x0 + i * a0 + (j % 2) * 0.5 * a0)
y = int(y0 + j * a1)
circles.append((x, y))
self._calibration_pattern = circles
self._calibration_pattern_size = (n_x, n_y)
def _calibration_action(self):
n = 0
for action, duration in self.CALIBRATION_CYCLE:
if n <= self._calibration_cycle_i < n + duration:
return action
n += duration
else:
raise RuntimeError(
f'Invalid calibration state {self._calibration_cycle_i}')
def _create_blob_detector(self):
input_size = min(self.source.value.width, self.source.value.height)
min_distance = int(input_size / 40)
params = cv2.SimpleBlobDetector_Params()
params.blobColor = 255
params.filterByConvexity = False
params.filterByArea = True
params.filterByCircularity = True
params.filterByColor = True
params.filterByInertia = False
params.minDistBetweenBlobs = min_distance
params.minCircularity = 0.7
params.minArea = int((min_distance * 0.1)**2)
return cv2.SimpleBlobDetector_create(params)
def _finish_calibration(self, detected_centers):
canvas_centers = numpy.array(self._calibration_pattern,
dtype='float32')
self._transformation_matrix, _ = cv2.findHomography(
detected_centers, canvas_centers)
self._last_calibrated = time.time()
self._calibration_cycle_i = 0
def _push_pattern_to_projector(self, pattern):
frame = Frame(pattern, 'projector')
self.projector.push(frame)
if self.debug:
self.debug.push(frame)
class VideoSource(IteratingComponent):
"""
OpenCV video source component
Reads from a video file or a camera at a given framerate.
The frames are pushed to the provided event key wrapped in `Frame` objects.
Supports full command line configuration via `VideoSourceConfigurator`.
"""
@staticmethod
def configurator() -> VideoSourceConfigurator:
"""
Convenience method to create a matching configurator
"""
return VideoSourceConfigurator()
def __init__(self, config: VideoSourceConfig, key: str = 'source'):
"""
:param config: Can be generated via `VideoSourceConfigurator`
:param key: Event key of video output
"""
self._path = config.path
self._target_fps = config.fps
self.output = Output(key)
self.debug_output = Output(event.OPENCV_FRAME_EVENT)
self._executor = ThreadPoolExecutor(max_workers=1)
self._resolution = config.resolution
self._resolution_verified = False
self._capture: cv2.VideoCapture = None
@property
def target_fps(self) -> int:
return self._target_fps
@property
def graph_colors(self) -> Tuple[str, str]:
return '#8080F0', '#FBFBFF'
async def setup(self):
await asyncio.get_event_loop().run_in_executor(self._executor, self._create_capture)
def _create_capture(self):
self._capture = cv2.VideoCapture(self._path)
if self._resolution:
self._capture.set(cv2.CAP_PROP_FRAME_WIDTH, self._resolution[0])
self._capture.set(cv2.CAP_PROP_FRAME_HEIGHT, self._resolution[1])
async def process(self):
ret, image = await asyncio.get_event_loop().run_in_executor(self._executor, self._capture.read)
if ret:
frame = Frame(image, self.id)
if not self._resolution_verified:
self._verify_resolution(frame)
self.output.push(frame)
self.debug_output.push(frame)
else:
self.logger.info('Could not read frame, assuming end of file')
self.shutdown()
def _verify_resolution(self, frame: Frame):
if self._resolution:
w, h = self._resolution
if frame.width != w or frame.height != h:
raise ValueError(f'Expected resolution {w}x{h}, got {frame.width}x{frame.height}')
self._resolution_verified = True
self.logger.info(f'Source resolution {frame.width}x{frame.height}')
async def cleanup(self):
await asyncio.get_event_loop().run_in_executor(self._executor, self._release_capture)
def _release_capture(self):
self._capture.release()