def _view_camera(self, camera_id):
cm = CameraManager()
camera = cm.get_camera_by_id(camera_id)
self._render_view('view', camera = camera)
def __init__(
self,
test_img=[],
test_video=[],
test_display=False,
using_nt=False,
):
# self.entries = entries
# Memory Allocation
# Numpy takes Rows then Cols as dimensions. Height x Width
self.hsv = np.zeros(shape=(FRAME_HEIGHT, FRAME_WIDTH, 3),
dtype=np.uint8)
self.image = self.hsv.copy()
self.display = self.hsv.copy()
self.mask = np.zeros(shape=(FRAME_HEIGHT, FRAME_WIDTH), dtype=np.uint8)
# Camera Configuration
self.CameraManager = CameraManager(test_img=test_img,
test_video=test_video,
test_display=test_display)
self.testing = len(test_video) or len(test_img)
if not self.testing:
self.CameraManager.setCameraProperty(
0, "white_balance_temperature_auto", 0)
self.CameraManager.setCameraProperty(0, "exposure_auto", 1)
self.CameraManager.setCameraProperty(0, "focus_auto", 0)
self.CameraManager.setCameraProperty(0, "exposure_absolute", 1)
self.Connection = Connection(using_nt=using_nt, test=self.testing)
self.avg_horiz_angle = 0
self.avg_dist = 0
self.prev_dist = 0
self.prev_horiz_angle = 0
self.old_fps_time = 0
def __init__(self):
self.id = 0
self.feed_amount = 0
self.event_time = ''
self.has_run = 'false'
self.images = []
self.servo_man = ServoManager()
self.camera_man = CameraManager()
def restart(self):
self.world.unload_map_layer(carla.MapLayer.All)
# Get a random blueprint.
blueprint = random.choice(
self.world.get_blueprint_library().filter('vehicle.audi.a2'))
blueprint.set_attribute('role_name', self.actor_role_name)
if blueprint.has_attribute('color'):
blueprint.set_attribute('color', '224,0,0')
if blueprint.has_attribute('is_invincible'):
blueprint.set_attribute('is_invincible', 'true')
# Spawn the vehicle.
while self.vehicle is None: #or self.player2 is None or self.player3 is None:
if not self.map.get_spawn_points():
print('There are no spawn points available in your map/town.')
print('Please add some Vehicle Spawn Point to your UE4 scene.')
sys.exit(1)
spawn_point = carla.Transform(
carla.Location(x=initial_state["x"],
y=initial_state["y"],
z=initial_state["z"]),
carla.Rotation(yaw=initial_state["yaw"]),
)
self.vehicle = self.world.try_spawn_actor(blueprint, spawn_point)
# spawing objects
for player_id in range(1):
while self.players[player_id] is None:
spawn_point = carla.Transform(
carla.Location(
x=initial_state["x"] +
self.players_location[player_id][0],
y=initial_state["y"] +
self.players_location[player_id][1],
z=initial_state["z"],
),
carla.Rotation(yaw=initial_state["yaw"] +
self.players_location[player_id][2]),
)
self.players[player_id] = self.world.try_spawn_actor(
blueprint, spawn_point)
# Set up the sensors.
self.camera_manager = CameraManager(self.vehicle)
# self.camera_manager.set_sensor(0, 0, notify=False) # main camera
self.camera_manager.set_sensor(0, 1, notify=False) # front camera
self.camera_manager.set_sensor(1, 1, notify=False) # depth camera
self.camera_manager.set_sensor(2, 1,
notify=False) # segmentation camera
print("[+] World setup completed")
class Event(object):
def __init__(self):
self.id = 0
self.feed_amount = 0
self.event_time = ''
self.has_run = 'false'
self.images = []
self.servo_man = ServoManager()
self.camera_man = CameraManager()
def add_image(self, image):
self.images.append(image)
def clear_images(self):
self.images = []
def try_execute(self):
if self.has_run == 'false' and self.event_time <= datetime.now():
self.execute()
self.servo_man.cleanup() # Cleanup even if servo is not activated
self.camera_man.cleanup() # Cleanup even if camera is not used
def execute(self):
try:
if self.feed_amount > 0:
self.servo_man.run()
image_file_names = self.camera_man.take_picture_series(3)
self.clear_images()
for image_file_name in image_file_names:
image = Image()
image.file_name = image_file_name
self.add_image(image)
self.has_run = 'true'
except:
self.clear_images()
self.has_run = 'false'
def serialize_to_json_string(self):
json_string = '{"event_time": "' + self.event_time.strftime(
'%Y-%m-%dT%H:%M:%S.%fZ') + '", "id": "' + str(
self.id) + '", "feed_amount": "' + str(
self.feed_amount) + '", "has_run": "' + str(
self.has_run) + '", "images": ['
for index, image in enumerate(self.images):
json_string += image.serialize_to_json_string()
if index != len(self.images) - 1:
json_string += ', '
json_string += ']}'
return str(json_string)
def start_secure():
for i in range(retry_count):
try:
logger.info('retrying')
time.sleep(5)
new_socket = socket.socket()
new_socket.connect((tilda_ip, tilda_port))
logger.info('connecting to {}:{}...'.format(tilda_ip, tilda_port))
new_connection = new_socket.makefile('wb')
logger.info('connected to {}:{}'.format(tilda_ip, tilda_port))
new_streamer = ImageStreamer(new_connection)
logger.info('Image streamer created ')
camera_manager = CameraManager(new_streamer)
logger.info('camera_manager created ')
camera_manager.start_capturing()
new_streamer.terminated = True
new_streamer.join()
logger.info('new_connection write last')
new_connection.write(struct.pack('<L', 0))
logger.info('connection write ends')
except Exception as e:
t, value, t2 = sys.exc_info()
logger.error('Exception when retrying streaming {} {}'.format(
t, value),
exc_info=True)
traceback.print_tb(e.__traceback__)
try:
logger.info(
f'Total images sent {camera_manager.get_total_images_count()} on fps {camera_manager.get_fps()}'
)
except:
pass
finally:
try:
new_socket.close()
new_connection.close()
except Exception as e:
t, value, t2 = sys.exc_info()
logger.error(
'Exception when retrying to close connection and socket {} {}'
.format(t, value),
exc_info=True)
traceback.print_tb(e.__traceback__)
def __init__(self, config):
self.config = config
self.cm = CameraManager()
self.builder = gtk.Builder()
self.builder.add_from_file('win_main.xml')
self.dbh = DatabaseHelper()
self._init_controls()
self._connect_events()
def do_POST(self):
ctype, pdict = cgi.parse_header(self.headers.getheader('content-type'))
if ctype == 'multipart/form-data':
query=cgi.parse_multipart(self.rfile, pdict)
user = query.get('user')
password = query.get('password')
conf = Configuration.get()
self.usuario_valido = (user[0] == conf['user'] and password[0] == conf['password'])
# print user[0], conf['user'], password[0], conf['password']
if self.usuario_valido:
cm = CameraManager()
self._render_view('cameras', cameras = cm.get_cameras())
else:
self._render_view('auth_form')
def __init__(self, baudrate, camera=CameraManager((512, 512)), timeout=1):
self.baudrate = baudrate
self.camera = camera
self.timeout = timeout
self.mapping = {0: 'r', 1: 'l', 2: 'b', 3: 'f', 4: 'None'}
self.model = None
self.input_details = None
self.output_details = None
self.port = None
self.serial_connection = None
self._start_port_conn()
self._load_model()
def __init__(
self,
test_img=None,
test_video=None,
test_display=False,
using_nt=False,
):
# self.entries = entries
# Memory Allocation
self.hsv = np.zeros(shape=(FRAME_WIDTH, FRAME_HEIGHT, 3),
dtype=np.uint8)
self.image = self.hsv.copy()
self.mask = np.zeros(shape=(FRAME_WIDTH, FRAME_HEIGHT), dtype=np.uint8)
# Camera Configuration
self.CameraManager = CameraManager(test_img=test_img,
test_video=test_video,
test_display=test_display)
self.Connection = Connection(using_nt=using_nt,
test=test_video or test_img)
self.testing = not (type(test_img) == type(None)
or type(test_video) == type(None))
def get_images():
cMgr = CameraManager()
json_data = cMgr.getImages()
return json.dumps(json_data)
class Vision:
"""Main vision class.
An instance should be created, with test=False (default). As long as the cameras are configured
correctly via the GUI interface, everything will work without modification required.
This will not work on most machines, so tests of the main process function are
the only tests that can be done without a Pi running the FRC vision image.
"""
entries = None
def __init__(
self,
test_img=None,
test_video=None,
test_display=False,
using_nt=False,
):
# self.entries = entries
# Memory Allocation
self.hsv = np.zeros(shape=(FRAME_WIDTH, FRAME_HEIGHT, 3),
dtype=np.uint8)
self.image = self.hsv.copy()
self.mask = np.zeros(shape=(FRAME_WIDTH, FRAME_HEIGHT), dtype=np.uint8)
# Camera Configuration
self.CameraManager = CameraManager(test_img=test_img,
test_video=test_video,
test_display=test_display)
self.Connection = Connection(using_nt=using_nt,
test=test_video or test_img)
self.testing = not (type(test_img) == type(None)
or type(test_video) == type(None))
def find_loading_bay(self, frame: np.ndarray):
cnts, hierarchy = cv2.findContours(self.mask, cv2.RETR_CCOMP,
cv2.CHAIN_APPROX_SIMPLE)
cnts = np.array(cnts)
hierarchy = np.array(hierarchy)[0]
outer_rects = {}
inner_rects = {}
for i, cnt in enumerate(cnts):
if hierarchy[i][3] == -1:
outer_rects[i] = (
get_corners_from_contour(cnt),
hierarchy[i],
cv2.contourArea(cnt),
)
else:
inner_rects[i] = (
get_corners_from_contour(cnt),
hierarchy[i],
cv2.contourArea(cnt),
)
if not (inner_rects and outer_rects):
return None
good = []
for i in outer_rects:
if outer_rects[i][2] > MIN_CONTOUR_AREA:
current_inners = []
next_child = outer_rects[i][1][2]
while next_child != -1:
current_inners.append(inner_rects[next_child])
next_child = inner_rects[next_child][1][0]
largest = max(current_inners, key=lambda x: x[2])
if (abs((outer_rects[i][2] / largest[2]) - INNER_OUTER_RATIO) <
0.5 and abs((cv2.contourArea(outer_rects[i][0]) /
outer_rects[i][2]) - 1) < RECT_AREA_RATIO
and abs((cv2.contourArea(largest[0]) / largest[2]) - 1)
< RECT_AREA_RATIO):
good.append((outer_rects[i], largest))
self.image = frame.copy()
for pair in good:
self.image = cv2.drawContours(self.image,
pair[0][0].reshape((1, 4, 2)),
-1, (255, 0, 0),
thickness=2)
self.image = cv2.drawContours(
self.image,
pair[1][0].reshape((1, 4, 2)),
-1,
(255, 0, 255),
thickness=1,
)
return (0.0, 0.0)
def find_power_port(self, frame: np.ndarray) -> tuple:
_, cnts, _ = cv2.findContours(frame, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
if len(cnts) >= 1:
acceptable_cnts = []
for current_contour in enumerate(cnts):
area = cv2.contourArea(current_contour[1])
box = cv2.boundingRect(current_contour[1])
hull_area = cv2.contourArea(cv2.convexHull(current_contour[1]))
if (area > MIN_CONTOUR_AREA and area / hull_area > 0.2
and box[2] > box[3]):
acceptable_cnts.append(current_contour[1])
if acceptable_cnts:
power_port_contour = max(acceptable_cnts,
key=lambda x: cv2.contourArea(x))
power_port_points = get_corners_from_contour(
power_port_contour)
# x, y, w, h = cv2.boundingRect(power_port_contour)
return power_port_points
else:
return None
else:
return None
def create_annotated_display(self,
frame: np.ndarray,
points: np.ndarray,
printing=False):
for i in range(len(points)):
cv2.circle(frame, (points[i][0][0], points[i][0][1]), 5,
(0, 255, 0))
if printing == True:
print(points)
def get_vertical_angle(self, p: int):
"""Gets angle of point p above the horizontal.
Parameter p should have 0 at the bottom of the frame and FRAME_HEIGHT at the top. """
return math.atan2(p - FRAME_HEIGHT, FY)
# get_angle and get_distance will be replaced with solve pnp eventually
def get_horizontal_angle(self, X: float) -> float:
return ((X / FRAME_WIDTH) -
0.5) * MAX_FOV_WIDTH # 33.18 degrees #gets the angle
def get_distance(self, Y: float) -> float:
target_angle = self.get_vertical_angle(Y)
# print(f"Total Angle: {math.degrees(target_angle + GROUND_ANGLE)}")
return (TARGET_HEIGHT - CAMERA_HEIGHT) / math.tan(GROUND_ANGLE +
target_angle)
def get_middles(self, contour: np.ndarray) -> tuple:
""" Use the cv2 moments to find the centre x of the contour.
We just copied it from the opencv reference. The y is just the lowest
pixel in the image."""
M = cv2.moments(contour)
if M["m00"] != 0:
cX = int(M["m10"] / M["m00"])
else:
cX = 160
cY = max(list(contour[:, :, 1]))
return cX, cY
def get_image_values(self, frame: np.ndarray) -> tuple:
"""Takes a frame, returns a tuple of results, or None."""
self.hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV, dst=self.hsv)
self.mask = cv2.inRange(self.hsv,
HSV_LOWER_BOUND,
HSV_UPPER_BOUND,
dst=self.mask)
self.mask = cv2.erode(self.mask, None, dst=self.mask, iterations=1)
self.mask = cv2.dilate(self.mask, None, dst=self.mask, iterations=2)
self.mask = cv2.erode(self.mask, None, dst=self.mask, iterations=1)
power_port = self.find_power_port(self.mask)
self.image = self.mask
if power_port is not None:
self.create_annotated_display(frame, power_port)
midX, midY = self.get_middles(power_port)
angle = self.get_horizontal_angle(midX)
distance = self.get_distance(midY)
return (distance, angle)
else:
return None
def run(self):
"""Main process function.
When ran, takes image, processes image, and sends results to RIO.
"""
if self.Connection.using_nt:
self.Connection.pong()
frame_time, self.frame = self.CameraManager.get_frame(0)
if frame_time == 0:
print(self.CameraManager.sinks[0].getError(), file=sys.stderr)
self.CameraManager.source.notifyError(
self.CameraManager.sinks[0].getError())
else:
self.frame = cv2.rotate(self.frame, cv2.ROTATE_180)
results = self.get_image_values(self.frame)
if results is not None:
distance, angle = results
self.Connection.send_results(
(distance, angle, time.monotonic()
)) # distance (meters), angle (radians), timestamp
self.CameraManager.send_frame(self.image)
def translate(
self, value, leftMin, leftMax, rightMin, rightMax
): # https://stackoverflow.com/questions/1969240/mapping-a-range-of-values-to-another
# Figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin
# Convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)
# Convert the 0-1 range into a value in the right range.
return rightMin + (valueScaled * rightSpan)
class World(object):
def __init__(self, carla_world, args):
self.world = carla_world
self.actor_role_name = args.rolename
try:
self.map = self.world.get_map()
except RuntimeError as error:
print('RuntimeError: {}'.format(error))
print(' The server could not send the OpenDRIVE (.xodr) file:')
sys.exit(1)
self.vehicle = None
self.camera_manager = None
self.players = [None, None]
self.players_location = [[5, 45, 0], [5, 70, 0]]
self.restart()
def restart(self):
self.world.unload_map_layer(carla.MapLayer.All)
# Get a random blueprint.
blueprint = random.choice(
self.world.get_blueprint_library().filter('vehicle.audi.a2'))
blueprint.set_attribute('role_name', self.actor_role_name)
if blueprint.has_attribute('color'):
blueprint.set_attribute('color', '224,0,0')
if blueprint.has_attribute('is_invincible'):
blueprint.set_attribute('is_invincible', 'true')
# Spawn the vehicle.
while self.vehicle is None: #or self.player2 is None or self.player3 is None:
if not self.map.get_spawn_points():
print('There are no spawn points available in your map/town.')
print('Please add some Vehicle Spawn Point to your UE4 scene.')
sys.exit(1)
spawn_point = carla.Transform(
carla.Location(x=initial_state["x"],
y=initial_state["y"],
z=initial_state["z"]),
carla.Rotation(yaw=initial_state["yaw"]),
)
self.vehicle = self.world.try_spawn_actor(blueprint, spawn_point)
# spawing objects
for player_id in range(1):
while self.players[player_id] is None:
spawn_point = carla.Transform(
carla.Location(
x=initial_state["x"] +
self.players_location[player_id][0],
y=initial_state["y"] +
self.players_location[player_id][1],
z=initial_state["z"],
),
carla.Rotation(yaw=initial_state["yaw"] +
self.players_location[player_id][2]),
)
self.players[player_id] = self.world.try_spawn_actor(
blueprint, spawn_point)
# Set up the sensors.
self.camera_manager = CameraManager(self.vehicle)
# self.camera_manager.set_sensor(0, 0, notify=False) # main camera
self.camera_manager.set_sensor(0, 1, notify=False) # front camera
self.camera_manager.set_sensor(1, 1, notify=False) # depth camera
self.camera_manager.set_sensor(2, 1,
notify=False) # segmentation camera
print("[+] World setup completed")
def destroy_sensors(self):
if self.camera_manager is not None:
sen = self.camera_manager.sen
for s in sen:
s.destroy()
self.camera_manager.sensor = None
self.camera_manager.index = None
def destroy(self):
self.destroy_sensors()
if self.vehicle is not None:
self.vehicle.destroy()
actors = self.players
for actor in actors:
if actor is not None:
actor.destroy()
if not (
abs(inner["area"] / cv2.contourArea(inner["rect"]) - 1)
< RAW_RECT_AREA_ERROR
):
return False, inner, outer
if not (
abs(outer["area"] / cv2.contourArea(outer["rect"]) - 1)
< RAW_RECT_AREA_ERROR
):
return False, inner, outer
return True, inner, outer
def draw_contour_pair(self, inner: dict, outer: dict) -> None:
"""Draw the inner and outer contours on self.image"""
self.image = cv2.drawContours(
self.image, inner["rect"].reshape((1, 4, 2)), -1, (255, 0, 0), thickness=2
)
self.image = cv2.drawContours(
self.image, outer["rect"].reshape((1, 4, 2)), -1, (0, 0, 255), thickness=2
)
if __name__ == "__main__":
vision = Vision(
CameraManager("Loading Bay Camera", "/dev/video0", 240, 320, 30, "kYUYV"),
NTConnection(),
)
while True:
vision.run()
import asyncio
# monkey patch for timer coroutines
import nest_asyncio
nest_asyncio.apply()
from aiohttp import web
from aiojobs.aiohttp import atomic
import aiohttp_cors
import socketio
import json
import time
from camera_manager import CameraManager
mgmt = CameraManager()
sio = socketio.AsyncServer(async_mode='aiohttp', cors_allowed_origins="*")
app = web.Application()
cors = aiohttp_cors.setup(app,
defaults={
"*":
aiohttp_cors.ResourceOptions(
allow_credentials=True,
expose_headers="*",
allow_headers="*",
)
})
sio.attach(app)
from camera_manager import CameraManager camera_man = CameraManager() camera_man.take_picture()
def test_camera_manager_get_images(self):
cMgr = CameraManager()
json_data = cMgr.getImages()
self.assertTrue(type(json_data) is list)
def test_camera_manager_get_normal_view(self):
cMgr = CameraManager()
print cMgr.getNormalView()
class Vision:
"""Main vision class.
An instance should be created, with test=False (default). As long as the cameras are configured
correctly via the GUI interface, everything will work without modification required.
This will not work on most machines, so tests of the main process function are
the only tests that can be done without a Pi running the FRC vision image.
"""
entries = None
def __init__(
self,
test_img=[],
test_video=[],
test_display=False,
using_nt=False,
):
# self.entries = entries
# Memory Allocation
# Numpy takes Rows then Cols as dimensions. Height x Width
self.hsv = np.zeros(shape=(FRAME_HEIGHT, FRAME_WIDTH, 3),
dtype=np.uint8)
self.image = self.hsv.copy()
self.display = self.hsv.copy()
self.mask = np.zeros(shape=(FRAME_HEIGHT, FRAME_WIDTH), dtype=np.uint8)
# Camera Configuration
self.CameraManager = CameraManager(test_img=test_img,
test_video=test_video,
test_display=test_display)
self.testing = len(test_video) or len(test_img)
if not self.testing:
self.CameraManager.setCameraProperty(
0, "white_balance_temperature_auto", 0)
self.CameraManager.setCameraProperty(0, "exposure_auto", 1)
self.CameraManager.setCameraProperty(0, "focus_auto", 0)
self.CameraManager.setCameraProperty(0, "exposure_absolute", 1)
self.Connection = Connection(using_nt=using_nt, test=self.testing)
self.avg_horiz_angle = 0
self.avg_dist = 0
self.prev_dist = 0
self.prev_horiz_angle = 0
self.old_fps_time = 0
def find_loading_bay(self, frame: np.ndarray):
cnts, hierarchy = cv2.findContours(self.mask, cv2.RETR_CCOMP,
cv2.CHAIN_APPROX_SIMPLE)
cnts = np.array(cnts)
hierarchy = np.array(hierarchy)[0]
outer_rects = {}
inner_rects = {}
for i, cnt in enumerate(cnts):
if hierarchy[i][3] == -1:
outer_rects[i] = (
get_corners_from_contour(cnt),
hierarchy[i],
cv2.contourArea(cnt),
)
else:
inner_rects[i] = (
get_corners_from_contour(cnt),
hierarchy[i],
cv2.contourArea(cnt),
)
if not (inner_rects and outer_rects):
return None
good = []
for i in outer_rects:
if outer_rects[i][2] > MIN_CONTOUR_AREA:
current_inners = []
next_child = outer_rects[i][1][2]
while next_child != -1:
current_inners.append(inner_rects[next_child])
next_child = inner_rects[next_child][1][0]
largest = max(current_inners, key=lambda x: x[2])
if (abs((outer_rects[i][2] / largest[2]) -
LOADING_INNER_OUTER_RATIO) < 0.5 and
abs((cv2.contourArea(outer_rects[i][0]) /
outer_rects[i][2]) - 1) < LOADING_RECT_AREA_RATIO
and abs((cv2.contourArea(largest[0]) / largest[2]) - 1)
< LOADING_RECT_AREA_RATIO):
good.append((outer_rects[i], largest))
self.image = frame.copy()
for pair in good:
self.image = cv2.drawContours(self.image,
pair[0][0].reshape((1, 4, 2)),
-1, (255, 0, 0),
thickness=2)
self.image = cv2.drawContours(
self.image,
pair[1][0].reshape((1, 4, 2)),
-1,
(255, 0, 255),
thickness=1,
)
return (0.0, 0.0)
def find_power_port(self, frame: np.ndarray) -> tuple:
# cv2.imshow('Mask', frame)
# frame = cv2.dilate(frame, None, dst=frame, iterations=1)
# frame = cv2.erode(frame, None, dst=frame, iterations=1)
# frame = cv2.erode(frame, None, dst=frame, iterations=1)
# cv2.imshow('After Ero/Dil', frame)
hullList = []
# Convert to RGB to draw contour on - shouldn't recreate every time
self.display = cv2.cvtColor(frame,
cv2.COLOR_GRAY2BGR,
dst=self.display)
_, cnts, _ = cv2.findContours(frame, cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
if len(cnts) >= 1:
acceptable_cnts = []
# Check if the found contour is possibly a target
for current_contour in enumerate(cnts):
area = cv2.contourArea(current_contour[1])
if PP_MAX_CONTOUR_AREA > area > PP_MIN_CONTOUR_AREA:
box = cv2.boundingRect(current_contour[1])
# Convex hull gives the bounding polygon of the contour with no
# interior angles greater than 180deg
hull = cv2.convexHull(current_contour[1])
hull_area = cv2.contourArea(hull)
# If the contour takes up more than X% of the Hull and
# width greater than height
if (PP_MAX_AREA_RATIO > area / hull_area >
PP_MIN_AREA_RATIO and box[2] > box[3]):
# print(box) # X,Y,W,H
# print("P %.2f, Area %d, Hull, %d" % (area / hull_area, area, hull_area))
acceptable_cnts.append(current_contour[1])
hullList.append(hull)
# ***This section of code displays the possible targets***
for i in range(len(acceptable_cnts)):
color_G = (0, 255, 0)
color_B = (255, 0, 0)
cv2.drawContours(self.display, acceptable_cnts, i, color_G)
cv2.drawContours(self.display, hullList, i, color_B)
if acceptable_cnts:
if len(acceptable_cnts) > 1:
# Pick the largest found 'power port'
power_port_contour = max(acceptable_cnts,
key=lambda x: cv2.contourArea(x))
else:
power_port_contour = acceptable_cnts[0]
power_port_points = get_corners_from_contour(
power_port_contour)
# x, y, w, h = cv2.boundingRect(power_port_contour)
for i in range(4):
cv2.circle(self.display, tuple(power_port_points[i][0]), 3,
(0, 0, 255))
# cv2.imshow("Display", self.display)
# cv2.waitKey()
return power_port_points
else:
return None
else:
return None
def create_annotated_display(self,
frame: np.ndarray,
points: np.ndarray,
printing=False):
for i in range(len(points)):
cv2.circle(frame, (points[i][0][0], points[i][0][1]), 5,
(0, 255, 0))
if printing:
print(points)
def get_mid(self, contour: np.ndarray) -> tuple:
""" Use the cv2 moments to find the centre x of the contour.
We just copied it from the opencv reference. The y is just the lowest
pixel in the image."""
M = cv2.moments(contour)
if M["m00"] != 0:
cX = int(M["m10"] / M["m00"])
else:
cX = 160
return cX
def get_image_values(self, frame: np.ndarray) -> tuple:
"""Takes a frame, returns a tuple of results, or None."""
self.hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV, dst=self.hsv)
self.mask = cv2.inRange(self.hsv,
HSV_LOWER_BOUND,
HSV_UPPER_BOUND,
dst=self.mask)
power_port = self.find_power_port(self.mask)
self.image = self.mask
if power_port is not None:
self.prev_dist = self.avg_dist
self.prev_horiz_angle = self.avg_horiz_angle
self.create_annotated_display(frame, power_port)
midX = self.get_mid(power_port)
target_top = min(list(power_port[:, :, 1]))
target_bottom = max(list(power_port[:, :, 1]))
# print("target top: ", target_top, " target bottom: ", target_bottom)
horiz_angle = get_horizontal_angle(midX, FRAME_WIDTH,
MAX_FOV_WIDTH / 2, True)
vert_angles = [
get_vertical_angle_linear(target_bottom, FRAME_HEIGHT,
MAX_FOV_HEIGHT / 2, True),
get_vertical_angle_linear(target_top, FRAME_HEIGHT,
MAX_FOV_HEIGHT / 2, True),
]
distances = [
get_distance(vert_angles[0], TARGET_HEIGHT_BOTTOM,
CAMERA_HEIGHT, GROUND_ANGLE),
get_distance(vert_angles[1], TARGET_HEIGHT_TOP, CAMERA_HEIGHT,
GROUND_ANGLE),
]
distance = distances[1]
vert_angle = vert_angles[1]
print("angle: ", math.degrees(vert_angle), " distance: ", distance)
self.avg_dist = (distance * (1 - DIST_SMOOTHING_AMOUNT) +
self.prev_dist * DIST_SMOOTHING_AMOUNT)
self.avg_horiz_angle = (
horiz_angle * (1 - ANGLE_SMOOTHING_AMOUNT) +
self.prev_horiz_angle * ANGLE_SMOOTHING_AMOUNT)
if self.testing:
return (distance, horiz_angle)
else:
return (self.avg_dist, self.avg_horiz_angle)
else:
return None
def run(self):
"""Main process function.
When ran, takes image, processes image, and sends results to RIO.
"""
if not self.testing:
if self.Connection.using_nt:
self.Connection.pong()
frame_time, self.frame = self.CameraManager.get_frame(0)
if frame_time == 0:
print(self.CameraManager.sinks[0].getError(), file=sys.stderr)
self.CameraManager.source.notifyError(
self.CameraManager.sinks[0].getError())
else:
# Flip the image cause originally upside down.
self.frame = cv2.rotate(self.frame, cv2.ROTATE_180)
results = self.get_image_values(self.frame)
if self.Connection.using_nt:
self.time = time.monotonic()
self.fps = 1 / (self.time - self.old_fps_time)
self.old_fps_time = self.time
self.Connection.fps_entry.setDouble(self.fps)
if results is not None:
distance, angle = results
self.Connection.send_results(
(distance, angle, time.monotonic()
)) # distance (meters), angle (radians), timestamp
self.CameraManager.send_frame(self.image)
def get_images():
cMgr = CameraManager()
json_data = cMgr.getImages()
return json.dumps(json_data)
When ran, takes image, processes image, and sends results to RIO.
"""
self.connection.pong()
frame_time, self.frame = self.camera_manager.get_frame()
if frame_time == 0:
self.camera_manager.notify_error(self.camera_manager.get_error())
return
# Flip the image cause originally upside down.
self.frame = cv2.rotate(self.frame, cv2.ROTATE_180)
results = self.get_image_values(self.frame)
self.connection.set_fps()
if results is not None:
distance, angle = results
self.connection.send_results(
(distance, angle, time.monotonic()
)) # distance (meters), angle (radians), timestamp
self.camera_manager.send_frame(self.display)
if __name__ == "__main__":
vision = Vision(
CameraManager("Power Port Camera", "/dev/video0", 240, 320, 30,
"kYUYV"),
NTConnection(),
)
while True:
vision.run()
class MainWindow:
controls = [
'win_main', 'btn_config_events', 'btn_recognize_face', 'lst_events',
'cmb_cameras', 'btn_view_camera', 'txt_port', 'btn_start_server',
'lst_cameras', 'tr_vw_col_date', 'tr_vw_col_event', 'tr_vw_events'
]
def __init__(self, config):
self.config = config
self.cm = CameraManager()
self.builder = gtk.Builder()
self.builder.add_from_file('win_main.xml')
self.dbh = DatabaseHelper()
self._init_controls()
self._connect_events()
def _init_controls(self):
for c in self.controls:
self.__dict__[c] = self.builder.get_object(c)
cell = gtk.CellRendererText()
self.cmb_cameras.pack_start(cell, True)
self.cmb_cameras.add_attribute(cell, "text", 0)
self._fill_cameras()
cell = gtk.CellRendererText()
self.tr_vw_col_date.pack_start(cell, True)
self.tr_vw_col_date.add_attribute(cell, 'text', 0)
cell = gtk.CellRendererText()
self.tr_vw_col_event.pack_start(cell, True)
self.tr_vw_col_event.add_attribute(cell, 'text', 1)
self._fill_events()
def _fill_cameras(self):
self.cmb_cameras.get_model().clear()
for cam in self.cm.get_cameras():
self.cmb_cameras.append_text(cam.device_path)
self.cmb_cameras.set_active(0)
def _connect_events(self):
self.win_main.connect('delete_event', self._win_main_delete_event)
self.btn_view_camera.connect('clicked', self._view_camera)
self.btn_start_server.connect('clicked', self._start_server)
def _fill_events(self, *args):
self.lst_events.clear()
for a in self.dbh.get_activities():
row = time.strftime('%d/%m/%Y', time.localtime(a[1])), a[2]
self.lst_events.append(row)
def _start_server(self, *args):
port = self.txt_port.get_text()
print 'Servidor iniciado en puerto', port
proc = Process(target = MainWindow._start_monitor_server, args = (port,))
proc.start()
def _win_main_delete_event(self, *args):
gtk.main_quit()
def _view_camera(self, *args):
device = self.cmb_cameras.get_active_text()
proc = Process(target = MainWindow._start_camera_monitor,
args = (device,) )
proc.start()
@staticmethod
def _start_monitor_server(port):
os.popen(' '.join(('python', 'monitor_server.py', '-p', port)))
@staticmethod
def _start_camera_monitor(device):
os.popen(' '.join(('python', 'camera_manager.py', '-d', device, '-f')))
def main(self):
self.win_main.show_all()
gtk.main()
'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse',
'sheep', 'cow', 'elephant', 'bear', 'zebra', 'giraffe', 'N/A', 'backpack',
'umbrella', 'N/A', 'N/A', 'handbag', 'tie', 'suitcase', 'frisbee', 'skis',
'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove',
'skateboard', 'surfboard', 'tennis racket', 'bottle', 'N/A', 'wine glass',
'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple', 'sandwich',
'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake',
'chair', 'couch', 'potted plant', 'bed', 'N/A', 'dining table', 'N/A',
'N/A', 'toilet', 'N/A', 'tv', 'laptop', 'mouse', 'remote', 'keyboard',
'cell phone', 'microwave', 'oven', 'toaster', 'sink', 'refrigerator',
'N/A', 'book', 'clock', 'vase', 'scissors', 'teddy bear', 'hair drier',
'toothbrush'
]
colorizer = rs.colorizer()
cam_manager = CameraManager()
model = jetson.inference.detectNet('ssd-mobilenet-v2', threshold=0.4)
time.sleep(2)
while True:
start_time = time.time()
rgb_frame, depth_frame = cam_manager.get_frames()
detections = model.Detect(jetson.utils.cudaFromNumpy(rgb_frame))
for detection in detections:
text = "{} {}%".format(COCO_INSTANCE_CATEGORY_NAMES[detection.ClassID],
detection.Confidence)
print(text)
barcodes = pyzbar.decode(rgb_frame)
# loop over the detected barcodes
outer["rect"] = get_corners_from_contour(outer["contour"])
if not len(outer["rect"]) == 4:
return False, inner, outer
if not (abs(inner["area"] / cv2.contourArea(inner["rect"]) - 1) <
RAW_RECT_AREA_ERROR):
return False, inner, outer
if not (abs(outer["area"] / cv2.contourArea(outer["rect"]) - 1) <
RAW_RECT_AREA_ERROR):
return False, inner, outer
return True, inner, outer
def draw_contour_pair(self, inner: dict, outer: dict) -> None:
"""Draw the inner and outer contours on self.image"""
self.image = cv2.drawContours(self.image,
inner["rect"].reshape((1, 4, 2)),
-1, (255, 0, 0),
thickness=2)
self.image = cv2.drawContours(self.image,
outer["rect"].reshape((1, 4, 2)),
-1, (0, 0, 255),
thickness=2)
if __name__ == "__main__":
vision = Vision(CameraManager(), NTConnection())
while True:
vision.run()