def main():
cr.printLabel("Visual Validation")
left, distcanceCM, temperatureC = cr.overlayReturn002(
leftImageName, rightImageName, thermalImageName, stereoParams,
thermalParams, leftMatcher, overlayParams)
cr.plotSubplot(left, distcanceCM, temperatureC)
cr.printLabel("Gaining Results")
resultsCelius = cr.getCurrentFeverSensorInfoCelcius(leftImageName,rightImageName,thermalImageName,\
stereoParams,thermalParams,overlayParams,\
leftMatcher,scalingFactor,coordsIn)
resultsFarenheit=cr.getCurrentFeverSensorInfoFarenheit(leftImageName,rightImageName,thermalImageName,\
stereoParams,thermalParams,overlayParams,\
leftMatcher,scalingFactor,coordsIn)
cr.printLabel("Printing Results in CM & Celcius:")
print(resultsCelius)
cr.printLabel("Printing Results in CM & Farenheit:")
print(resultsFarenheit)
def main():
cr.printLabel("Initiating Thermal Camera")
ctx = POINTER(uvc_context)()
dev = POINTER(uvc_device)()
devh = POINTER(uvc_device_handle)()
ctrl = uvc_stream_ctrl()
res = libuvc.uvc_init(byref(ctx), 0)
if res < 0:
print("uvc_init error")
exit(1)
try:
res = libuvc.uvc_find_device(ctx, byref(dev), PT_USB_VID, PT_USB_PID,
0)
if res < 0:
print("uvc_find_device error")
exit(1)
try:
res = libuvc.uvc_open(dev, byref(devh))
if res < 0:
print("uvc_open error")
exit(1)
cr.printLabel("Thermal Camera Initiated")
cr.printLabel("Thermal Camera Properties:")
print_device_info(devh)
print_device_formats(devh)
frame_formats = uvc_get_frame_formats_by_guid(
devh, VS_FMT_GUID_Y16)
if len(frame_formats) == 0:
print("device does not support Y16")
exit(1)
libuvc.uvc_get_stream_ctrl_format_size(
devh, byref(ctrl), UVC_FRAME_FORMAT_Y16,
frame_formats[0].wWidth, frame_formats[0].wHeight,
int(1e7 / frame_formats[0].dwDefaultFrameInterval))
res = libuvc.uvc_start_streaming(devh, byref(ctrl),
PTR_PY_FRAME_CALLBACK, None, 0)
if res < 0:
print("uvc_start_streaming failed: {0}".format(res))
exit(1)
try:
startTime = time.time()
cr.printLabel("Initiating Checks")
for n in range(10):
print("Check: " + str(n + 1))
q.get(True, 500)
retLeft, frameLeft = capLeft.read()
retRight, frameRight = capRight.read()
if not retLeft:
print('Empty Left frame')
if not retRight:
print('Empty Right frame')
cr.printLabel("Entering While Loop")
while True:
dateTime = datetime.datetime.now()
thermalData = q.get(True, 500)
retLeft, left = capLeft.read()
retRight, right = capRight.read()
if not retLeft:
print('Empty Left frame')
if not retRight:
print('Empty Right frame')
qThermal.put(cr.thermalRawConvert(thermalData))
if (qThermal.full()):
print(dateTime)
thermal = qThermal.get()
if (imageSave):
leftImageName = directory + cr.getImagePathTail(
dateTime, 'left')
rightImageName = directory + cr.getImagePathTail(
dateTime, 'right')
thermalImageName = directory + cr.getImagePathTail(
dateTime, 'thermal')
cv2.imwrite(leftImageName, left)
cv2.imwrite(rightImageName, right)
cv2.imwrite(thermalImageName, thermal)
if (display):
cv2.imshow('Left Frame',
imutils.resize(left, width=640))
cv2.imshow('Right Frame',
imutils.resize(right, width=640))
cv2.imshow('Thermal Frame',
imutils.resize(thermal, width=640))
else:
print("Thermal Queue not full")
print("Thermal Queue Size: {}".format(
qThermal.qsize()))
#
if cv2.waitKey(1) & 0xFF == ord('q'):
break
finally:
libuvc.uvc_stop_streaming(devh)
capLeft.release()
capRight.release()
cv2.destroyAllWindows()
cr.printLabel("MINTS done")
finally:
libuvc.uvc_unref_device(dev)
finally:
libuvc.uvc_exit(ctx)
cr.printMINTS("fevSen")
import numpy as np
try:
from queue import Queue
except ImportError:
from Queue import Queue
import os
# import threading
import time
import imutils
import numpy, scipy.io
from imutils.video import WebcamVideoStream
from mintsJetson import camReader as cr
cr.printMINTS("fevSen")
cr.printLabel("Logging Inputs")
highResolution = True
imageSave = True
display = True
directory = "/home/teamlary/mintsData/jetson001/"
width = 2592
height = 1944
frameRate = 15
# For Low Resolution
if not highResolution:
width = 640
height = 480
frameRate = 30
#
# S_003 : Generating Thermal Camera Parametors
import math
import pickle
from scipy.io import loadmat
import numpy as np
from matplotlib import pyplot as plt
import cv2
from mintsJetson import camReader as cr
import datetime
cr.printMINTS("fevSen")
cr.printLabel("User Defined Variables")
loadName = 'dataFiles/DF_004_pythonThermalJetson001_Set2_2020_04_02.mat'
dateTime = datetime.datetime.now()
horizontalSquares = 8
verticalSquares = 7
saveName = "dataFiles/DF_005_thermalParams_Jetson001_{}_{}_{}_{}_{}_{}.p".format(\
str(dateTime.year).zfill(4),\
str(dateTime.month).zfill(2),\
str(dateTime.day).zfill(2),\
str(dateTime.hour).zfill(2),\
str(dateTime.minute).zfill(2),\
str(dateTime.second).zfill(2)\
)
print("Load Name : '{}'".format(loadName))
print("Save Name : '{}'".format(saveName))
# % # ***************************************************************************
#
# S_003 : Generating Visual Camera Parametors
import math
import pickle
from scipy.io import loadmat
import numpy as np
from matplotlib import pyplot as plt
import cv2
from mintsJetson import camReader as cr
import datetime
cr.printMINTS("fevSen")
cr.printLabel("User Defined Variables")
loadName = 'dataFiles/DF_002_pythonVisualJetson002_Set1_2020_04_10_14_07_40.mat'
jetsonNum = "002"
setNum = "1"
dateTime = datetime.datetime.now()
horizontalSquares = 8
verticalSquares = 7
saveName = "dataFiles/DF_003_stereoParams_Jetson{}_Set{}_{}_{}_{}_{}_{}_{}.p".format(\
jetsonNum,\
setNum,\
str(dateTime.year).zfill(4),\
str(dateTime.month).zfill(2),\
str(dateTime.day).zfill(2),\
#
# S_008 : Saving Image Files for MatLab
import cv2
import pickle
import numpy as np
from matplotlib import pyplot as plt
import cv2
from mintsJetson import camReader as cr
import datetime
from scipy.io import loadmat
cr.printMINTS("fevSen")
cr.printLabel("User Defined Variables")
directory = "/home/teamlary/mintsData/jetson002Set1/"
cr.printLabel("Loading Data Files")
stereoParams = pickle.load(
open("dataFiles/DF_003_stereoParams_Jetson002_Set1_2020_04_10_14_09_01.p",
"rb"))
thermalParams = pickle.load(
open("dataFiles/DF_005_thermalParams_Jetson002_Set1_2020_04_11_16_51_50.p",
"rb"))
leftAndRightParametors = loadmat(
'dataFiles/DF_002_pythonVisualJetson002_Set1_2020_04_10_14_07_40.mat')
imageFileNamesLeft = leftAndRightParametors['imageFileNames1']
imageFileNamesRight = leftAndRightParametors['imageFileNames2']
cr.printLabel("Gaining Stereo File Names from the Matlab Deployment")
import cv2
import pickle
import numpy as np
from matplotlib import pyplot as plt
import os
from scipy.io import loadmat
import math
import pickle
import datetime
import h5py
from mintsJetson import camReader as cr
cr.printMINTS("Fever Sensor Calibration")
cr.printLabel("User Defined Variables")
loadName1 = 'dataFiles/DF_010_overlayParams_jetson002_Set1_2020_04_11_17_37_56.mat'
loadName2 = 'dataFiles/DF_007_distanceParams_Jetson002_Set1_2020_04_11_17_02_47.mat'
dateTime = datetime.datetime.now()
horizontalSquares = 8
verticalSquares = 7
jetsonNum = "002"
setNum = "1"
saveName = "dataFiles/DF_011_overlayParams_Jetson{}_Set{}_{}_{}_{}_{}_{}_{}.p".format(\
jetsonNum,\
setNum,\
str(dateTime.year).zfill(4),\
str(dateTime.month).zfill(2),\
import imutils
import cv2
cr.printMINTS("fevSen")
directory = "/home/teamlary/mintsData/jetson002Set1/"
sourceLeft = directory + "left/"
sourceRight = directory + "right/"
destinationLeft = directory + "leftResized/"
destinationRight = directory + "rightResized/"
resizeWidth = 648
cr.printLabel("Creating Sub Directories")
cr.folderCheck(destinationLeft)
cr.folderCheck(destinationRight)
def resizeAndWrite(source, destination, widthIn):
if (os.path.exists(source)):
print("Source Path Left : {}".format(source))
print("Destination Path Right : {}".format(destination))
cr.folderCheck(os.path.dirname(destination))
resized = imutils.resize(cv2.imread(source), width=widthIn)
print("Writing Resized Image of '{}' to '{}'".format(
source, destination))
cv2.imwrite(destination, resized)
return True, resized
else:
#
# Step 012: Stereo Thermal Calibration Jetson 001
import cv2
import pickle
import numpy as np
from matplotlib import pyplot as plt
from scipy.io import loadmat
import datetime
import os, sys, inspect
from os import path
import h5py
import imutils
from mintsJetson import camReader as cr
cr.printLabel("Loading Parametors")
stereoParams = pickle.load(
open("dataFiles/DF_003_stereoParams_Jetson001_2020_04_02_19_05_49.p",
"rb"))
thermalParams = pickle.load(
open("dataFiles/DF_005_thermalParams_Jetson001_2020_04_02_22_55_59.p",
"rb"))
overlayParams = pickle.load(
open("dataFiles/DF_011_overlayParams_Jetson001_2020_04_04_19_19_01.p",
"rb"))
cr.printLabel("Defining Image Names")
thermalImageName = "exampleImages/jetson001_thermal.h5"
leftImageName = "exampleImages/jetson001_left.jpg"
rightImageName = "exampleImages/jetson001_right.jpg"
scalingFactor = 4
cr.printMINTS("fevSen")
directory = "/home/teamlary/mintsData/jetson002Set1/"
sourceFolder = "/home/teamlary/mintsData/jetson002Set1All/"
lookUpFolder = directory +"left/"
destinationFolder = directory
sourceFolderRight = sourceFolder + "right/"
sourceFolderThermal = sourceFolder + "thermal/"
destinationFolderRight = destinationFolder + "right/"
destinationFolderThermal = destinationFolder + "thermal/"
cr.printLabel("Creating Sub Directories")
cr.folderCheck(destinationFolderRight)
cr.folderCheck(destinationFolderThermal)
print("Listing all files")
if os.path.isdir(lookUpFolder):
print("Available Files in '{}':".format(lookUpFolder))
for fileName in sorted(os.listdir(lookUpFolder)):
if fileName.endswith(".jpg"):
full= lookUpFolder + fileName
fileNameCheck = fileName[0:26]
# Moving Right Images
#
# % For the visual camera calibration utdset0 is used
#
# % Define images to process
import math
import pickle
from scipy.io import loadmat
import numpy as np
from matplotlib import pyplot as plt
import cv2
from mintsJetson import camReader as cr
cr.printMINTS("fevSen")
cr.printLabel("Loading Stereo Vision Parametors From Matlab")
leftAndRightParametors = loadmat(
'dataFiles/DF_002_pythonVisualJetson001_Set2_2020_04_01_2.mat')
allImagePoints = leftAndRightParametors['imagePoints']
leftImagePoints = leftAndRightParametors['leftImagePoints']
rightImagePoints = leftAndRightParametors['rightImagePoints']
imageFileNamesLeft = leftAndRightParametors['imageFileNames1']
imageFileNamesRight = leftAndRightParametors['imageFileNames2']
cr.printLabel("Defining Chekerboard Specifications")
horizontalSquares = 8
verticalSquares = 7
horizontalInnerCorners = horizontalSquares - 1
verticalInnerCorners = verticalSquares - 1
scaleFactor = 4
# % For the visual camera calibration utdset0 is used
#
# % Define images to process
import math
import pickle
from scipy.io import loadmat
import numpy as np
from matplotlib import pyplot as plt
import cv2
from mintsJetson import camReader as cr
import datetime
cr.printMINTS("fevSen")
cr.printLabel("User Defined Variables")
loadName = 'dataFiles/DF_002_pythonVisualJetson001_Set2_2020_04_01.mat'
dateTime = datetime.datetime.now()
horizontalSquares = 8
verticalSquares = 7
saveName = "dataFiles/DF_003_stereoParams_Jetson001_{}_{}_{}_{}_{}_{}.p".format(\
str(dateTime.year).zfill(4),\
str(dateTime.month).zfill(2),\
str(dateTime.day).zfill(2),\
str(dateTime.hour).zfill(2),\
str(dateTime.minute).zfill(2),\
str(dateTime.second).zfill(2)\
)
print("Load Name : '{}'".format(loadName))
print("Save Name : '{}'".format(saveName))
from mintsJetson import camReader as cr
print(cv2.__version__)
# Loading data from the stereo calibration
print("Loading data from the stereo calibration")
stereoParams = pickle.load(
open("dataFiles/DF_003_stereoParams_Jetson002_Set1_2020_04_10_14_09_01.p",
"rb"))
leftAndRightParametors = loadmat(
'dataFiles/DF_002_pythonVisualJetson002_Set1_2020_04_10_14_07_40.mat')
imageFileNamesLeft = leftAndRightParametors['imageFileNames1']
imageFileNamesRight = leftAndRightParametors['imageFileNames2']
cr.printLabel("Gaining Stereo File Names from the Matlab Deployment")
leftFileNames, rightFileNames = cr.mat2PyGetStereoFileNames(
imageFileNamesLeft, imageFileNamesRight)
distances = np.arange(40, 301, 10).tolist()
cr.printLabel("Number of Distcanes Calibrated :{}".format(len(distances)))
currentIndex = 23
# rawDistances for jetson001= [1005,925,765,657,572,512,460,418,382,352,\
# 320,307,289,270,256,240,227,220,208,200,\
# 192,182,176,167,160,157,147,144,143\
# ]
# rawDistances for jetson001= \
# [1010,944,778,670,583,520,468,422,390,360,\