def init_assignment(formation_setted):
global marker_1
global marker_2
global marker_3
global marker_4
marker_1=Marker(1,position_3D=(formation_setted[0][0],formation_setted[0][1],0))
marker_2=Marker(2,position_3D=(formation_setted[1][0],formation_setted[1][1],0))
marker_3=Marker(3,position_3D=(formation_setted[2][0],formation_setted[2][1],0))
marker_4=Marker(4,position_3D=(formation_setted[3][0],formation_setted[3][1],0))
markers=[marker_1,marker_2,marker_3,marker_4]
hung_index=assignment_change(formation_setted)
ms_pos=MarkersPosition()
ms_pos.markers_pos=markers
ms_pos.hungarian_index=hung_index
def main():
cap = cv2.VideoCapture('./test_img/draw_video/video_orig_CA.avi')
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1920)
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 1080)
cv2.namedWindow("image", cv2.WINDOW_NORMAL)
video_file_path = "./test_img/"
file_name = "video_test.avi"
file_name_orig = "video_orig.avi"
# Define the codec and create VideoWriter object
# fourcc =cv2.VideoWriter_fourcc('M','J','P','G')
fourcc = cv2.VideoWriter_fourcc(*"XVID")
out_video = cv2.VideoWriter(video_file_path + file_name, fourcc, 5.0,
(1920, 1080))
out_video_orig = cv2.VideoWriter(video_file_path + file_name_orig, fourcc,
5.0, (1920, 1080))
# for_adjust();
model = None
if Load_Autoencoder:
model = joblib.load("./marker_detection/en_neigh_model.m")
else:
model = joblib.load("./marker_detection/neigh_model.m")
log_file_path = "./log.txt"
log_file = open(log_file_path, "w")
formation = formation_I
init_assignment(formation)
addr = ('192.168.43.95', 5000)
server = UDP_Server(addr)
server.start_server()
i = 0
while (1):
ret, frame = cap.read()
i += 1
print('i:', i)
# if i==21:
# continue
# cv2.waitKey(0)
# cv2.imshow("hello",frame)
# cv2.waitKey(0)
before_markers = detect_markers(frame, model, 118, Load_Autoencoder)
markers = generate_marker_5_pos(before_markers)
global marker_1
global marker_2
global marker_3
global marker_4
global marker_5
cur_marker_5 = []
for marker in markers:
if marker.id == 1:
marker_1 = marker
elif marker.id == 2:
marker_2 = marker
elif marker.id == 3:
marker_3 = marker
elif marker.id == 4:
marker_4 = marker
elif marker.id == 5:
cur_marker_5.append(marker)
if cur_marker_5 == 2:
marker_5 = cur_marker_5
# ********这一句只能在任意拓扑编队中使用**********
hung_index = assignment_change(formation)
ms_pos = MarkersPosition()
ms_pos.markers_pos = markers
ms_pos.hungarian_index = hung_index
# print("*******************markers_position************************")
print(ms_pos.markers_pos_string)
# print(ms_pos.hungarian_index_string)
# for marker in markers:
# print(marker)
# print("***********************************************************")
log_str = str(round(time.time(),
2)) + " " + ms_pos.markers_pos_string + "\n"
log_file.write(log_str)
out_video_orig.write(frame)
markers = [marker_1, marker_2, marker_3, marker_4] #保持图片中时刻检测到边框
for marker in markers:
try:
marker.highlite_marker(frame)
except:
continue
for marker in marker_5:
try:
marker.highlite_marker(frame)
except:
continue
# if i<=272:
# draw_T(frame,0)
# else:
# draw_T(frame,1)
# draw_Line(frame)
# frame=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
cv2.imshow("image", frame)
out_video.write(frame)
key = cv2.waitKey(10)
if key == 27:
break
server.stop_server()
log_file.close()
out_video.release()
out_video_orig.release()
cap.release()
cv2.destroyAllWindows()