Пример #1
0
def scan_thread():
    '''image scanning thread'''
    state = mpstate.camera_state

    while not state.unload.wait(0.02):
        try:
            # keep the queue size below 100, so we don't run out of memory
            if state.scan_queue.qsize() > 100:
                (frame_time,im) = state.scan_queue.get(timeout=0.2)
            (frame_time,im) = state.scan_queue.get(timeout=0.2)
        except Queue.Empty:
            continue

        t1 = time.time()
        im_full = numpy.zeros((960,1280,3),dtype='uint8')
        im_640 = numpy.zeros((480,640,3),dtype='uint8')
        scanner.debayer_full(im, im_full)
        scanner.downsample(im_full, im_640)
        regions = scanner.scan(im_640)
        t2 = time.time()
        state.scan_fps = 1.0 / (t2-t1)
        state.scan_count += 1

        state.region_count += len(regions)
        if state.transmit_queue.qsize() < 100:
            state.transmit_queue.put((frame_time, regions, im_full, im_640))
Пример #2
0
def scan_thread():
    '''image scanning thread'''
    state = mpstate.camera_state

    while not state.unload.wait(0.02):
        try:
            # keep the queue size below 100, so we don't run out of memory
            if state.scan_queue.qsize() > 100:
                (frame_time, im) = state.scan_queue.get(timeout=0.2)
            (frame_time, im) = state.scan_queue.get(timeout=0.2)
        except Queue.Empty:
            continue

        t1 = time.time()
        im_full = numpy.zeros((960, 1280, 3), dtype='uint8')
        im_640 = numpy.zeros((480, 640, 3), dtype='uint8')
        scanner.debayer_full(im, im_full)
        scanner.downsample(im_full, im_640)
        regions = cuav_region.RegionsConvert(scanner.scan(im_640))
        t2 = time.time()
        state.scan_fps = 1.0 / (t2 - t1)
        state.scan_count += 1

        regions = cuav_region.filter_regions(im_full,
                                             regions,
                                             min_score=min(
                                                 state.settings.minscore,
                                                 state.settings.minscore2))

        state.region_count += len(regions)
        if state.transmit_queue.qsize() < 100:
            state.transmit_queue.put((frame_time, regions, im_full, im_640))
Пример #3
0
def scan_thread():
    '''image scanning thread'''
    state = mpstate.camera_state

    while not state.unload.wait(0.02):
        try:
            # keep the queue size below 100, so we don't run out of memory
            if state.scan_queue.qsize() > 25:
                (frame_time,im) = state.scan_queue.get(timeout=0.2)
            (frame_time,im) = state.scan_queue.get(timeout=0.2)
        except Queue.Empty:
            continue

        t1 = time.time()
        #im_full = numpy.zeros((600,800,3),dtype='uint8')
        im_640 = numpy.zeros((480,640,3),dtype='uint8')
        #scanner.debayer_full(im, im_full)
        #scanner.downsample(im_full, im_640)
        #cv.SaveImage("/tmp/downsampled.jpg",cv.fromarray(im))
        scanner.downsample(im, im_640)
        #cv.SaveImage("/tmp/downsampled.jpg",cv.fromarray(im))
        #cv.SaveImage("/tmp/downsampled_640.jpg",cv.fromarray(im_640))
        regions = cuav_region.RegionsConvert(scanner.scan(im_640))
        t2 = time.time()
        state.scan_fps = 1.0 / (t2-t1)
        state.scan_count += 1
        print regions
        #regions = cuav_region.filter_regions(im, regions, min_score=state.minscore)
        regions = cuav_region.filter_regions(im, regions, min_score=0)
        #regions = cuav_region.filter_regions(im_full, regions, min_score=state.minscore)
        print regions
        state.region_count += len(regions)
        if state.transmit_queue.qsize() < 50:
        #if state.transmit_queue.qsize() < 2:
            state.transmit_queue.put((frame_time, regions, im, im_640))
Пример #4
0
def bayer_thread():
    """thread for debayering images"""
    while True:
        frame_time, im = state.bayer_queue.get()
        im_colour = numpy.zeros((960, 1280, 3), dtype="uint8")
        scanner.debayer_full(im, im_colour)
        if opts.compress:
            state.compress_queue.put((frame_time, im_colour))
        if opts.scan:
            im_640 = numpy.zeros((480, 640, 3), dtype="uint8")
            scanner.downsample(im_colour, im_640)
            state.scan_queue.put((frame_time, im_640))
Пример #5
0
def process(args):
    """process a set of files"""

    global slipmap, mosaic
    scan_count = 0
    files = []
    for a in args:
        if os.path.isdir(a):
            files.extend(glob.glob(os.path.join(a, "*.pgm")))
        else:
            files.append(a)
    files.sort()
    num_files = len(files)
    print ("num_files=%u" % num_files)
    region_count = 0
    joes = []

    if opts.mavlog:
        mpos = mav_position.MavInterpolator(gps_lag=opts.gps_lag)
        mpos.set_logfile(opts.mavlog)
    else:
        mpos = None

    if opts.boundary:
        boundary = cuav_util.polygon_load(opts.boundary)
    else:
        boundary = None

    if opts.mosaic:
        slipmap = mp_slipmap.MPSlipMap(service="GoogleSat", elevation=True, title="Map")
        icon = slipmap.icon("planetracker.png")
        slipmap.add_object(
            mp_slipmap.SlipIcon("plane", (0, 0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())
        )
        C_params = cam_params.CameraParams(lens=opts.lens)
        path = os.path.join(
            os.path.dirname(os.path.realpath(__file__)), "..", "..", "cuav", "data", "chameleon1_arecont0.json"
        )
        C_params.load(path)
        mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params)
        if boundary is not None:
            mosaic.set_boundary(boundary)

    if opts.joe:
        joes = cuav_util.polygon_load(opts.joe)
        if boundary:
            for i in range(len(joes)):
                joe = joes[i]
                if cuav_util.polygon_outside(joe, boundary):
                    print ("Error: joe outside boundary", joe)
                    return
                icon = slipmap.icon("flag.png")
                slipmap.add_object(mp_slipmap.SlipIcon("joe%u" % i, (joe[0], joe[1]), icon, layer=4))

    joelog = cuav_joe.JoeLog("joe.log")

    if opts.view:
        viewer = mp_image.MPImage(title="Image")

    for f in files:
        frame_time = cuav_util.parse_frame_time(f)
        if mpos:
            try:
                if opts.roll_stabilised:
                    roll = 0
                else:
                    roll = None
                pos = mpos.position(frame_time, opts.max_deltat, roll=roll)
                slipmap.set_position("plane", (pos.lat, pos.lon), rotation=pos.yaw)
            except mav_position.MavInterpolatorException as e:
                print e
                pos = None
        else:
            pos = None

        # check for any events from the map
        if opts.mosaic:
            slipmap.check_events()
            mosaic.check_events()

        if f.endswith(".pgm"):
            pgm = cuav_util.PGM(f)
            im = pgm.array
            if pgm.eightbit:
                im_8bit = im
            else:
                im_8bit = numpy.zeros((960, 1280, 1), dtype="uint8")
                if opts.gamma != 0:
                    scanner.gamma_correct(im, im_8bit, opts.gamma)
                else:
                    scanner.reduce_depth(im, im_8bit)
            im_full = numpy.zeros((960, 1280, 3), dtype="uint8")
            scanner.debayer_full(im_8bit, im_full)
            im_640 = numpy.zeros((480, 640, 3), dtype="uint8")
            scanner.downsample(im_full, im_640)
        else:
            im_full = cv.LoadImage(f)
            im_640 = cv.CreateImage((640, 480), 8, 3)
            cv.Resize(im_full, im_640)
            im_640 = numpy.ascontiguousarray(cv.GetMat(im_640))
            im_full = numpy.ascontiguousarray(cv.GetMat(im_full))

        count = 0
        total_time = 0
        img_scan = im_640

        t0 = time.time()
        for i in range(opts.repeat):
            if opts.fullres:
                regions = scanner.scan_full(im_full)
            else:
                regions = scanner.scan(img_scan)
            count += 1
        regions = cuav_region.RegionsConvert(regions)
        t1 = time.time()

        if opts.filter:
            regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore)

        scan_count += 1

        # optionally link all the images with joe into a separate directory
        # for faster re-running of the test with just joe images
        if pos and opts.linkjoe and len(regions) > 0:
            cuav_util.mkdir_p(opts.linkjoe)
            if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary):
                joepath = os.path.join(opts.linkjoe, os.path.basename(f))
                if os.path.exists(joepath):
                    os.unlink(joepath)
                os.symlink(f, joepath)

        if pos and len(regions) > 0:
            joelog.add_regions(frame_time, regions, pos, f, width=1280, height=960, altitude=opts.altitude)

            if boundary:
                regions = cuav_region.filter_boundary(regions, boundary, pos)

        region_count += len(regions)

        if opts.mosaic and len(regions) > 0:
            composite = cuav_mosaic.CompositeThumbnail(
                cv.GetImage(cv.fromarray(im_full)), regions, quality=opts.quality
            )
            chameleon.save_file("composite.jpg", composite)
            thumbs = cuav_mosaic.ExtractThumbs(cv.LoadImage("composite.jpg"), len(regions))
            mosaic.add_regions(regions, thumbs, f, pos)

        if opts.compress:
            jpeg = scanner.jpeg_compress(im_full, opts.quality)
            jpeg_filename = f[:-4] + ".jpg"
            if os.path.exists(jpeg_filename):
                print ("jpeg %s already exists" % jpeg_filename)
                continue
            chameleon.save_file(jpeg_filename, jpeg)

        if opts.view:
            if opts.fullres:
                img_view = im_full
            else:
                img_view = img_scan
            mat = cv.fromarray(img_view)
            for r in regions:
                (x1, y1, x2, y2) = r.tuple()
                if opts.fullres:
                    x1 *= 2
                    y1 *= 2
                    x2 *= 2
                    y2 *= 2
                cv.Rectangle(mat, (max(x1 - 2, 0), max(y1 - 2, 0)), (x2 + 2, y2 + 2), (255, 0, 0), 2)
            cv.CvtColor(mat, mat, cv.CV_BGR2RGB)
            viewer.set_image(mat)

        total_time += t1 - t0
        print ("%s scan %.1f fps  %u regions [%u/%u]" % (f, count / total_time, region_count, scan_count, num_files))
Пример #6
0
def process(filename):
  '''process one file'''
  pgm = cuav_util.PGM(filename)
  img_full_grey = pgm.array

  im_full = numpy.zeros((960,1280,3),dtype='uint8')
  im_640 = numpy.zeros((480,640,3),dtype='uint8')

  t0 = time.time()
  for i in range(opts.repeat):
    scanner.debayer(img_full_grey, im_640)
  t1 = time.time()
  print('debayer: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  for i in range(opts.repeat):
    scanner.debayer_full(img_full_grey, im_full)
  t1 = time.time()
  print('debayer_full: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  im_full2 = cv.CreateImage((1280,960),8,3)
  img_full_grey2 = cv.GetImage(cv.fromarray(img_full_grey)) 
  for i in range(opts.repeat):
      cv.CvtColor(img_full_grey2, im_full2, cv.CV_BayerBG2BGR)
  t1 = time.time()
  print('debayer_cv_full: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  for i in range(opts.repeat):
      img = cv.GetImage(cv.fromarray(im_full))
      cv.CvtColor(img, img, cv.CV_RGB2HSV)
  t1 = time.time()
  print('RGB2HSV_full: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  for i in range(opts.repeat):
      img = cv.GetImage(cv.fromarray(im_640))
      cv.CvtColor(img, img, cv.CV_RGB2HSV)
  t1 = time.time()
  print('RGB2HSV_640: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  for i in range(opts.repeat):
      thumb = numpy.empty((100,100,3),dtype='uint8')
      scanner.rect_extract(im_full, thumb, 120, 125)
  t1 = time.time()
  print('rect_extract: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  for i in range(opts.repeat):
      thumb = cuav_util.SubImage(cv.GetImage(cv.fromarray(im_full)), (120,125,100,100))
  t1 = time.time()
  print('SubImage: %.1f fps' % (opts.repeat/(t1-t0)))


  t0 = time.time()
  for i in range(opts.repeat):
    scanner.downsample(im_full, im_640)
  t1 = time.time()
  print('downsample: %.1f fps' % (opts.repeat/(t1-t0)))

  t0 = time.time()
  for i in range(opts.repeat):
    scanner.scan(im_640)
  t1 = time.time()
  print('scan: %.1f fps' % (opts.repeat/(t1-t0)))

  for quality in [30, 40, 50, 60, 70, 80, 90, 95]:
    t0 = time.time()
    for i in range(opts.repeat):
      jpeg = cPickle.dumps(ImagePacket(time.time(), scanner.jpeg_compress(im_full, quality)),
                           protocol=cPickle.HIGHEST_PROTOCOL)
    t1 = time.time()
    print('jpeg full quality %u: %.1f fps  %u bytes' % (quality, opts.repeat/(t1-t0), len(bytes(jpeg))))

  for quality in [30, 40, 50, 60, 70, 80, 90, 95]:
    t0 = time.time()
    for i in range(opts.repeat):
      jpeg = cPickle.dumps(ImagePacket(time.time(), scanner.jpeg_compress(im_640, quality)),
                           protocol=cPickle.HIGHEST_PROTOCOL)
    t1 = time.time()
    print('jpeg 640 quality %u: %.1f fps  %u bytes' % (quality, opts.repeat/(t1-t0), len(bytes(jpeg))))

  for thumb_size in [10, 20, 40, 60, 80, 100]:
    thumb = numpy.zeros((thumb_size,thumb_size,3),dtype='uint8')
    t0 = time.time()
    for i in range(opts.repeat):
      scanner.rect_extract(im_full, thumb, 0, 0)
      jpeg = cPickle.dumps(ImagePacket(time.time(), scanner.jpeg_compress(thumb, 85)),
                           protocol=cPickle.HIGHEST_PROTOCOL)
    t1 = time.time()
    print('thumb %u quality 85: %.1f fps  %u bytes' % (thumb_size, opts.repeat/(t1-t0), len(bytes(jpeg))))