def find(self):
with self.lock:
# Ensure tracker is not running.
if self.thread is not None:
return None
# Reset.
self.event.clear()
self.found = False
self.position = None
self.center = None
self.oculus = Oculus()
# Locate the moving object.
blob = None
frame = None
# Loop until capture.
while blob is None and not self.event.is_set():
mask, frame = Theia.get_foreground(self.eye, 100, self.event)
# Check early exit condition.
if mask is not None:
blob = Theia.bound_blobs(mask, 1)
else:
return None
# Check early exit condition.
if blob is None:
return None
# Blob exists.
bb = blob[0]
# Initialize tracker with bounding box.
success = self.oculus.initialize(frame, bb)
if not success:
logger.error('Unable to initialize tracker. Stopping Theia.')
return None
else:
if not self.start_track(frame):
return None
else:
return bb
class SuperTheia:
def __init__(self):
self.eye = Eye(Android.camera)
self.oculus = None
# Current status.
self.found = False
self.position = None
self.center = None
# Event and lock.
self.event = Event()
self.lock = Lock()
# Start.
self.thread = None
def get(self):
return self.eye.get_base64()
def start_track(self, frame):
with self.lock:
if self.thread is None:
self.thread = Thread(target=self._track)
self.thread.start()
return True
return False
def find(self):
with self.lock:
# Ensure tracker is not running.
if self.thread is not None:
return None
# Reset.
self.event.clear()
self.found = False
self.position = None
self.center = None
self.oculus = Oculus()
# Locate the moving object.
blob = None
frame = None
# Loop until capture.
while blob is None and not self.event.is_set():
mask, frame = Theia.get_foreground(self.eye, 100, self.event)
# Check early exit condition.
if mask is not None:
blob = Theia.bound_blobs(mask, 1)
else:
return None
# Check early exit condition.
if blob is None:
return None
# Blob exists.
bb = blob[0]
# Initialize tracker with bounding box.
success = self.oculus.initialize(frame, bb)
if not success:
logger.error('Unable to initialize tracker. Stopping Theia.')
return None
else:
if not self.start_track(frame):
return None
else:
return bb
def stop(self):
with self.lock:
self.event.set()
if self.thread is not None:
self.thread.join()
self.thread = None
self.event.clear()
return True
return False
def get_status(self):
return self.found, self.position, self.center
def _track(self):
while not self.event.is_set():
frame = self.eye.get_color_frame()
self.found, self.position, self.center = self.oculus.track(frame)
import cv2
from cerebral import logger as l
from theia.main import Oculus, Theia
from theia.eye import Eye, Camera
from concurrent.futures import ThreadPoolExecutor
from cerebral.pack1.hippocampus import Android
from agility.main import Agility
executor = ThreadPoolExecutor(max_workers=1)
# agility = Agility(Android.robot)
camera = Camera(0, 100, 100)
eye = Eye(camera)
oculus = Oculus()
# agility.zero()
while True:
frame = eye.get_color_frame()
cv2.imshow("preview", frame)
k = cv2.waitKey(1)
if not k == -1:
break
frame = eye.get_color_frame()
tl, br = Theia.get_rect(frame)
bb = (tl[0], tl[1], br[0] - tl[0], br[1] - tl[1])
oculus.initialize(frame, bb)
