def add_regions(self,
frame_time,
regions,
pos,
image_filename,
thumb_filename=None,
width=1280,
height=960,
altitude=None):
'''add a set of regions to the log, applying geo-referencing.
Add latlon attribute to regions
'''
ret = []
for r in regions:
if r.latlon is None:
latlon = cuav_util.gps_position_from_image_region(
r, pos, width, height, altitude=altitude)
else:
# the plane already added latlon
latlon = r.latlon
if latlon is not None:
r.latlon = latlon
self.add(latlon, frame_time, r, pos, image_filename,
thumb_filename)
return ret
def add_regions(
self, frame_time, regions, pos, image_filename, thumb_filename=None, width=1280, height=960, altitude=None
):
"""add a set of regions to the log, applying geo-referencing.
Add latlon attribute to regions
"""
ret = []
for r in regions:
if r.latlon is None:
latlon = cuav_util.gps_position_from_image_region(r, pos, width, height, altitude=altitude)
else:
# the plane already added latlon
latlon = r.latlon
if latlon is not None:
r.latlon = latlon
self.add(latlon, frame_time, r, pos, image_filename, thumb_filename)
return ret
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(file_list(a, ["jpg", "pgm", "png"]))
else:
if a.find("*") != -1:
files.extend(glob.glob(a))
else:
files.append(a)
files.sort()
num_files = len(files)
print("num_files=%u" % num_files)
region_count = 0
slipmap = mp_slipmap.MPSlipMap(service=opts.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 opts.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 opts.mission:
from pymavlink import mavwp
wp = mavwp.MAVWPLoader()
wp.load(opts.mission)
plist = wp.polygon_list()
if len(plist) > 0:
for i in range(len(plist)):
slipmap.add_object(
mp_slipmap.SlipPolygon(
"Mission-%s-%u" % (opts.mission, i),
plist[i],
layer="Mission",
linewidth=2,
colour=(255, 255, 255),
)
)
if opts.mavlog:
mpos = mav_position.MavInterpolator()
mpos.set_logfile(opts.mavlog)
else:
mpos = None
if opts.gammalog is not None:
gamma = parse_gamma_log(opts.gammalog)
else:
gamma = None
if opts.kmzlog:
kmzpos = mav_position.KmlPosition(opts.kmzlog)
else:
kmzpos = None
if opts.triggerlog:
triggerpos = mav_position.TriggerPosition(opts.triggerlog)
else:
triggerpos = None
# create a simple lens model using the focal length
C_params = cam_params.CameraParams(lens=opts.lens, sensorwidth=opts.sensorwidth)
if opts.camera_params:
C_params.load(opts.camera_params)
if opts.target:
target = opts.target.split(",")
else:
target = [0, 0, 0]
camera_settings = MPSettings(
[
MPSetting("roll_stabilised", bool, opts.roll_stabilised, "Roll Stabilised"),
MPSetting("altitude", int, opts.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, opts.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, opts.thumbsize, "Thumbnail Size", range=(10, 200), increment=1),
MPSetting("minscore", int, opts.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, opts.blue_emphasis),
MPSetting("SaveIntermediate", bool, opts.debug),
],
title="Image Settings",
)
mosaic = cuav_mosaic.Mosaic(
slipmap,
C=C_params,
camera_settings=camera_settings,
image_settings=image_settings,
start_menu=True,
classify=opts.categories,
thumb_size=opts.mosaic_thumbsize,
)
joelog = cuav_joe.JoeLog(None)
if opts.view:
viewer = mp_image.MPImage(title="Image", can_zoom=True, can_drag=True)
for f in files:
if not mosaic.started():
print("Waiting for startup")
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 += opts.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 += opts.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 not opts.camera_params:
C_params.set_resolution(w, h)
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
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)
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 opts.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 opts.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")
while True:
# check for any events from the map
slipmap.check_events()
mosaic.check_events()
time.sleep(0.2)
def scan_threadfunc(self):
'''image scanning thread'''
while not self.unload_event.wait(0.05):
if self.scan_queue.empty():
continue
(frame_time,im) = self.scan_queue.get()
scan_parms = {}
for name in self.image_settings.list():
scan_parms[name] = self.image_settings.get(name)
scan_parms['BlueEmphasis'] = float(self.camera_settings.blue_emphasis)
if self.terrain_alt is not None:
altitude = self.terrain_alt
if altitude < self.camera_settings.minalt:
altitude = self.camera_settings.minalt
scan_parms['MetersPerPixel'] = cuav_util.pixel_width(altitude,
self.c_params.xresolution,
self.c_params.lens,
self.c_params.sensorwidth)
t1 = time.time()
try:
img_scan = cv2.imread(im, -1)
except Exception:
continue
if img_scan is None:
continue
(h, w) = img_scan.shape[:2]
if self.camera_settings.rotate180:
M = cv2.getRotationMatrix2D(center, angle180, scale)
img_scan = cv2.warpAffine(img_scan, M, (w, h))
im_numpy = numpy.ascontiguousarray(img_scan)
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(regions,
cuav_util.image_shape(img_scan),
cuav_util.image_shape(img_scan))
t2 = time.time()
self.scan_fps = 1.0 / (t2-t1)
self.scan_count += 1
regions = cuav_region.filter_regions(img_scan, regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
self.region_count += len(regions)
# possibly send a preview image
self.send_preview(img_scan)
if self.camera_settings.roll_stabilised:
roll=0
else:
roll=None
pos = self.get_plane_position(frame_time, roll=roll)
if pos is not None:
self.posmapping[str(frame_time)] = pos
# this adds the latlon field to the regions (georeferencing)
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(r, pos, w, h, altitude=None, C=self.c_params)
if self.joelog:
self.log_joe_position(pos, frame_time, regions)
# filter out any regions outside the target radius
if self.camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(regions,
(self.camera_settings.target_latitude,
self.camera_settings.target_longitude),
self.camera_settings.target_radius)
# filter out any regions outside the boundary
if self.boundary_polygon:
regions = cuav_region.filter_boundary(regions, self.boundary_polygon, pos)
#filter by minscore
regions = cuav_region.filter_regions(img_scan, regions, min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
high_score = 1
for r in regions:
if r.score > high_score:
high_score = r.score
if len(regions) > 0 and pos is not None:
for r in regions:
self.lz.checkaddregion(r, pos)
try:
lzresult = self.lz.calclandingzone()
except Exception as ex:
print("calclandingzone failed: ", ex)
continue
if lzresult:
self.transmit_queue.put((lzresult, 100000, None))
if self.msend:
self.transmit_queue.put((lzresult, 100000, 'msend'))
if len(regions) > 0 and self.camera_settings.transmit:
# send a region message with thumbnails to the ground station
thumb_img = cuav_region.CompositeThumbnail(img_scan, regions,
thumb_size=self.camera_settings.thumbsize)
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
(result, thumb) = cv2.imencode('.jpg', thumb_img, encode_param)
pkt = cuav_command.ThumbPacket(frame_time, regions, thumb, pos)
if self.transmit_queue.qsize() < 100:
self.transmit_queue.put((pkt, None, None))
if self.msend is not None and high_score >= self.camera_settings.m_minscore:
self.transmit_queue.put((pkt, None, 'msend'))
else:
self.send_message("Warning: image Tx queue too long")
print("Warning: image Tx queue too long")
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 scan_threadfunc(self):
'''image scanning thread'''
while not self.unload_event.wait(0.05):
if self.scan_queue.empty():
continue
(frame_time, im) = self.scan_queue.get()
scan_parms = {}
for name in self.image_settings.list():
scan_parms[name] = self.image_settings.get(name)
scan_parms['BlueEmphasis'] = float(
self.camera_settings.blue_emphasis)
if self.terrain_alt is not None:
altitude = self.terrain_alt
if altitude < self.camera_settings.minalt:
altitude = self.camera_settings.minalt
scan_parms['MetersPerPixel'] = cuav_util.pixel_width(
altitude, self.c_params.xresolution, self.c_params.lens,
self.c_params.sensorwidth)
t1 = time.time()
try:
img_scan = cv2.imread(im, -1)
except Exception:
continue
if img_scan is None:
continue
(h, w) = img_scan.shape[:2]
if self.camera_settings.rotate180:
M = cv2.getRotationMatrix2D(center, angle180, scale)
img_scan = cv2.warpAffine(img_scan, M, (w, h))
im_numpy = numpy.ascontiguousarray(img_scan)
regions = scanner.scan(im_numpy, scan_parms)
regions = cuav_region.RegionsConvert(
regions, cuav_util.image_shape(img_scan),
cuav_util.image_shape(img_scan))
t2 = time.time()
self.scan_fps = 1.0 / (t2 - t1)
self.scan_count += 1
regions = cuav_region.filter_regions(
img_scan,
regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
self.region_count += len(regions)
# possibly send a preview image
self.send_preview(img_scan)
if self.camera_settings.roll_stabilised:
roll = 0
else:
roll = None
pos = self.get_plane_position(frame_time, roll=roll)
if pos is not None:
self.posmapping[str(frame_time)] = pos
# this adds the latlon field to the regions (georeferencing)
for r in regions:
r.latlon = cuav_util.gps_position_from_image_region(
r, pos, w, h, altitude=None, C=self.c_params)
if self.joelog:
self.log_joe_position(pos, frame_time, regions)
# filter out any regions outside the target radius
if self.camera_settings.target_radius > 0 and pos is not None:
regions = cuav_region.filter_radius(
regions, (self.camera_settings.target_latitude,
self.camera_settings.target_longitude),
self.camera_settings.target_radius)
# filter out any regions outside the boundary
if self.boundary_polygon:
regions = cuav_region.filter_boundary(regions,
self.boundary_polygon,
pos)
#filter by minscore
regions = cuav_region.filter_regions(
img_scan,
regions,
min_score=self.camera_settings.minscore,
filter_type=self.camera_settings.filter_type)
high_score = 1
for r in regions:
if r.score > high_score:
high_score = r.score
if len(regions) > 0 and pos is not None:
for r in regions:
self.lz.checkaddregion(r, pos)
try:
lzresult = self.lz.calclandingzone()
except Exception as ex:
print("calclandingzone failed: ", ex)
continue
if lzresult:
self.transmit_queue.put((lzresult, 100000, None))
if self.msend:
self.transmit_queue.put((lzresult, 100000, 'msend'))
if len(regions) > 0 and self.camera_settings.transmit:
# send a region message with thumbnails to the ground station
thumb_img = cuav_region.CompositeThumbnail(
img_scan,
regions,
thumb_size=self.camera_settings.thumbsize)
encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
(result, thumb) = cv2.imencode('.jpg', thumb_img, encode_param)
pkt = cuav_command.ThumbPacket(frame_time, regions, thumb, pos)
if self.transmit_queue.qsize() < 100:
self.transmit_queue.put((pkt, None, None))
if self.msend is not None and high_score >= self.camera_settings.m_minscore:
self.transmit_queue.put((pkt, None, 'msend'))
else:
self.send_message("Warning: image Tx queue too long")
print("Warning: image Tx queue too long")
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', 'jpeg', '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')
if args.vehicle_type == "Copter":
icon = slipmap.icon('redcopter.png')
else:
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:
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)
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('pitch_stabilised', bool, args.pitch_stabilised, 'Pitch Stabilised'),
MPSetting('roll_offset', float, args.roll_offset, 'Roll Offset'),
MPSetting('pitch_offset', float, args.pitch_offset, 'Pitch Offset'),
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, False, 'rotate180'),
MPSetting('filter_type', str, 'simple', 'Filter Type',
choice=['simple']),
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('RegionHue', int, ags.targethue, 'Target Hue (0 to disable)', range=(0,180), increment=1, tab='Imaging'),
MPSetting('map_thumbsize', int, args.map_thumbsize, 'Map 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, 0.15, range=(0,100), increment=0.05, digits=2, tab='Image Processing'),
MPSetting('MaxRegionArea', float, 1.0, range=(0,100), increment=0.1, digits=1),
MPSetting('MinRegionSize', float, 0.2, range=(0,100), increment=0.05, digits=2),
MPSetting('MaxRegionSize', float, 1.0, 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('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,
map_thumb_size=args.map_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
if camera_settings.pitch_stabilised:
pitch = 0
else:
pitch = None
try:
pos = mpos.position(frame_time, roll=roll, pitch=pitch,
roll_offset=camera_settings.roll_offset,
pitch_offset=camera_settings.pitch_offset)
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 vehicle 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)
im_orig = cv2.imread(f)
if im_orig is None:
continue
(w,h) = cuav_util.image_shape(im_orig)
if args.downsample:
im_full = cv2.resize(im_orig, (0,0), fx=0.5, fy=0.5)
else:
im_full = im_orig
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'])
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
regions = cuav_region.filter_regions(im_full, regions, min_score=camera_settings.minscore,
filter_type=camera_settings.filter_type,
target_hue=camera_settings.RegionHue)
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)
scan_count += 1
if pos and len(regions) > 0:
joelog.add_regions(frame_time, regions, pos, f)
mosaic.add_image(pos.time, f, pos)
region_count += len(regions)
if len(regions) > 0:
composite = cuav_region.CompositeThumbnail(im_full, regions)
thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions))
thumbsRGB = []
#colour space conversion
for thumb in thumbs:
thumbsRGB.append(cv2.cvtColor(thumb, cv2.COLOR_BGR2RGB))
mosaic.add_regions(regions, thumbsRGB, f, pos)
if args.view:
img_view = img_scan
(wview,hview) = cuav_util.image_shape(img_view)
for r in regions:
r.draw_rectangle(img_view, (255,0,0))
#cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB)
viewer.set_image(img_view)
viewer.set_title('Image: ' + os.path.basename(f))
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)
