def get_latest_image(self):
print("Called get latest image.")
# Note: it is necessary to create new objects in this method instead of creating instance variables
# in the constructor because of weird video threading issues.
mambo_vision = DroneVision(self.mambo, is_bebop=False, buffer_size=30)
user_vision = UserVision(mambo_vision)
success = mambo_vision.open_video() # Open the video stream using ffmpeg for capturing and processing
print("Success in opening vision is %s" % success)
print("Vision successfully started!")
# FIXME: investigate if these sleeps are needed.
self.mambo.smart_sleep(5)
frame = mambo_vision.get_latest_valid_picture()
print("in save pictures on image %d " % self.index)
if frame is not None:
filename = "test_image_%06d.png" % self.index
cv2.imwrite('./images/' + filename, frame)
self.index += 1
# Save another copy of the same image to a hardcoded filename, which
# we'll use as the latest image
magic_filename = "latest_image.png"
cv2.imwrite('./images/' + magic_filename, frame)
#print(self.index)
self.mambo.smart_sleep(5)
print("Ending the sleep and vision")
mambo_vision.close_video()
return frame
# get the state information
print("sleeping")
mambo.smart_sleep(1)
mambo.ask_for_state_update()
mambo.smart_sleep(1)
print("Preparing to open vision")
mamboVision = DroneVision(mambo, is_bebop=False, buffer_size=30)
userVision = UserVision(mamboVision)
mamboVision.set_user_callback_function(userVision.save_pictures, user_callback_args=None)
success = mamboVision.open_video() #Open the video stream using ffmpeg for capturing and processing
print("Success in opening vision is %s" % success)
print("Vision successfully started!")
frame = mamboVision.get_latest_valid_picture()
#here should be input to detect.py
# run inference
res = run_inference_for_single_image(frame, sess, tensor_dict, image_tensor)
print("frame")
# view the bounding boxes:
cv2_visualize_results(frame, res, labels)
cv2.imshow('frame', frame)
# done doing vision demo
print("Ending the sleep and vision")
mamboVision.close_video()
mambo.smart_sleep(5)
