def test_JoeLog_JoeIterator(): joelog = cuav_joe.JoeLog(os.path.join('.', 'joe.log'), False) regions = [] frame_time = 1478954763.0 C = CameraParams(lens=4.0, sensorwidth=5.0, xresolution=1024, yresolution=768) regions.append(cuav_region.Region(10, 10, 25, 23, None, scan_score=450)) regions.append(cuav_region.Region(200, 205, 252, 236, None, scan_score=420)) pos = mav_position.MavPosition(-30, 145, 34.56, 20, -56.67, 345, frame_time) joelog.add_regions(frame_time, regions, pos, 'img2017111312451230Z.png') joeread = cuav_joe.JoeIterator(os.path.join('.', 'joe.log')) joeret = joeread.getjoes() assert len(joeret) == 2 assert joeret[ 0] == "JoePosition(lat=-30.000235 lon=144.999639 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (10, 10, 25, 23) latlon=(-30.000235126851315, 144.9996388367703) score=None Sat Nov 12 23:46:03 2016 2016111212460300Z)" or "JoePosition(lat=-30.000235 lon=144.999639 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (10, 10, 25, 23) latlon=(-30.000235126851315, 144.9996388367703) score=None Sat Nov 12 12:46:03 2016 2016111212460300Z)" assert joeret[ 1] == "JoePosition(lat=-30.000367 lon=144.999711 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (200, 205, 252, 236) latlon=(-30.000366794010567, 144.9997107272955) score=None Sat Nov 12 23:46:03 2016 2016111212460300Z)" or "JoePosition(lat=-30.000367 lon=144.999711 MavPosition(pos -30.000000 145.000000 alt=34.6 roll=20.0 pitch=-56.7 yaw=345.0) img2017111312451230Z.png None (200, 205, 252, 236) latlon=(-30.000366794010567, 144.9997107272955) score=None Sat Nov 12 12:46:03 2016 2016111212460300Z)" os.remove(os.path.join('.', 'joe.log'))
def cmd_camera(self, args): '''camera commands''' usage = "usage: camera <status|view|boundary|set>" if len(args) == 0: print(usage) return elif args[0] == "status": #print("Cap imgs: regions:%u" % (self.region_count)) #request status update from air module pkt = cuav_command.CommandPacket('status') self.send_packet(pkt) pkt = cuav_command.CommandPacket('queue') self.send_packet(pkt) elif args[0] == "view": #check cam params if not self.check_camera_parms(): print("Error - incorrect camera params") return if self.mpstate.map is None: print("Error - load map module first") return if not self.viewing: print("Starting image viewer") self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, 'joe_ground.log'), append=self.continue_mode) if self.view_thread is None: self.view_thread = self.start_thread(self.view_threadfunc) self.viewing = True elif args[0] == "set": self.camera_settings.command(args[1:]) elif args[0] == "boundary": if len(args) != 2: print("boundary=%s" % self.boundary) else: self.boundary = args[1] self.boundary_polygon = cuav_util.polygon_load(self.boundary) if self.mpstate.map is not None: self.mpstate.map.add_object( mp_slipmap.SlipPolygon('boundary', self.boundary_polygon, layer=1, linewidth=2, colour=(0, 0, 255)))
def mavlink_packet(self, m): '''handle an incoming mavlink packet''' if self.mpstate.status.watch in [ "camera", "queue" ] and time.time() > self.last_watch + 1: self.last_watch = time.time() self.cmd_camera([ "status" if self.mpstate.status.watch == "camera" else "queue" ]) # update position interpolator self.mpos.add_msg(m) if m.get_type( ) == 'SYSTEM_TIME' and self.camera_settings.clock_sync and self.capture_thread is not None: # optionally sync system clock on the capture side self.sync_gps_clock(m.time_unix_usec) if m.get_type( ) == 'VFR_HUD' and self.airstart_triggered and not self.running: #if the airstart is triggered and we're flying, then start capture if m.airspeed > self.camera_settings.minspeed or m.groundspeed > self.camera_settings.minspeed: self.running = True self.joelog = cuav_joe.JoeLog(os.path.join( os.path.dirname(self.camera_settings.imagefile), 'joe_air.log'), append=self.continue_mode) self.capture_thread = self.start_thread( self.capture_threadfunc) self.scan_thread = self.start_thread(self.scan_threadfunc) self.send_message("Started cuav running") print("Started cuav running") if m.get_type() == "TERRAIN_REPORT": self.terrain_alt = m.current_height if m.get_type( ) == "HEARTBEAT" and m.type != mavutil.mavlink.MAV_TYPE_GCS: was_armed = self.is_armed self.is_armed = (m.base_mode & mavutil.mavlink.MAV_MODE_FLAG_SAFETY_ARMED) != 0 if not self.is_armed and was_armed: stopfile = self.camera_settings.imagefile + ".stop" if not os.path.exists(stopfile): print("Creating stop file") open(stopfile, "w").write("") if m.get_type() in ['DATA16', 'DATA32', 'DATA64', 'DATA96']: if self.msocket is not None: self.msocket.incoming.append(m)
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') frame_time = 0 for f in files: if mpos: frame_time = cuav_util.parse_frame_time(f) 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(im_8bit, im_full) im_640 = numpy.zeros((480,640,3),dtype='uint8') scanner.downsample(im_full, im_640) else: im_orig = cv.LoadImage(f) (w,h) = cuav_util.image_shape(im_orig) im_full = im_orig im_640 = cv.CreateImage((640, 480), 8, 3) cv.Resize(im_full, im_640, cv.CV_INTER_NN) 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(im_full) regions = cuav_region.RegionsConvert(regions, 1280, 960) else: regions = scanner.scan(img_scan) regions = cuav_region.RegionsConvert(regions) count += 1 t1=time.time() if opts.filter: regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore, filter_type=opts.filter_type) 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) thumbs = cuav_mosaic.ExtractThumbs(composite, 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() (w,h) = cuav_util.image_shape(img_view) x1 = x1*w//1280 x2 = x2*w//1280 y1 = y1*h//960 y2 = y2*h//960 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) if t1 != t0: print('%s scan %.1f fps %u regions [%u/%u]' % ( f, count/total_time, region_count, scan_count, num_files))
def process(args): '''process a set of files''' global slipmap, mosaic scan_count = 0 files = [] if os.path.isdir(args.directory): files.extend(file_list(args.directory, ['jpg', 'pgm', 'png'])) else: if args.directory.find('*') != -1: files.extend(glob.glob(args.directory)) else: files.append(args.directory) files.sort() num_files = len(files) print("num_files=%u" % num_files) region_count = 0 slipmap = mp_slipmap.MPSlipMap(service=args.service, elevation=True, title='Map') icon = slipmap.icon('redplane.png') slipmap.add_object( mp_slipmap.SlipIcon('plane', (0, 0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())) for flag in args.flag: a = flag.split(',') lat = a[0] lon = a[1] icon = 'flag.png' if len(a) > 2: icon = a[2] + '.png' icon = slipmap.icon(icon) slipmap.add_object( mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat), float(lon)), icon, layer=3, rotation=0, follow=False)) if args.mission: from pymavlink import mavwp wp = mavwp.MAVWPLoader() wp.load(args.mission.name) plist = wp.polygon_list() if len(plist) > 0: for i in range(len(plist)): slipmap.add_object( mp_slipmap.SlipPolygon('Mission-%s-%u' % (args.mission.name, i), plist[i], layer='Mission', linewidth=2, colour=(255, 255, 255))) if args.mavlog: mpos = mav_position.MavInterpolator() mpos.set_logfile(args.mavlog.name) else: mpos = None if args.gammalog is not None: gamma = parse_gamma_log(args.gammalog) else: gamma = None if args.kmzlog: kmzpos = mav_position.KmlPosition(args.kmzlog.name) else: kmzpos = None if args.triggerlog: triggerpos = mav_position.TriggerPosition(args.triggerlog.name) else: triggerpos = None # create a simple lens model using the focal length if args.camera_params: C_params = cam_params.CameraParams.fromfile(args.camera_params.name) else: C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth, xresolution=args.xresolution, yresolution=args.yresolution) if args.target: target = args.target.split(',') else: target = [0, 0, 0] camera_settings = MPSettings([ MPSetting('roll_stabilised', bool, args.roll_stabilised, 'Roll Stabilised'), MPSetting('altitude', int, args.altitude, 'Altitude', range=(0, 10000), increment=1), MPSetting( 'minalt', int, 30, 'MinAltitude', range=(0, 10000), increment=1), MPSetting('mpp100', float, 0.0977, 'MPPat100m', range=(0, 10000), increment=0.001), MPSetting('rotate180', bool, args.rotate_180, 'rotate180'), MPSetting('filter_type', str, 'compactness', 'Filter Type', choice=['simple', 'compactness']), MPSetting('target_lattitude', float, float(target[0]), 'target latitude', increment=1.0e-7), MPSetting('target_longitude', float, float(target[1]), 'target longitude', increment=1.0e-7), MPSetting('target_radius', float, float(target[2]), 'target radius', increment=1), MPSetting('quality', int, 75, 'Compression Quality', range=(1, 100), increment=1), MPSetting('thumbsize', int, args.thumbsize, 'Thumbnail Size', range=(10, 200), increment=1), MPSetting('minscore', int, args.minscore, 'Min Score', range=(0, 1000), increment=1, tab='Scoring'), MPSetting('brightness', float, 1.0, 'Display Brightness', range=(0.1, 10), increment=0.1, digits=2, tab='Display'), ], title='Camera Settings') image_settings = MPSettings([ MPSetting('MinRegionArea', float, 0.05, range=(0, 100), increment=0.05, digits=2, tab='Image Processing'), MPSetting('MaxRegionArea', float, 4.0, range=(0, 100), increment=0.1, digits=1), MPSetting('MinRegionSize', float, 0.02, range=(0, 100), increment=0.05, digits=2), MPSetting('MaxRegionSize', float, 3.0, range=(0, 100), increment=0.1, digits=1), MPSetting('MaxRarityPct', float, 0.02, range=(0, 100), increment=0.01, digits=2), MPSetting('RegionMergeSize', float, 1.0, range=(0, 100), increment=0.1, digits=1), MPSetting('BlueEmphasis', bool, args.blue_emphasis), MPSetting('SaveIntermediate', bool, args.debug) ], title='Image Settings') mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params, camera_settings=camera_settings, image_settings=image_settings, start_menu=True, classify=args.categories, thumb_size=args.mosaic_thumbsize) joelog = cuav_joe.JoeLog(None) if args.view: viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True) start_time = time.time() for f in files: if not mosaic.started(): print("Waiting for startup") if args.start: mosaic.has_started = True while not mosaic.started(): mosaic.check_events() time.sleep(0.01) if mpos: # get the position by interpolating telemetry data from the MAVLink log file # this assumes that the filename contains the timestamp if gamma is not None: frame_time = parse_gamma_time(f, gamma) else: frame_time = cuav_util.parse_frame_time(f) frame_time += args.time_offset if camera_settings.roll_stabilised: roll = 0 else: roll = None try: pos = mpos.position(frame_time, roll=roll) except Exception: print("No position available for %s" % frame_time) # skip this frame continue elif kmzpos is not None: pos = kmzpos.position(f) elif triggerpos is not None: pos = triggerpos.position(f) else: # get the position using EXIF data pos = mav_position.exif_position(f) pos.time += args.time_offset # update the plane icon on the map if pos is not None: slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw) if camera_settings.altitude > 0: pos.altitude = camera_settings.altitude # check for any events from the map slipmap.check_events() mosaic.check_events() im_orig = cuav_util.LoadImage(f, rotate180=camera_settings.rotate180) if im_orig is None: continue (w, h) = cuav_util.image_shape(im_orig) if False: im_640 = cv.CreateImage((640, 480), 8, 3) cv.Resize(im_full, im_640, cv.CV_INTER_NN) im_640 = numpy.ascontiguousarray(cv.GetMat(im_640)) im_full = im_orig im_full = numpy.ascontiguousarray(cv.GetMat(im_full)) count = 0 total_time = 0 t0 = time.time() img_scan = im_full scan_parms = {} for name in image_settings.list(): scan_parms[name] = image_settings.get(name) scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate']) scan_parms['BlueEmphasis'] = float(scan_parms['BlueEmphasis']) if pos is not None: (sw, sh) = cuav_util.image_shape(img_scan) altitude = pos.altitude if altitude < camera_settings.minalt: altitude = camera_settings.minalt scan_parms[ 'MetersPerPixel'] = camera_settings.mpp100 * altitude / 100.0 regions = scanner.scan(img_scan, scan_parms) else: regions = scanner.scan(img_scan) regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full)) count += 1 t1 = time.time() frame_time = pos.time if pos: for r in regions: r.latlon = cuav_util.gps_position_from_image_region( r, pos, w, h, altitude=altitude, C=C_params) if camera_settings.target_radius > 0 and pos is not None: regions = cuav_region.filter_radius( regions, (camera_settings.target_lattitude, camera_settings.target_longitude), camera_settings.target_radius) regions = cuav_region.filter_regions( im_full, regions, frame_time=frame_time, min_score=camera_settings.minscore, filter_type=camera_settings.filter_type) scan_count += 1 if pos and len(regions) > 0: altitude = camera_settings.altitude if altitude <= 0: altitude = None joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=altitude) mosaic.add_image(pos.time, f, pos) region_count += len(regions) if len(regions) > 0: composite = cuav_mosaic.CompositeThumbnail( cv.GetImage(cv.fromarray(im_full)), regions) thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions)) mosaic.add_regions(regions, thumbs, f, pos) if args.view: img_view = img_scan (wview, hview) = cuav_util.image_shape(img_view) mat = cv.fromarray(img_view) for r in regions: r.draw_rectangle(mat, (255, 0, 0)) cv.CvtColor(mat, mat, cv.CV_BGR2RGB) viewer.set_image(mat) viewer.set_title('Image: ' + os.path.basename(f)) if args.saveview: cv.CvtColor(mat, mat, cv.CV_RGB2BGR) cv.SaveImage('view-' + os.path.basename(f), mat) total_time += (t1 - t0) if t1 != t0: print('%s scan %.1f fps %u regions [%u/%u]' % (os.path.basename(f), count / total_time, region_count, scan_count, num_files)) #raw_input("hit ENTER when ready") print("All images processed (%u seconds)" % (time.time() - start_time)) while True: # check for any events from the map slipmap.check_events() mosaic.check_events() time.sleep(0.2)
def __init__(self): self.running = False self.unload = threading.Event() self.unload.clear() self.capture_thread = None self.save_thread = None self.scan_thread1 = None self.scan_thread2 = None self.transmit_thread = None self.view_thread = None self.settings = mp_settings.MPSettings( [ ('depth', int, 8), ('gcs_address', str, None), ('gcs_view_port', int, 7543), ('bandwidth', int, 40000), ('bandwidth2', int, 2000), ('capture_brightness', int, 150), ('gamma', int, 950), ('brightness', float, 1.0), ('quality', int, 75), ('save_pgm', int, 1), ('transmit', int, 1), ('roll_stabilised', int, 1), ('minscore', int, 75), ('minscore2', int, 500), ('altitude', int, None), ('send1', int, 1), ('send2', int, 1), ('maxqueue1', int, None), ('maxqueue2', int, 30), ('thumbsize', int, 60), ('packet_loss', int, 0), ('gcs_slave', str, None) ] ) self.capture_count = 0 self.scan_count = 0 self.error_count = 0 self.error_msg = None self.region_count = 0 self.fps = 0 self.scan_fps = 0 self.cam = None self.save_queue = Queue.Queue() self.scan_queue = Queue.Queue() self.transmit_queue = Queue.Queue() self.viewing = False self.c_params = CameraParams(lens=4.0) self.jpeg_size = 0 self.xmit_queue = 0 self.xmit_queue2 = 0 self.efficiency = 1.0 self.last_watch = 0 self.frame_loss = 0 self.boundary = None self.boundary_polygon = None self.bandwidth_used = 0 self.rtt_estimate = 0 self.bsocket = None self.bsend2 = None self.bsend_slave = None # setup directory for images self.camera_dir = os.path.join(os.path.dirname(mpstate.logfile_name), "camera") cuav_util.mkdir_p(self.camera_dir) self.mpos = mav_position.MavInterpolator(backlog=5000, gps_lag=0.3) self.joelog = cuav_joe.JoeLog(os.path.join(self.camera_dir, 'joe.log'), append=mpstate.continue_mode) # load camera params path = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', '..', '..', 'cuav', 'data', 'chameleon1_arecont0.json') self.c_params.load(path)
def cmd_camera(self, args): '''camera commands''' usage = "usage: camera <start|airstart|stop|status|queue|set>" if len(args) == 0: print(usage) return if args[0] == "start": self.capture_count = 0 self.error_count = 0 self.error_msg = None #check cam params if not self.check_camera_parms(): print("Error - incorrect camera params " + str(self.camera_settings.camparms)) return if self.running == False: self.running = True self.joelog = cuav_joe.JoeLog(os.path.join( os.path.dirname(self.camera_settings.imagefile), 'joe_air.log'), append=self.continue_mode) self.capture_thread = self.start_thread( self.capture_threadfunc) self.scan_thread = self.start_thread(self.scan_threadfunc) self.transmit_thread = self.start_thread( self.transmit_threadfunc) time.sleep(0.1) self.send_message("Started cuav running") print("Started cuav running") else: self.send_message("cuav already running") print("cuav already running") elif args[0] == "stop": self.running = False self.airstart_triggered = False print("Stopped cuav") self.send_message("Stopped cuav") elif args[0] == "status": ret = "Cap imgs:%u err:%u scan:%u regions:%u jsize:%.0f xmitq:%s sq:%u eff:%s" % ( self.capture_count, self.error_count, self.scan_count, self.region_count, self.jpeg_size, self.xmit_queue, self.scan_queue.qsize(), self.efficiency) print(ret) self.send_message(ret) elif args[0] == "queue": ret = "scan %u transmit %u eff %s bw %s rtt %s" % ( self.scan_queue.qsize(), self.transmit_queue.qsize(), self.efficiency, self.bandwidth_used, self.rtt_estimate) print(ret) elif args[0] == "set": self.camera_settings.command(args[1:]) elif args[0] == "airstart": #just keep the block xmit going for now self.capture_count = 0 self.error_count = 0 self.error_msg = None #check cam params if not self.check_camera_parms(): print("Error - incorrect camera params " + str(self.camera_settings.camparms)) return if self.airstart_triggered == False: self.airstart_triggered = True self.joelog = cuav_joe.JoeLog(os.path.join( os.path.dirname(self.camera_settings.imagefile), 'joe_air.log'), append=self.continue_mode) self.transmit_thread = self.start_thread( self.transmit_threadfunc) time.sleep(0.1) self.send_message("cuav airstart ready") print("cuav airstart ready") else: self.send_message("cuav airstart already running") print("cuav airstart already running") else: print(usage)
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(file_list(a, ['jpg', 'pgm', 'png'])) else: if a.find('*') != -1: files.extend(glob.glob(a)) else: files.append(a) files.sort() num_files = len(files) print("num_files=%u" % num_files) region_count = 0 slipmap = mp_slipmap.MPSlipMap(service=opts.service, elevation=True, title='Map') icon = slipmap.icon('redplane.png') slipmap.add_object( mp_slipmap.SlipIcon('plane', (0, 0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())) if opts.mission: from pymavlink import mavwp wp = mavwp.MAVWPLoader() wp.load(opts.mission) boundary = wp.polygon() slipmap.add_object( mp_slipmap.SlipPolygon('mission', boundary, layer=1, linewidth=1, colour=(255, 255, 255))) if opts.mavlog: mpos = mav_position.MavInterpolator() mpos.set_logfile(opts.mavlog) else: mpos = None if opts.kmzlog: kmzpos = mav_position.KmlPosition(opts.kmzlog) else: kmzpos = None if opts.triggerlog: triggerpos = mav_position.TriggerPosition(opts.triggerlog) else: triggerpos = None # create a simple lens model using the focal length C_params = cam_params.CameraParams(lens=opts.lens, sensorwidth=opts.sensorwidth) if opts.camera_params: C_params.load(opts.camera_params) camera_settings = MPSettings([ MPSetting('roll_stabilised', bool, True, 'Roll Stabilised'), MPSetting( 'altitude', int, 0, 'Altitude', range=(0, 10000), increment=1), MPSetting('filter_type', str, 'simple', 'Filter Type', choice=['simple', 'compactness']), MPSetting('fullres', bool, False, 'Full Resolution'), MPSetting('quality', int, 75, 'Compression Quality', range=(1, 100), increment=1), MPSetting('thumbsize', int, 60, 'Thumbnail Size', range=(10, 200), increment=1), MPSetting('minscore', int, 75, 'Min Score', range=(0, 1000), increment=1, tab='Scoring'), MPSetting('brightness', float, 1.0, 'Display Brightness', range=(0.1, 10), increment=0.1, digits=2, tab='Display') ], title='Camera Settings') image_settings = MPSettings([ MPSetting('MinRegionArea', float, 0.15, range=(0, 100), increment=0.05, digits=2, tab='Image Processing'), MPSetting('MaxRegionArea', float, 2.0, range=(0, 100), increment=0.1, digits=1), MPSetting('MinRegionSize', float, 0.1, range=(0, 100), increment=0.05, digits=2), MPSetting( 'MaxRegionSize', float, 2, range=(0, 100), increment=0.1, digits=1), MPSetting('MaxRarityPct', float, 0.02, range=(0, 100), increment=0.01, digits=2), MPSetting('RegionMergeSize', float, 3.0, range=(0, 100), increment=0.1, digits=1), MPSetting('SaveIntermediate', bool, False) ], title='Image Settings') mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params, camera_settings=camera_settings, image_settings=image_settings, start_menu=True) joelog = cuav_joe.JoeLog(None) if opts.view: viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True) if camera_settings.filter_type == 'compactness': calculate_compactness = True print("Using compactness filter") else: calculate_compactness = False for f in files: if not mosaic.started(): print("Waiting for startup") while not mosaic.started(): mosaic.check_events() time.sleep(0.01) if mpos: # get the position by interpolating telemetry data from the MAVLink log file # this assumes that the filename contains the timestamp frame_time = cuav_util.parse_frame_time(f) + opts.time_offset if camera_settings.roll_stabilised: roll = 0 else: roll = None try: pos = mpos.position(frame_time, roll=roll) except Exception: print("No position available for %s" % frame_time) # skip this frame continue elif kmzpos is not None: pos = kmzpos.position(f) elif triggerpos is not None: pos = triggerpos.position(f) else: # get the position using EXIF data pos = mav_position.exif_position(f) pos.time += opts.time_offset # update the plane icon on the map if pos is not None: slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw) if camera_settings.altitude > 0: pos.altitude = camera_settings.altitude # check for any events from the map slipmap.check_events() mosaic.check_events() im_orig = cuav_util.LoadImage(f) (w, h) = cuav_util.image_shape(im_orig) if not opts.camera_params: C_params.set_resolution(w, h) im_full = im_orig im_640 = cv.CreateImage((640, 480), 8, 3) cv.Resize(im_full, im_640, cv.CV_INTER_NN) im_640 = numpy.ascontiguousarray(cv.GetMat(im_640)) im_full = numpy.ascontiguousarray(cv.GetMat(im_full)) count = 0 total_time = 0 t0 = time.time() if camera_settings.fullres: img_scan = im_full else: img_scan = im_640 scan_parms = {} for name in image_settings.list(): scan_parms[name] = image_settings.get(name) scan_parms['SaveIntermediate'] = float(scan_parms['SaveIntermediate']) if pos is not None: (sw, sh) = cuav_util.image_shape(img_scan) mpp = cuav_util.meters_per_pixel(pos, C=C_params) if mpp is not None: scan_parms['MetersPerPixel'] = mpp * (w / float(sw)) regions = scanner.scan(img_scan, scan_parms) else: regions = scanner.scan(img_scan) regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full), calculate_compactness) count += 1 t1 = time.time() frame_time = pos.time regions = cuav_region.filter_regions( im_full, regions, frame_time=frame_time, min_score=camera_settings.minscore, filter_type=camera_settings.filter_type) scan_count += 1 mosaic.add_image(pos.time, f, pos) if pos and len(regions) > 0: altitude = camera_settings.altitude if altitude <= 0: altitude = None joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=altitude) region_count += len(regions) if len(regions) > 0: composite = cuav_mosaic.CompositeThumbnail( cv.GetImage(cv.fromarray(im_full)), regions) thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions)) mosaic.add_regions(regions, thumbs, f, pos) if opts.view: img_view = img_scan (wview, hview) = cuav_util.image_shape(img_view) mat = cv.fromarray(img_view) for r in regions: r.draw_rectangle(mat, (255, 0, 0)) cv.CvtColor(mat, mat, cv.CV_BGR2RGB) viewer.set_image(mat) viewer.set_title('Image: ' + os.path.basename(f)) total_time += (t1 - t0) if t1 != t0: print('%s scan %.1f fps %u regions [%u/%u]' % (os.path.basename(f), count / total_time, region_count, scan_count, num_files))
def process(args): '''process a set of files''' global slipmap, mosaic scan_count = 0 files = scan_image_directory(args.imagedir) files.sort() num_files = len(files) print("num_files=%u" % num_files) region_count = 0 joes = [] if args.mavlog: mpos = mav_position.MavInterpolator(gps_lag=args.gps_lag) mpos.set_logfile(args.mavlog) else: mpos = None if args.boundary: boundary = cuav_util.polygon_load(args.boundary) else: boundary = None if args.mosaic: slipmap = mp_slipmap.MPSlipMap(service='GoogleSat', elevation=True, title='Map') icon = slipmap.icon('redplane.png') slipmap.add_object(mp_slipmap.SlipIcon('plane', (0,0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())) if args.camera_params: C_params = cam_params.CameraParams.fromfile(args.camera_params.name) else: im_orig = cv2.imread(files[0]) (w,h) = cuav_util.image_shape(im_orig) C_params = cam_params.CameraParams(lens=args.lens, sensorwidth=args.sensorwidth, xresolution=w, yresolution=h) mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params) if boundary is not None: mosaic.set_boundary(boundary) if args.joe: joes = cuav_util.polygon_load(args.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 args.view: viewer = mp_image.MPImage(title='Image') frame_time = 0 scan_parms = { 'MinRegionArea' : args.min_region_area, 'MaxRegionArea' : args.max_region_area, 'MinRegionSize' : args.min_region_size, 'MaxRegionSize' : args.max_region_size, 'MaxRarityPct' : args.max_rarity_pct, 'RegionMergeSize' : args.region_merge, 'SaveIntermediate' : float(0), #'SaveIntermediate' : float(args.debug), 'MetersPerPixel' : args.meters_per_pixel100 * args.altitude / 100.0 } filenum = 0 for f in files: filenum += 1 if mpos: frame_time = cuav_util.parse_frame_time(f) try: if args.roll_stabilised: roll = 0 else: roll = None pos = mpos.position(frame_time, args.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 args.mosaic: slipmap.check_events() mosaic.check_events() im_orig = cv2.imread(f) (w,h) = cuav_util.image_shape(im_orig) im_full = im_orig im_half = cv2.resize(im_orig, (0,0), fx=0.5, fy=0.5) im_half = numpy.ascontiguousarray(im_half) im_full = numpy.ascontiguousarray(im_full) count = 0 total_time = 0 if args.fullres: img_scan = im_full else: img_scan = im_half t0=time.time() for i in range(args.repeat): regions = scanner.scan(img_scan, scan_parms) regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full)) count += 1 t1=time.time() if args.filter: regions = cuav_region.filter_regions(im_full, regions, min_score=args.minscore, filter_type=args.filter_type) if len(regions) > 0 and args.debug: composite = cuav_region.CompositeThumbnail(im_full, regions, thumb_size=args.thumb_size) thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions)) thumb_num = 0 for thumb in thumbs: print("thumb %u score %f" % (thumb_num, regions[thumb_num].score)) cv2.imwrite('%u_thumb%u.jpg' % (filenum,thumb_num), thumb) thumb_num += 1 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 args.linkjoe and len(regions) > 0: cuav_util.mkdir_p(args.linkjoe) if not cuav_util.polygon_outside((pos.lat, pos.lon), boundary): joepath = os.path.join(args.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=w, height=h, altitude=args.altitude, C=C_params) if boundary: regions = cuav_region.filter_boundary(regions, boundary, pos) region_count += len(regions) if args.mosaic and len(regions) > 0 and pos: composite = cuav_region.CompositeThumbnail(im_full, regions) thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions)) mosaic.add_regions(regions, thumbs, f, pos) if args.view: if args.fullres: img_view = im_full else: img_view = img_scan #mat = cv.fromarray(img_view) for r in regions: r.draw_rectangle(img_view, colour=(255,0,0), linewidth=min(max(w/600,1),3), offset=max(w/200,1)) img_view = cv2.cvtColor(img_view, cv2.COLOR_BGR2RGB) viewer.set_image(img_view) total_time += (t1-t0) if t1 != t0: print('%s scan %.1f fps %u regions [%u/%u]' % ( f, count/total_time, region_count, scan_count, num_files))
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(file_list(a, ['jpg', 'pgm', 'png'])) else: if a.find('*') != -1: files.extend(glob.glob(a)) else: files.append(a) files.sort() num_files = len(files) print("num_files=%u" % num_files) region_count = 0 slipmap = mp_slipmap.MPSlipMap(service=opts.service, elevation=True, title='Map') icon = slipmap.icon('redplane.png') slipmap.add_object( mp_slipmap.SlipIcon('plane', (0, 0), icon, layer=3, rotation=0, follow=True, trail=mp_slipmap.SlipTrail())) if opts.mission: from pymavlink import mavwp wp = mavwp.MAVWPLoader() wp.load(opts.mission) boundary = wp.polygon() slipmap.add_object( mp_slipmap.SlipPolygon('mission', boundary, layer=1, linewidth=1, colour=(255, 255, 255))) if opts.mavlog: mpos = mav_position.MavInterpolator() mpos.set_logfile(opts.mavlog) else: mpos = None if opts.kmzlog: kmzpos = mav_position.KmlPosition(opts.kmzlog) else: kmzpos = None if opts.triggerlog: triggerpos = mav_position.TriggerPosition(opts.triggerlog) else: triggerpos = None # create a simple lens model using the focal length C_params = cam_params.CameraParams(lens=opts.lens, sensorwidth=opts.sensorwidth) if opts.camera_params: C_params.load(opts.camera_params) mosaic = cuav_mosaic.Mosaic(slipmap, C=C_params) joelog = cuav_joe.JoeLog(None) if opts.view: viewer = mp_image.MPImage(title='Image', can_zoom=True, can_drag=True) scan_parms = { 'MinRegionArea': opts.min_region_area, 'MaxRegionArea': opts.max_region_area, 'MinRegionSize': opts.min_region_size, 'MaxRegionSize': opts.max_region_size, 'MaxRarityPct': opts.max_rarity_pct, 'RegionMergeSize': opts.region_merge } for f in files: if mpos: # get the position by interpolating telemetry data from the MAVLink log file # this assumes that the filename contains the timestamp frame_time = cuav_util.parse_frame_time(f) + opts.time_offset if opts.roll_stabilised: roll = 0 else: roll = None try: pos = mpos.position(frame_time, roll=roll) except Exception: print("No position available for %s" % frame_time) # skip this frame continue elif kmzpos is not None: pos = kmzpos.position(f) elif triggerpos is not None: pos = triggerpos.position(f) else: # get the position using EXIF data pos = mav_position.exif_position(f) pos.time += opts.time_offset # update the plane icon on the map if pos is not None: slipmap.set_position('plane', (pos.lat, pos.lon), rotation=pos.yaw) # check for any events from the map slipmap.check_events() mosaic.check_events() im_orig = cuav_util.LoadImage(f) (w, h) = cuav_util.image_shape(im_orig) if not opts.camera_params: C_params.set_resolution(w, h) im_full = im_orig im_640 = cv.CreateImage((640, 480), 8, 3) cv.Resize(im_full, im_640, cv.CV_INTER_NN) im_640 = numpy.ascontiguousarray(cv.GetMat(im_640)) im_full = numpy.ascontiguousarray(cv.GetMat(im_full)) count = 0 total_time = 0 t0 = time.time() if opts.fullres: img_scan = im_full else: img_scan = im_640 if pos is not None: (sw, sh) = cuav_util.image_shape(img_scan) mpp = cuav_util.meters_per_pixel(pos, C=C_params) if mpp is not None: scan_parms['MetersPerPixel'] = mpp * (w / float(sw)) regions = scanner.scan(img_scan, scan_parms) else: regions = scanner.scan(img_scan) regions = cuav_region.RegionsConvert(regions, cuav_util.image_shape(img_scan), cuav_util.image_shape(im_full)) count += 1 t1 = time.time() frame_time = pos.time regions = cuav_region.filter_regions(im_full, regions, frame_time=frame_time, min_score=opts.minscore, filter_type=opts.filter_type) scan_count += 1 mosaic.add_image(pos.time, f, pos) if pos and len(regions) > 0: joelog.add_regions(frame_time, regions, pos, f, width=w, height=h, altitude=opts.altitude) region_count += len(regions) if len(regions) > 0: composite = cuav_mosaic.CompositeThumbnail( cv.GetImage(cv.fromarray(im_full)), regions) thumbs = cuav_mosaic.ExtractThumbs(composite, len(regions)) mosaic.add_regions(regions, thumbs, f, pos) if opts.view: img_view = img_scan (wview, hview) = cuav_util.image_shape(img_view) mat = cv.fromarray(img_view) for r in regions: r.draw_rectangle(mat, (255, 0, 0)) cv.CvtColor(mat, mat, cv.CV_BGR2RGB) viewer.set_image(mat) viewer.set_title('Image: ' + os.path.basename(f)) total_time += (t1 - t0) if t1 != t0: print('%s scan %.1f fps %u regions [%u/%u]' % (os.path.basename(f), count / total_time, region_count, scan_count, num_files))