def process(self, inframe, outframe):
inimg = inframe.get()
self.timer.start()
imgbgr = jevois.convertToCvBGR(inimg)
h, w, chans = imgbgr.shape
outimg = outframe.get()
outimg.require("output", w, h + 12, jevois.V4L2_PIX_FMT_YUYV)
jevois.paste(inimg, outimg, 0, 0)
jevois.drawFilledRect(outimg, 0, h, outimg.width, outimg.height - h,
jevois.YUYV.Black)
inframe.done()
cube = self.detect(imgbgr, outimg)
# Load camera calibration if needed:
# if not hasattr(self, 'camMatrix'): self.loadCameraCalibration(w, h)
if cube is not None:
jevois.sendSerial(cube.toJson())
# Write frames/s info from our timer into the edge map (NOTE: does not account for output conversion time):
fps = self.timer.stop()
jevois.writeText(outimg, fps, 3, h - 10, jevois.YUYV.White,
jevois.Font.Font6x10)
outframe.send()
def process(self, inframe, outframe):
# Get the next camera image (may block until it is captured). To avoid wasting much time assembling a composite
# output image with multiple panels by concatenating numpy arrays, in this module we use raw YUYV images and
# fast paste and draw operations provided by JeVois on those images:
inimg = inframe.get()
# Start measuring image processing time:
self.timer.start()
# Convert input image to BGR24:
imgbgr = jevois.convertToCvBGR(inimg)
h, w, chans = imgbgr.shape
# Get pre-allocated but blank output image which we will send over USB:
outimg = outframe.get()
outimg.require("output", w * 2, h + 12, jevois.V4L2_PIX_FMT_YUYV)
jevois.paste(inimg, outimg, 0, 0)
jevois.drawFilledRect(outimg, 0, h, outimg.width, outimg.height - h,
jevois.YUYV.Black)
# Let camera know we are done using the input image:
inframe.done()
# Get a list of quadrilateral convex hulls for all good objects:
hlist = self.detect(imgbgr, outimg)
# Load camera calibration if needed:
if not hasattr(self, 'camMatrix'): self.loadCameraCalibration(w, h)
# Map to 6D (inverse perspective):
(rvecs, tvecs) = self.estimatePose(hlist)
# Send all serial messages:
self.sendAllSerial(w, h, hlist, rvecs, tvecs)
# Draw all detections in 3D:
self.drawDetections(outimg, hlist, rvecs, tvecs)
# Write frames/s info from our timer into the edge map (NOTE: does not account for output conversion time):
fps = self.timer.stop()
jevois.writeText(outimg, fps, 3, h - 10, jevois.YUYV.White,
jevois.Font.Font6x10)
# We are done with the output, ready to send it to host over USB:
outframe.send()
def process(self, inframe, outframe):
# Get the next camera image (may block until it is captured). To avoid wasting much time assembling a composite
# output image with multiple panels by concatenating numpy arrays, in this module we use raw YUYV images and
# fast paste and draw operations provided by JeVois on those images:
inimg = inframe.get()
# Start measuring image processing time:
self.timer.start()
# Convert input image to BGR24:
imgbgr = jevois.convertToCvBGR(inimg)
h, w, chans = imgbgr.shape
# Get pre-allocated but blank output image which we will send over USB:
outimg = outframe.get()
outimg.require("output", w * 2, h + 12, jevois.V4L2_PIX_FMT_YUYV)
#outimg.require("output", w, h + 12, jevois.V4L2_PIX_FMT_YUYV)
jevois.paste(inimg, outimg, 0, 0)
jevois.drawFilledRect(outimg, 0, h, outimg.width, outimg.height - h,
jevois.YUYV.Black)
# Let camera know we are done using the input image:
inframe.done()
# Get a list of quadrilateral convex hulls for all good objects:
hlist = self.detect(imgbgr, outimg)
# Load camera calibration if needed:
if not hasattr(self, 'camMatrix'): self.loadCameraCalibration(w, h)
# Map to 6D (inverse perspective):
(rvecs, tvecs) = self.estimatePose(hlist)
# Average Values
for i in range(len(tvecs)):
for k in range(len(tvecs[i])):
self.tsum[k].append(tvecs[i][k])
while (len(self.tsum[k]) > 10):
self.tsum[k].pop(0)
for i in range(len(rvecs)):
for k in range(len(rvecs[i])):
self.rsum[k].append(rvecs[i][k])
while (len(self.rsum[k]) > 10):
self.rsum[k].pop(0)
# Find distance along ground to robot (Y)
try:
X = sum(self.tsum[0]) / len(self.tsum[0]) * self.mToFt
Y = sum(self.tsum[2]) / len(self.tsum[2]) * self.mToFt
Z = sum(self.tsum[1]) / len(self.tsum[1]) * self.mToFt
groundDis = -0.2509 + 1.2073 * math.cos(
self.cameraAngle -
math.atan(Z / Y)) * math.sqrt(math.pow(Z, 2) + math.pow(Y, 2))
except:
groundDis = 0
X = 0
Y = 0
Z = 0
# Output Average of Target in Feet and Radians
jevois.writeText(
outimg, "X: {} Y: {} Angle: {}".format(
X, groundDis,
(180 / 3.14) * sum(self.rsum[1]) / len(self.rsum[1])), 3, 0,
jevois.YUYV.White, jevois.Font.Font6x10)
# Send all serial messages:
self.sendAllSerial(w, h, hlist, rvecs, tvecs)
# Draw all detections in 3D:
self.drawDetections(outimg, hlist, rvecs, tvecs)
# Write frames/s info from our timer into the edge map (NOTE: does not account for output conversion time):
fps = self.timer.stop()
jevois.writeText(outimg, fps, 3, h - 10, jevois.YUYV.White,
jevois.Font.Font6x10)
# Test Serial Output
#jevois.sendSerial("{} {}".
# format(-1 * self.mToFt, -1 * self.mToFt))
# We are done with the output, ready to send it to host over USB:
outframe.send()
