def __init__(self, q1, q2):
self.queue_MAIN_2_VS = q1
self.queue_VS_2_STM = q2
self.resolution = (320, 240)
self.video_stream = PiVideoStream(self.resolution, 60)
self.settings = {
'disp': False,
'dispThresh': False,
'dispContours': False,
'dispApproxContours': False,
'dispVertices': False,
'dispNames': False,
'dispCenters': False,
'dispTHEcenter': False,
'erodeValue': 0,
'lowerThresh': 40,
'working': True,
'autoMode': False,
'dispGoal': True
}
self.prevStateDisp = self.settings['disp']
self.prevStateDispThresh = self.settings['dispThresh']
self.objs = []
self.classLogger = logging.getLogger('droneNav.VisionSys')
self.working = True
self.t = Thread(target=self.update, args=())
self.t.daemon = True
def picamera_ndvi(preview=False, resolution=(640, 480), framerate=60):
stream = PiVideoStream(resolution=resolution, framerate=framerate).start()
time.sleep(2)
print('Video stream started.')
directory = 'capture_' + str(get_time_ms()) + '/'
# loop over the frames from the video stream indefinitely
while True:
# grab the frame from the threaded video stream
frame = stream.read()
if frame is not None:
b, g, r = cv2.split(frame)
# get NDVI from RGB image
ndvi = vegevision.get_ndvi(b, r)
ndvi_colorized = apply_custom_colormap(
255 * ndvi.astype(np.uint8),
cmap=vegevision.load_cmap('NDVI_VGYRM-lut.csv'))
# show the frame
if preview:
cv2.imshow("Video Input with NDVI", ndvi_colorized)
print('Displaying NDVI...')
else:
save_image(ndvi, directory=directory)
# if the `q` key was pressed, break from the loop
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
# do a bit of cleanup
cv2.destroyAllWindows()
stream.stop()
def __init__(self,
src=0,
usePiCamera=False,
resolution=(370, 290),
framerate=32):
if usePiCamera:
from pivideostream import PiVideoStream
self.stream = PiVideoStream(resolution=resolution,
framerate=framerate)
else:
self.stream() = WebcamVideoStream(src=src)
def __init__(self, resolution=(320, 240), framerate=32):
self.conf = json.load(open("conf.json"))
self.lt = LocalTime("Baltimore")
self.avg = None
self.avg_count = 0
self.motionCounter = 0
self.motion_frames = []
self.x = 0
self.y = 0
self.w = 0
self.h = 0
self.contour_area = 0
self.vs = PiVideoStream(resolution, framerate).start()
time.sleep(self.conf["camera_warmup_time"])
def __init__(self,
src=0,
usePiCamera=False,
resolution=(320, 240),
framerate=32):
# check to see if the picamera module should be used
# if usePiCamera:
# only import the picamera packages unless we are
# explicity told to do so -- this helps remove the
# requirement of `picamera[array]` from desktops or
# laptops that still want to use the `imutils` package
from pivideostream import PiVideoStream
# initialize the picamera stream and allow the camera
# sensor to warmup
self.stream = PiVideoStream(resolution=resolution, framerate=framerate)
def __init__(self,
src=0,
usePiCamera=False,
resolution=(320, 240),
framerate=60):
if usePiCamera:
from pivideostream import PiVideoStream
self.stream = PiVideoStream(resolution=resolution,
framerate=framerate)
else:
self.stream = WebcamVideoStream(src=src)
def start(self):
return self.stream.start()
def update(self):
self.stream.update()
def read(self):
return self.stream.read()
def stop(self):
self.stream.stop()
def __init__(self,
src=0,
isPiCamera=False,
resolution=(320, 240),
framerate=32):
if isPiCamera:
from pivideostream import PiVideoStream
self.stream = PiVideoStream(resolution=resolution,
framerate=framerate)
else:
from usbvideostream import usbVideoStream
self.stream = usbVideoStream(src, resolution=resolution)
class VideoCamera(object):
def __init__(self, flip=False, fps=10, res=(160, 128)):
self.vs = PiVideoStream(resolution=res, framerate=fps).start()
self.flip = flip
print("cam init")
time.sleep(2.0)
def __del__(self):
print("cam del")
self.vs.stop()
def flip_if_needed(self, frame):
if self.flip:
return np.flip(frame, 0)
return frame
def get_frame(self):
frame = self.flip_if_needed(self.vs.read())
ret, png = cv2.imencode('.png', frame)
return png.tobytes()
class VideoStream:
def __init__(self,
src=0,
isPiCamera=False,
resolution=(320, 240),
framerate=32):
if isPiCamera:
from pivideostream import PiVideoStream
self.stream = PiVideoStream(resolution=resolution,
framerate=framerate)
else:
from usbvideostream import usbVideoStream
self.stream = usbVideoStream(src, resolution=resolution)
def start(self):
return self.stream.start()
def update(self):
self.stream.update()
def read(self):
return self.stream.read()
def stop(self):
self.stream.stop()
def __init__(self, src=0, usePiCamera=False, resolution=(720, 480), framerate=32): if usePiCamera: # only import this package if using PiCamera from pivideostream import PiVideoStream self.stream = PiVideoStream(resolution=resolution, framerate=framerate) # otherwise, we are using OpenCV so initialize the webcam # stream else: self.stream = WebcamVideoStream(src=src)
def __init__(self,
src=0,
usePiCamera=False,
resolution=(320, 240),
framerate=32):
# pycam modulu ?*
if usePiCamera:
# gerekli kurulum
from pivideostream import PiVideoStream
self.stream = PiVideoStream(resolution=resolution,
framerate=framerate)
# else
else:
self.stream = WebcamVideoStream(src=src)
def __init__(self, src=0, usePiCamera=False, resolution=(320, 240), framerate=32): # check to see if the picamera module should be used if usePiCamera: # only import the picamera packages unless we are # explicity told to do so -- this helps remove the # requirement of `picamera[array] from pivideostream import PiVideoStream # initialize the picamera stream and allow the camera # sensor to warmup self.stream = PiVideoStream(resolution=resolution, framerate=framerate) # otherwise, we are using OpenCV so initialize the webcam # stream else: self.stream = WebcamVideoStream(src=src)
def __init__(self, src=0,usePiCamera=False, resolution=(320,240),framerate=32): #check to see if the picamera module should be used if usePiCamera: from pivideostream import PiVideoStream self.stream = PiVideoStream(resolution=resolution, framerate=framerate) else: self.stream = WebcamVideoStream(src=src) def start(self): #start the threaded video stream return self.stream.start() def update(self): #grab the next frame from the stream self.stream.update() def read(self): #return the current frame return self.stream.read() def stop(self): # stop the thread and release any resources self.stream.stop()
class VideoStream:
def __init__(self,
src=0,
usePiCamera=False,
resolution=(320, 240),
framerate=32,
**kwargs):
# check to see if the picamera module should be used
if usePiCamera:
# only import the picamera packages unless we are
# explicity told to do so -- this helps remove the
# requirement of `picamera[array]` from desktops or
# laptops that still want to use the `imutils` package
from pivideostream import PiVideoStream
# initialize the picamera stream and allow the camera
# sensor to warmup
self.stream = PiVideoStream(resolution=resolution,
framerate=framerate,
**kwargs)
# otherwise, we are using OpenCV so initialize the webcam
# stream
def start(self):
# start the threaded video stream
return self.stream.start()
def update(self):
# grab the next frame from the stream
self.stream.update()
def read(self):
# return the current frame
return self.stream.read()
def stop(self):
# stop the thread and release any resources
self.stream.stop()
def main():
vs = PiVideoStream()
vs.start()
time.sleep(2.0)
vs.consistent()
setup_trackbars(range_filter)
cv2.namedWindow("Original", cv2.WINDOW_NORMAL)
cv2.namedWindow("Thresh", cv2.WINDOW_NORMAL)
while True:
image = vs.read()
frame_to_thresh = cv2.cvtColor(image, cv2.COLOR_BGR2HSV)
v1_min, v2_min, v3_min, v1_max, v2_max, v3_max = get_trackbar_values(range_filter)
thresh = cv2.inRange(frame_to_thresh,(v1_min, v2_min, v3_min),(v1_max, v2_max, v3_max))
cv2.imshow("Original", image)
cv2.imshow("Thresh", thresh)
if cv2.waitKey(1) & 0xFF is ord('q'):
break
def main(argv):
#todo: crop xy threshold, pipette, mask, contours
use_gui=0
simulate=0
try:
opts, args =getopt.getopt(sys.argv[1:], "g:s:",["gui=","sim="])
except getopt.GetoptError as err:
usage()
sys.exit(2)
#print("opts: ",opts)
#print("args: ",sys.argv[1:])
if len(opts)<1:
use_gui=0
simulate=0
for o,a, in opts:
if o=="-g":
use_gui=int(a)
elif o=="-s":
simulate=int(a)
t_gui=Thread(target=guiThread)
if use_gui>0:
t_gui.start()
else:
load_settings()
#print("set guiCommands nogui:",guiCommands)
guiCommands['previewRaw']=False
if simulate==0:
import RPi.GPIO as GPIO
from pivideostream import PiVideoStream
#vs = PiVideoStream((1296, 736)).start()
vs = PiVideoStream((1920, 1088)).start()
time.sleep(2)
runVideo=True
imageCounter=0
#print("picSavePath: ",picSavePath)
while (runVideo==True):
#print("mainloop")
runVideo=guiCommands['runVideo']
if simulate==0:
grabbedFrame = vs.readCropped(guiCommands['cropleft'],guiCommands['croptop'],guiCommands['cropright'],guiCommands['cropbottom'])
else:
grabbedFrame=cv2.imread("images/image_001.png", -1)
#runVideo=False
if guiCommands['takePic']==True and simulate==0:
filename="images/image_"+str(imageCounter).zfill(3)+".png"
cv2.imwrite(filename, grabbedFrame)
imageCounter+=1
guiCommands['takePic']=False
Live=ContourOperations()
frame_hsv= cv2.cvtColor(grabbedFrame,cv2.COLOR_BGR2HSV)
lower_red=np.array([guiCommands['lowerhue'],guiCommands['lowersat'],guiCommands['lowerval']])
upper_red=np.array([guiCommands['upperhue'],guiCommands['uppersat'],guiCommands['upperval']])
mask=cv2.inRange(frame_hsv, lower_red, upper_red)
filtered= cv2.bitwise_and(grabbedFrame, grabbedFrame, mask=mask)
blue, green, red = cv2.split(grabbedFrame)
background=cv2.imread("background/image_000.png", -1)
#bluebg, greenbg, redbg = cv2.split(grabbedFrame)
#redOnly=Live.computeRedMinusGB(grabbedFrame)
#red_Threshold=Live.computeThreshold(redOnly, guiCommands['threshold'])
#redThresContour=red_Threshold.copy()
#contour_ext=Live.get_selected_contour(mask, 0)
if guiCommands['previewRaw']==True:
cv2.imshow('All',grabbedFrame)
cv2.imshow('Mask',mask)
cv2.imshow('Filtered',filtered)
#cv2.imshow('All-BG',cv2.subtract(grabbedFrame,background))
#Live.showContour(grabbedFrame, contour_ext)
#cv2.imshow('red',red_Threshold)
#cv2.imshow('RedOnly',redOnly)
'''
red=Live.showRed(False)
#print("Type grabbedFrame",grabbedFrame.dtype())
green=Live.showGreen(False)
blue=Live.showBlue(False)
#cv2.imshow('Red-Green',red-green)
#cv2.imshow('Red-Blue',red-blue)
#cv2.imshow('Red-Blue-Green',red-blue-green)
Live.showPixelValue(cv2.subtract(cv2.subtract(red,blue),green),60,95, 'r-b-g')
Live.showPixelValue(red-blue,60,95, 'r-b')
Live.showPixelValue(red,60,95, 'r')
Live.showPixelValue(red-green,60,95, 'r-g')
red[95][60]=red[95][60]-65
Live.showPixelValue(red,60,95, 'r new')
Live.showPixelValue(red-green,60,95, 'r-g new')
'''
else:
cv2.destroyAllWindows()
if cv2.waitKey(1) & 0xFF == ord('q'):
runVideo=False
break
"""
Lecture et affichage de la video
"""
from pivideostream import PiVideoStream
from imutils.video import FPS # Pour les mesures de framerate
import cv2
import time
import numpy as np
# Nom de la fenetre d'affichage
window_name = 'preview'
# Creation du thread de lecture + setup
vs=PiVideoStream()
vs.camera.video_stabilization = True
# Demarrage du flux video + warmup de la camera
vs.start()
time.sleep(2.0)
# Creation de la fenetre d'affichage
cv2.namedWindow(window_name, cv2.WINDOW_AUTOSIZE)
fps = FPS().start()
while True :
frame = vs.read()
fps.update()
cv2.imshow(window_name, frame)
key = cv2.waitKey(1) & 0xFF
def main():
pwm = PWM(0x40)
pwm.setPWMFreq(100)
vs = PiVideoStream(resolution=(640, 480)).start()
time.sleep(1.0)
frame = vs.read()
prvs = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
hsv = np.zeros_like(frame)
hsv[..., 1] = 255
mode = 0
speed = 0
steer = 0
while True:
frame = vs.read()
#frame = rotate_image(frame)
next = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
if mode == 3:
flow = cv2.calcOpticalFlowFarneback(prvs, next, 0.5, 3, 15, 3, 5,
1.2, 0)
mag, ang = cv2.cartToPolar(flow[..., 0], flow[..., 1])
hsv[..., 0] = ang * 180 / 3.14 / 2
hsv[..., 2] = cv2.normalize(mag, None, 0, 255, cv2.NORM_MINMAX)
bgr = cv2.cvtColor(hsv, cv2.COLOR_HSV2BGR)
cv2.putText(frame, "Speed: {}, Steer: {}".format(speed, steer),
(10, 20), cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 0, 0))
if mode == 1:
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
if mode == 2:
frame = cv2.Canny(frame, 20, 100)
if mode == 3:
cv2.imshow("Frame", bgr)
else:
cv2.imshow("Frame", frame)
key = cv2.waitKey(1) & 0xFF
if key == ord("q"):
break
if key == ord("f"):
mode = 3
if key == ord("e"):
mode = 2
if key == ord("g"):
mode = 1
if key == ord("c"):
mode = 0
if key == ord("l"):
pwm.setPWM(0, 0, 500)
if key == ord("r"):
pwm.setPWM(0, 0, 300)
if key == 81: # left
if steer > -1:
steer = steer - 0.1
if key == 83: # right
if steer < 1:
steer = steer + 0.1
if key == 82: # up
if speed < 1:
speed = speed + 0.1
if key == 84: # down
if steer > -1:
speed = speed - 0.1
if key == ord("s"):
speed = 0
steer = 0
pwm.setPWM(0, 0, 500 + int(speed * 100))
pwm.setPWM(2, 0, 670 - int(steer * 100))
prvs = next
cv2.destroyAllWindows()
vs.stop()
# import the necessary packages
from pivideostream import PiVideoStream
import datetime
import imutils
import time
import cv2
import numpy as np
death = 0.0
temp = 0
counter = 0
cond = False
# initialize the video stream and allow the cammera sensor to warmup
vs = PiVideoStream(resolution=(320, 240), framerate=32)
vs.start()
time.sleep(2.0)
start_time = time.time()
while (True):
elapsed_time = time.time() - start_time
elap = time.strftime("%H:%M:%S", time.gmtime(elapsed_time))
onset = time.time()
# grab the frame from the threaded video stream and resize it
# to have a maximum width of 400 pixels
frame = vs.read()
frame = imutils.resize(frame, width=400)
configs.set("span_l",span_l)
configs.set("span_s",span_s)
# def update_command(, center)
if flag_display:
cv2.namedWindow("plots")
cv2.createTrackbar("H","plots",span_h,255,update_trackbars)
cv2.createTrackbar("L","plots",span_l,255,update_trackbars)
cv2.createTrackbar("S","plots",span_s,255,update_trackbars)
# initialize and configure camera module
if(flag_raspberry>0):
print("Starting Raspberry Pi Camera module Thread")
vs = PiVideoStream().start()
else:
print "Start OpenCV Video Capture module"
vs = cv2.VideoCapture(0)
time.sleep(2.0)
try:
while True:
# store fps
timer_list =[]
timer_list.append(["FPS",int(cv2.getTickFrequency()/(cv2.getTickCount() - loop_timer_start))])
loop_timer_start = cv2.getTickCount()
finger_list_filtered = []
finger_num = 0
contour_solidity = 0
center = (0,0)
img1 = cv2.imread(fn1, 0)
"""
camera = PiCamera()
#camera.resolution = (640, 480)
#camera.framerate = 32
rawCapture = PiRGBArray(camera)
#rawCapture = io.BytesIO()
time.sleep(0.1)
"""
# initialize the picamera stream and allow the camera
# sensor to warmup
stream = PiVideoStream(resolution=(640, 480), framerate=32)
vs = stream.start()
time.sleep(2.0)
img1 = resize(img1, preferred_dimensions=(640, 480))
kp = detector.detect(img1, None)
kp, desc = compute.compute(img1, kp)
count = 0
start_time = timer()
frame = vs.read()
import cv2 # Librairie OpenCV
import time # Fonctions temporelles
import serial
# Demarre la communication sur le port série
ser = serial.Serial('/dev/ttyACM0',9600)
# Fenetre d'affichage de la "vue" du robot
cv2.namedWindow('preview', cv2.WINDOW_NORMAL)
# Definition des seuils HSV pour le vert
greenLower = (90, 70, 90)
greenUpper = (105, 255, 255)
# Demarage du flux video sur un thread different
vs = PiVideoStream()
vs.start()
# Laisse le temps de chauffer a la camera
time.sleep(2)
vs.consistent()
print("Demarrage")
# Boucle principale
while True :
frame = vs.read()
# Convertis la frame en HSV
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
# Construis un masque pour la couleur définie
mask = cv2.inRange(hsv, greenLower, greenUpper)
mask = cv2.erode(mask, None, iterations = 4)
from constantes import *
#Load model
model = load_model(sys.argv[1])
print("Model loaded")
# Init engines and hat
i2c = busio.I2C(board.SCL, board.SDA)
hat = adafruit_pca9685.PCA9685(i2c)
kit = ServoKit(channels=16)
hat.frequency = 50
kit.servo[0].angle = 100
kit.servo[1].angle = 100
vs = PiVideoStream().start()
time.sleep(2.0)
from PIL import Image
frame = vs.read()
img = Image.fromarray(frame)
img.save("test.png")
was_direction = 0
# Starting loop
print("Ready ! press CTRL+C to START/STOP :")
try:
while True:
from flask import Flask, render_template, Response, request, jsonify
from flask_basicauth import BasicAuth
from pivideostream import PiVideoStream
from picamera import PiCamera
from picamera.array import PiRGBArray
import numpy as np
import cv2
import time
from servo_manager import ServoManager
from motor_manager import MotorManager
#import urllib.request, urllib.parse
try:
# video steam
vs = PiVideoStream().start()
# vertical axis aiming servo
servo = ServoManager(11)
servo.setAngleInDegrees(90)
# horizontal axis aiming motor
motor = MotorManager(16, 18, 22)
# update public ip on main site for easy access
#data = {}
#data['new'] = 'remote_password'
#url_values = urllib.parse.urlencode(data)
#url = 'remote page for receiving ip update'
#full_url = url + '?' + url_values
#data = urllib.request.urlopen(full_url)
class VideoCamera(object):
def __init__(self, resolution=(320, 240), framerate=32):
self.conf = json.load(open("conf.json"))
self.lt = LocalTime("Baltimore")
self.avg = None
self.avg_count = 0
self.motionCounter = 0
self.motion_frames = []
self.x = 0
self.y = 0
self.w = 0
self.h = 0
self.contour_area = 0
self.vs = PiVideoStream(resolution, framerate).start()
time.sleep(self.conf["camera_warmup_time"])
def hflip(self, hflip=True):
self.vs.hflip(hflip)
def vflip(self, vflip=True):
self.vs.vflip(vflip)
def rotation(self, angle=0):
self.vs.rotation(angle)
def exposure_mode(self, exposure_mode="auto"):
self.vs.exposure_mode(exposure_mode)
def iso(self, iso=0):
self.vs.iso(iso)
def shutter_speed(self, speed):
self.vs.shutter_speed(speed)
def change_framerate(self, framerate=32):
self.vs.stop(stop_camera=False)
time.sleep(self.conf["camera_cooldown_time"])
self.vs.camera.framerate = framerate
self.vs.shutter_speed(0)
self.vs.start()
time.sleep(self.conf["camera_warmup_time"])
self.avg_count = 0
def __del__(self):
self.vs.stop(stop_camera=True)
def get_frame(self):
frame = self.vs.read().copy()
framerate = self.vs.camera.framerate
# draw the text and timestamp on the frame
timestamp = self.lt.now()
ts = timestamp.strftime("%A %d %B %Y %I:%M:%S%p")
cv2.putText(frame, ts, (10, frame.shape[0] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 0, 255), 1)
cv2.putText(
frame, "Motion on: {}; FPS: {}; Contour area: {}".format(
self.avg_count == self.conf["camera_adjustment_frames"],
framerate, self.contour_area), (10, 20),
cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 2)
if self.w > 0:
cv2.rectangle(frame, (self.x, self.y),
(self.x + self.w, self.y + self.h), (0, 255, 0), 2)
ret, jpeg = cv2.imencode('.jpg', frame)
return jpeg.tobytes()
def get_object(self):
frame = self.vs.read().copy()
timestamp = self.lt.now()
ts = timestamp.strftime("%A %d %B %Y %I:%M:%S%p")
found_obj = False
frame = imutils.resize(frame, width=500)
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (21, 21), 0)
if self.avg is None or self.avg_count < self.conf[
"camera_adjustment_frames"]:
self.avg = gray.copy().astype("float")
self.avg_count += 1
if self.avg_count == self.conf["camera_adjustment_frames"]:
print("[INFO] motion detector live...")
return (None, False)
cv2.accumulateWeighted(gray, self.avg, 0.5)
frameDelta = cv2.absdiff(gray, cv2.convertScaleAbs(self.avg))
# threshold the delta image, dilate the thresholded image to fill
# in holes, then find contours on thresholded image
thresh = cv2.threshold(frameDelta, self.conf["delta_thresh"], 255,
cv2.THRESH_BINARY)[1]
thresh = cv2.dilate(thresh, None, iterations=2)
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# loop over the contours
for c in cnts:
# if the contour is too small, ignore it
ca = cv2.contourArea(c)
self.contour_area = ca
if ca < self.conf["min_area"]:
continue
# compute the bounding box for the contour, draw it on the frame,
# and update found_obj
(self.x, self.y, self.w, self.h) = cv2.boundingRect(c)
cv2.rectangle(frame, (self.x, self.y),
(self.x + self.w, self.y + self.h), (0, 255, 0), 2)
found_obj = True
# check to see if the room is occupied
if found_obj:
print("[INFO] found object!")
# increment the motion counter
self.motionCounter += 1
cv2.putText(frame, ts, (10, frame.shape[0] - 10),
cv2.FONT_HERSHEY_SIMPLEX, 0.35, (0, 0, 255), 1)
self.motion_frames.append(frame)
# check to see if the number of frames with consistent motion is
# high enough
if self.motionCounter >= self.conf["min_motion_frames"]:
print("[INFO] occupied!")
self.motionCounter = 0
vis = np.concatenate(self.motion_frames, axis=0)
return (vis, found_obj)
return (None, False)
# otherwise, the room is not occupied
else:
(self.x, self.y, self.w, self.h) = (0, 0, 0, 0)
self.contour_area = 0
self.motionCounter = 0
self.motion_frames = []
return (None, False)
#!/usr/bin/env python
# coding=utf-8
import cv2
import time
#from settings import *
#from picamera.array import PiRGBArray
#from picamera import PiCamera
from pivideostream import PiVideoStream
vs = PiVideoStream((1920, 1088)).start()
time.sleep(1)
#time.sleep(3)
runVideo = True
#vs.SetParam()
while (runVideo == True):
#for i in range(0,3):
frame = vs.readCropped(20, 36, 44, 15)
#frame = vs.read()
#qprint("shape:",frame.shape[:2])
cv2.imshow('Test', frame)
if cv2.waitKey(1) & 0xFF == ord('q'):
runVideo = False
break
time.sleep(0.1)
#runVideo=False
class VisionSystem:
"""docstring for visionSystem"""
def __init__(self, q1, q2):
self.queue_MAIN_2_VS = q1
self.queue_VS_2_STM = q2
self.resolution = (320, 240)
self.video_stream = PiVideoStream(self.resolution, 60)
self.settings = {
'disp': False,
'dispThresh': False,
'dispContours': False,
'dispApproxContours': False,
'dispVertices': False,
'dispNames': False,
'dispCenters': False,
'dispTHEcenter': False,
'erodeValue': 0,
'lowerThresh': 40,
'working': True,
'autoMode': False,
'dispGoal': True
}
self.prevStateDisp = self.settings['disp']
self.prevStateDispThresh = self.settings['dispThresh']
self.objs = []
self.classLogger = logging.getLogger('droneNav.VisionSys')
self.working = True
self.t = Thread(target=self.update, args=())
self.t.daemon = True
def start(self):
self.classLogger.debug('Starting vision system.')
self.video_stream.start()
time.sleep(2)
self.working = True
self.t.start()
return
def stop(self):
self.working = False
self.t.join()
return
def update(self):
while 1:
if self.working is False:
break
if self.queue_MAIN_2_VS.empty():
pass
if not self.queue_MAIN_2_VS.empty():
self.settings = self.queue_MAIN_2_VS.get()
self.queue_MAIN_2_VS.task_done()
frame = self.video_stream.read()
frame_processed = self.process_frame(frame, self.settings)
self.detect_shapes(frame, frame_processed)
if self.settings['disp'] is False and self.prevStateDisp is False:
pass
if self.settings['disp'] is True and self.prevStateDisp is False:
cv2.namedWindow('Frame')
key = cv2.waitKey(1) & 0xFF
# cv2.startWindowThread()
elif self.settings['disp'] is True and self.prevStateDisp is True:
key = cv2.waitKey(1) & 0xFF
cv2.imshow('Frame', frame)
elif self.settings['disp'] is False and self.prevStateDisp is True:
cv2.destroyWindow('Frame')
if self.settings[
'dispThresh'] is False and self.prevStateDispThresh is False:
pass
if self.settings[
'dispThresh'] is True and self.prevStateDispThresh is False:
cv2.namedWindow('Processed')
key = cv2.waitKey(1) & 0xFF
# cv2.startWindowThread()
elif self.settings[
'dispThresh'] is True and self.prevStateDispThresh is True:
key = cv2.waitKey(1) & 0xFF
cv2.imshow('Processed', frame_processed)
elif self.settings[
'dispThresh'] is False and self.prevStateDispThresh is True:
cv2.destroyWindow('Processed')
if self.settings['dispThresh'] or self.settings['disp']:
if key == 27:
self.video_stream.stop()
self.prevStateDisp = self.settings['disp']
self.prevStateDispThresh = self.settings['dispThresh']
# send objects to state machine
self.queue_VS_2_STM.put(self.objs)
cv2.destroyAllWindows()
self.video_stream.stop()
self.classLogger.debug('Ending vision system.')
def process_frame(self, fr, setts):
""" Takes frame and processes it based on settings. """
# frame = imutils.resize(frame, width=600)
# fr = cv2.flip(fr, 0)
# frame = cv2.copyMakeBorder(frame, 3, 3, 3, 3,
# cv2.BORDER_CONSTANT,
# value=(255, 255, 255))
frameGray = cv2.cvtColor(fr, cv2.COLOR_BGR2GRAY)
frameBlurred = cv2.GaussianBlur(frameGray, (7, 7), 0)
frameThresh = cv2.threshold(frameBlurred, setts['lowerThresh'], 255,
cv2.THRESH_BINARY_INV)[1]
frameThresh = cv2.erode(frameThresh,
None,
iterations=setts['erodeValue'])
frameThresh = cv2.dilate(frameThresh,
None,
iterations=setts['erodeValue'])
frameThresh = cv2.copyMakeBorder(frameThresh,
3,
3,
3,
3,
cv2.BORDER_CONSTANT,
value=(0, 0, 0))
frameFinal = frameThresh
return frameFinal
def draw_cntrs_features(self, fr, setts, obj):
"""
Takes frame, settings, objects list and draws features (contours,
names, vertives, centers) on frame.
"""
if setts['dispContours']:
cv2.drawContours(fr, [obj['contour']], -1, (255, 255, 0), 1)
if setts['dispApproxContours']:
cv2.drawContours(fr, [obj['approx_cnt']], -1, (0, 255, 0), 1)
if setts['dispNames']:
cv2.putText(fr, obj['shape'] + str(obj['approx_cnt_area']),
obj['center'], cv2.FONT_HERSHEY_SIMPLEX, 0.5,
(255, 255, 255), 1)
if setts['dispVertices']:
for i in range(0, len(obj['verts'])):
cv2.circle(fr, tuple(obj['verts'][i]), 4, (255, 100, 100), 1)
if setts['dispCenters']:
cv2.circle(fr, (obj['center']), 2, (50, 255, 50), 1)
def detect_shapes(self, frameOriginal, frameProcessed):
"""
This functiion simplifies the contour, identifies shape by name,
unpacks vertices, computes area. Then it returns a dictionary with
all of this data.
:param c: Contour to be approximated.
:type c: OpenCV2 contour.
:returns: dictionary -- shape name, vertices, approximated contour,
approximated area.
:rtype: dictionary.
"""
# #####################################################################
# FIND COUNTOURS
# #####################################################################
cnts = cv2.findContours(frameProcessed.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = cnts[0] if imutils.is_cv2() else cnts[1]
# #####################################################################
# ANALYZE CONTOURS
# #####################################################################
# clear list
self.objs = []
for index, c in enumerate(cnts):
verts = []
vrt = []
# #################################################################
# SIMPLIFY CONTOUR
# #################################################################
perimeter = cv2.arcLength(c, True)
approx_cnt = cv2.approxPolyDP(c, 0.04 * perimeter, True)
# #################################################################
# GET CONTOUR AREA
# #################################################################
approx_cnt_area = cv2.contourArea(approx_cnt)
# #################################################################
# GETTING THE VERTICES COORDINATES
# #################################################################
for i in range(0, len(approx_cnt)):
# iterate over vertices (needs additional [0]
vrt = []
for j in range(0, 2):
vrt.append(int(approx_cnt[i][0][j]))
verts.append(vrt)
# #################################################################
# NAMING THE OBJECT
# #################################################################
# if the shape is a triangle, it will have 3 vertices
if len(approx_cnt) == 3:
shape = "triangle"
# if the shape has 4 vertices, it is either a square or
# a rectangle
elif len(approx_cnt) == 4:
# compute the bounding box of the contour and use the
# bounding box to compute the aspect ratio
(x, y, w, h) = cv2.boundingRect(approx_cnt)
ar = w / float(h)
# a square will have an aspect ratio that is approximately
# equal to one, otherwise, the shape is a rectangle
shape = "square" if ar >= 0.95 and ar <= 1.05 else "rectangle"
# if the shape is a pentagon, it will have 5 vertices
elif len(approx_cnt) == 5:
shape = "pentagon"
# otherwise, we assume the shape is a circle
else:
shape = "circle"
# #################################################################
# COMPUTING CENTER
# #################################################################
M = cv2.moments(approx_cnt)
try:
approx_cnt_X = int((M['m10'] / M['m00']))
approx_cnt_Y = int((M['m01'] / M['m00']))
except ZeroDivisionError:
approx_cnt_X = 0
approx_cnt_Y = 0
obj = {
'shape': shape,
'verts': verts,
'approx_cnt': approx_cnt,
'approx_cnt_area': approx_cnt_area,
'contour': c,
'center': (approx_cnt_X, approx_cnt_Y)
}
self.objs.append(obj)
c = c.astype('float')
c = c.astype('int')
self.draw_cntrs_features(frameOriginal, self.settings,
self.objs[index])
if self.settings['dispTHEcenter']:
cv2.circle(frameOriginal,
(self.resolution[0] / 2, self.resolution[1] / 2), 2,
(50, 50, 255), 1)
if self.settings['dispGoal'] and bool(self.objs):
cv2.line(frameOriginal,
(self.resolution[0] / 2, self.resolution[1] / 2),
self.objs[0]['center'], (255, 0, 0), 2)
# import necessary packages
from pivideostream import PiVideoStream
import cv2
import imutils
import numpy as np
import datetime
import time
# initialize variables
microsleep = False # boolean to store subject state, default
counter = 0 # variable to count instances of microsleep
# initialize the video stream specs, allow time for camera sensor to warmup
vs = PiVideoStream(resolution=(320, 240),framerate=32)
vs.start()
time.sleep(2.0)
# initialize start time after warmup
start_time = time.time()
while(True):
frame = vs.read() # start parsing through frames
frame = imutils.resize(frame, width=400) # resize each individual frames
onset = time.time() # declare time of EC onset
roi = frame[100:300, 100:250] # crop to region of interest
gray = cv2.cvtColor(roi, cv2.COLOR_BGR2GRAY) # convert BGR frame to grayscale
ret, thresh_img = cv2.threshold(gray,200,255,cv2.THRESH_BINARY) # create binary (BW) mask of grayscale image
clahe = cv2.createCLAHE(clipLimit=5.0, tileGridSize=(4,4)) # perform adaptive histogram equalization
help="whether or not the Raspberry Pi camera should be used")
args = vars(ap.parse_args())
kernel = numpy.ones((5,5), numpy.uint8)
#frameNum = 0 # TODO: find out how to determine unique frames
loops = 0
key = 0
centerX = 0
centerY = 0
angleToTarget = 0
display = 0
utils.hsvWrite(30,90,120,255,120,255) #Write Networktable values Green
#utils.hsvWrite(80,120,80,120,190,255) #Write Networktable values Blue
#utils.hsvWrite(130,120,80,200,190,255) #Write Networktable values Red
if (args["picamera"] > 0):
cap = PiVideoStream().start()
else:
cap = WebcamVideoStream().start()
time.sleep(2.0)
distanceTarget = -1
target = -1
centerX = 0
centerY = 0
r1x1 = -1
r1x2 = -1
r2x1 = -1
r2x2 = -1
while True:
image = cap.read() #Capture frame
#imageCopy = image
def read_settings():
settings_file = open("settings.json", "r")
settings_json = settings_file.read()
return json.loads(settings_json)
def write_settings(settings):
settings_json = json.dumps(settings)
settings_file = open("settings.json", "w")
settings_file.write(settings_json)
settings = read_settings()
# -----------------------------------------------------------------------------
# Camera
# -----------------------------------------------------------------------------
vs = PiVideoStream(resolution=(1280, 720), framerate=60).start()
def set_camera_settings():
# Default settings
vs.camera.brightness = 50
vs.camera.contrast = 0
vs.camera.awb_mode = "off"
vs.camera.awb_gains = (1, 1)
vs.drc_strength = "off"
vs.exposure_mode = "off"
# Customized settings
vs.camera.shutter_speed = settings["shutter_speed"]
set_camera_settings()
def get_raw_readings():
result = {}
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
'--model', help='File path of Tflite model.', required=True)
parser.add_argument(
'--dims', help='Model input dimension', required=True)
args = parser.parse_args()
#Set all input params equal to the input dimensions expected by the model
mdl_dims = int(args.dims) #dims must be a factor of 32 for picamera resolution to work
#Set max num of objects you want to detect per frame
max_obj = 10
engine = edgetpu.detection.engine.DetectionEngine(args.model)
pygame.init()
pygame.display.set_caption('Face Detection')
screen = pygame.display.set_mode((mdl_dims, mdl_dims), pygame.DOUBLEBUF|pygame.HWSURFACE)
pygame.font.init()
fnt_sz = 18
myfont = pygame.font.SysFont('Arial', fnt_sz)
camera = picamera.PiCamera()
strm_thread = PiVideoStream().start()
strm_thread.rgbCapture = bytearray(strm_thread.camera.resolution[0] * strm_thread.camera.resolution[1] * 3)
#Set camera resolution equal to model dims
camera.resolution = (mdl_dims, mdl_dims)
#rgb = bytearray(camera.resolution[0] * camera.resolution[1] * 3)
camera.framerate = 30
_, width, height, channels = engine.get_input_tensor_shape()
x1, x2, x3, x4, x5 = 0, 50, 50, 0, 0
y1, y2, y3, y4, y5 = 50, 50, 0, 0, 50
z = 5
last_tm = time.time()
i = 0
exitFlag = True
while(exitFlag):
for event in pygame.event.get():
keys = pygame.key.get_pressed()
if(keys[pygame.K_ESCAPE] == 1):
exitFlag = False
with picamera.array.PiRGBArray(camera, size=(mdl_dims, mdl_dims)) as stream:
#stream = io.BytesIO()
start_ms = time.time()
camera.capture(stream, use_video_port=True, format='rgb')
elapsed_ms = time.time() - start_ms
stream.seek(0)
stream.readinto(stream.rgbCapture)
#stream.truncate() #needed??
img = pygame.image.frombuffer(stream.rgbCapture[0:
(camera.resolution[0] * camera.resolution[1] * 3)],
camera.resolution, 'RGB')
input = np.frombuffer(stream.getvalue(), dtype=np.uint8)
#Inference
results = engine.DetectWithInputTensor(input, top_k=max_obj)
stream.close()
if img:
screen.blit(img, (0,0))
if results:
num_obj = 0
for obj in results:
num_obj = num_obj + 1
for obj in results:
bbox = obj.bounding_box.flatten().tolist()
score = round(obj.score,2)
x1 = round(bbox[0] * mdl_dims)
y1 = round(bbox[1] * mdl_dims)
x2 = round(bbox[2] * mdl_dims)
y2 = round(bbox[3] * mdl_dims)
rect_width = x2 - x1
rect_height = y2 - y1
class_score = "%.2f" % (score)
ms = "(%d) %s%.2fms" % (num_obj, "faces detected in ", elapsed_ms*1000)
fnt_class_score = myfont.render(class_score, True, (0,0,255))
fnt_class_score_width = fnt_class_score.get_rect().width
screen.blit(fnt_class_score,(x1, y1-fnt_sz))
fnt_ms = myfont.render(ms, True, (255,255,255))
fnt_ms_width = fnt_ms.get_rect().width
screen.blit(fnt_ms,((mdl_dims / 2) - (fnt_ms_width / 2), 0))
bbox_rect = pygame.draw.rect(screen, (0,0,255), (x1, y1, rect_width, rect_height), 2)
#pygame.display.update(bbox_rect)
else:
elapsed_ms = time.time() - start_ms
ms = "%s %.2fms" % ("No faces detected in", elapsed_ms*1000)
fnt_ms = myfont.render(ms, True, (255,0,0))
fnt_ms_width = fnt_ms.get_rect().width
screen.blit(fnt_ms,((mdl_dims / 2) - (fnt_ms_width / 2), 0))
pygame.display.update()
pygame.display.quit()
def main():
# create queues in shared memory so each process can access it
mainQueue = Queue(maxsize=70)
xyDoneQueue = Queue(maxsize=70)
hudDoneQueue = Queue(maxsize=70)
resizeDoneQueue = Queue(maxsize=70)
# start VideoStream process
vs = PiVideoStream(mainQueue, file1)
time.sleep(1) # allow pi camera to "warm up"
vsP1 = Process(target=vs.update,
name='videoStreamProcess',
args=(resolution, framerate,
awb_mode)) # passing these parameters here because
time.sleep(
0.5
) # put some frames into mainQueue to stop other processes from throwing errors
# passing to PiVideoStream instantiation causes pi camera to be accessed by two different processes which breaks it
vsP1.daemon = True
vsP1.start()
# start ColorTracker process
tracker = ColorTracker(mainQueue, xyDoneQueue, file2) # pass shared queues
trackerP1 = Process(target=tracker.update, name='trackerProcess', args=())
trackerP1.daemon = True
trackerP1.start()
# start Hud process
hud = Hud(resolution, xyDoneQueue, hudDoneQueue, file3, hud_done)
hudP1 = Process(target=hud.draw, name='hudProcess', args=())
hudP1.daemon = True
hudP1.start()
# start ResizeFrame process 1
resize = ResizeFrame(hudDoneQueue,
resizeDoneQueue,
file4,
hud_done,
instance_name='resizer1')
resizeP1 = Process(target=resize.resize, name='resizeProcess', args=())
resizeP1.daemon = True
resizeP1.start()
# start ResizeFrame process 2
resize2 = ResizeFrame(hudDoneQueue,
resizeDoneQueue,
file4B,
hud_done,
instance_name='resizer2')
resizeP2 = Process(target=resize2.resize, name='resizeProcess2', args=())
resizeP2.daemon = True
resizeP2.start()
# start DisplayFrame process
display = DisplayFrame(resizeDoneQueue, file5, done)
displayP1 = Process(target=display.show, name='displayProcess', args=())
displayP1.daemon = True
displayP1.start()
while not done.is_set():
continue
else:
print('Terminating processes')
file1.close()
file2.close()
file3.close()
file4.close()
file4B.close()
vsP1.terminate()
trackerP1.terminate()
hudP1.terminate()
resizeP1.terminate()
resizeP2.terminate()
displayP1.terminate()
# DEBUG values
SET_GUI = False # Do or do not show GUI
DEBUG_MOTORSPEED = False # Do or do not write motor speed commands on console
DEBUG_TIMING = False # Do or do not write how much time each processing step takes on console
DEBUG_CIRCLEPOS = True # Do or do not write detected circle position on console
# Initialize the motor object
motor = mw.MyMotor("/dev/ttyACM0", 115200)
motor.pwm = 50
# initialize the camera
width = 320
height = 240
camera = PiVideoStream((width, height), 30).start()
counter = FPS()
counter.start()
# allow the camera to warmup capture frames from the camera
time.sleep(0.5)
# detection variables
posX = None # X position
posX_prev = 0 # X position in the previous iteration
posY = None # Y position
posX_exp_filter_coeff = 0.8 # The amount of how much the current measurement changes the position. [0,1]. current = alpha * measurement + (1-alpha) * previous
radius = None # Circle radius
radius_prev = 0 # Previous circle radius
rad_exp_filter_coeff = 0.8 # The amount of how much the current measurement changes the radius. [0,1]. current = alpha * measurement + (1-alpha) * previous
speed = 0 # Speed to send to the motor controller
angleCorr = 0 # The difference between the two tracks so the robot turns
import requests
import json
import cv2
from pivideostream import PiVideoStream
import numpy as np
import base64
addr = 'http://192.168.0.6:5000'
test_url = addr + '/api/test'
content_type = 'image/jpeg'
headers = {'content-type': content_type}
video_capture = PiVideoStream().start()
while True:
try:
frame = video_capture.read()
#print(frame)
_, img_encoded = cv2.imencode('.jpg', frame)
response = requests.post(test_url,
data=img_encoded.tostring(),
headers=headers)
str_response = json.loads(response.text)
arr = np.fromstring(base64.b64decode(
str_response['message']['py/b64']),
dtype=np.uint8)
img = cv2.imdecode(arr, -1)
print(img)
cv2.imshow('frame', img)
if cv2.waitKey(1) & 0xFF == ord('q'):