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FPV.py
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FPV.py
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#!/usr/bin/env/python3
# File name : server.py
# Description : for FPV video and OpenCV functions
# Website : www.adeept.com
# E-mail : [email protected]
# Author : William(Based on Adrian Rosebrock's OpenCV code on pyimagesearch.com)
# Date : 2019/02/23
import time
import threading
import cv2
import zmq
import base64
import picamera
from picamera.array import PiRGBArray
import argparse
import imutils
from collections import deque
import psutil
import os
import servo
import PID
import LED
import datetime
from rpi_ws281x import *
import move
pid = PID.PID()
pid.SetKp(0.5)
pid.SetKd(0)
pid.SetKi(0)
Y_lock = 0
X_lock = 0
tor = 17
FindColorMode = 0
WatchDogMode = 0
UltraData = 3
LED = LED.LED()
class FPV:
def __init__(self):
self.frame_num = 0
self.fps = 0
self.resolutionX = 800
self.resolutionY = 600
self.colorUpper = (44, 255, 255)
self.colorLower = (24, 100, 100)
def SetIP(self,invar):
self.IP = invar
def FindColor(self,invar):
global FindColorMode
FindColorMode = invar
if not FindColorMode:
servo.camera_ang('home',0)
def WatchDog(self,invar):
global WatchDogMode
WatchDogMode = invar
def UltraData(self,invar):
global UltraData
UltraData = invar
def capture_thread(self,IPinver):
ap = argparse.ArgumentParser() #OpenCV initialization
ap.add_argument("-b", "--buffer", type=int, default=64,
help="max buffer size")
args = vars(ap.parse_args())
pts = deque(maxlen=args["buffer"])
font = cv2.FONT_HERSHEY_SIMPLEX
camera = picamera.PiCamera()
camera.resolution = (self.resolutionX, self.resolutionY)
camera.vflip = True
camera.hflip = True
camera.framerate = 20
rawCapture = PiRGBArray(camera, size=(self.resolutionX, self.resolutionY))
context = zmq.Context()
footage_socket = context.socket(zmq.PUB)
print(IPinver)
footage_socket.connect('tcp://%s:5555'%IPinver)
avg = None
motionCounter = 0
#time.sleep(4)
lastMovtionCaptured = datetime.datetime.now()
for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True):
frame_image = frame.array
cv2.line(frame_image,(int(self.resolutionX/2)-20,int(self.resolutionY/2)),(int(self.resolutionX/2)+20,int(self.resolutionY/2)),(128,255,128),1)
cv2.line(frame_image,(int(self.resolutionX/2),int(self.resolutionY/2)-20),(int(self.resolutionX/2),int(self.resolutionY/2)+20),(128,255,128),1)
timestamp = datetime.datetime.now()
if FindColorMode:
####>>>OpenCV Start<<<####
hsv = cv2.cvtColor(frame_image, cv2.COLOR_BGR2HSV)
mask = cv2.inRange(hsv, self.colorLower, self.colorUpper)
mask = cv2.erode(mask, None, iterations=2)
mask = cv2.dilate(mask, None, iterations=2)
cnts = cv2.findContours(mask.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)[-2]
center = None
if len(cnts) > 0:
cv2.putText(frame_image,'Target Detected',(40,60), font, 0.5,(255,255,255),1,cv2.LINE_AA)
c = max(cnts, key=cv2.contourArea)
((x, y), radius) = cv2.minEnclosingCircle(c)
M = cv2.moments(c)
center = (int(M["m10"] / M["m00"]), int(M["m01"] / M["m00"]))
X = int(x)
Y = int(y)
if radius > 10:
cv2.rectangle(frame_image,(int(x-radius),int(y+radius)),(int(x+radius),int(y-radius)),(255,255,255),1)
if Y < (240-tor):
error = (240-Y)/5
outv = int(round((pid.GenOut(error)),0))
servo.camera_ang('lookup',outv)
Y_lock = 0
elif Y > (240+tor):
error = (Y-240)/5
outv = int(round((pid.GenOut(error)),0))
servo.camera_ang('lookdown',outv)
Y_lock = 0
else:
Y_lock = 1
if X < (320-tor*3):
move.move(70, 'no', 'left', 0.6)
#time.sleep(0.1)
#move.motorStop()
X_lock = 0
elif X > (330+tor*3):
move.move(70, 'no', 'right', 0.6)
#time.sleep(0.1)
#move.motorStop()
X_lock = 0
else:
move.motorStop()
X_lock = 1
if X_lock == 1 and Y_lock == 1:
if UltraData > 0.5:
move.move(70, 'forward', 'no', 0.6)
elif UltraData < 0.4:
move.move(70, 'backward', 'no', 0.6)
print(UltraData)
else:
move.motorStop()
else:
cv2.putText(frame_image,'Target Detecting',(40,60), font, 0.5,(255,255,255),1,cv2.LINE_AA)
move.motorStop()
for i in range(1, len(pts)):
if pts[i - 1] is None or pts[i] is None:
continue
thickness = int(np.sqrt(args["buffer"] / float(i + 1)) * 2.5)
cv2.line(frame_image, pts[i - 1], pts[i], (0, 0, 255), thickness)
####>>>OpenCV Ends<<<####
if WatchDogMode:
gray = cv2.cvtColor(frame_image, cv2.COLOR_BGR2GRAY)
gray = cv2.GaussianBlur(gray, (21, 21), 0)
if avg is None:
print("[INFO] starting background model...")
avg = gray.copy().astype("float")
rawCapture.truncate(0)
continue
cv2.accumulateWeighted(gray, avg, 0.5)
frameDelta = cv2.absdiff(gray, cv2.convertScaleAbs(avg))
# threshold the delta image, dilate the thresholded image to fill
# in holes, then find contours on thresholded image
thresh = cv2.threshold(frameDelta, 5, 255,
cv2.THRESH_BINARY)[1]
thresh = cv2.dilate(thresh, None, iterations=2)
cnts = cv2.findContours(thresh.copy(), cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
cnts = imutils.grab_contours(cnts)
# print('x')
# loop over the contours
for c in cnts:
# if the contour is too small, ignore it
if cv2.contourArea(c) < 5000:
continue
# compute the bounding box for the contour, draw it on the frame,
# and update the text
(x, y, w, h) = cv2.boundingRect(c)
cv2.rectangle(frame_image, (x, y), (x + w, y + h), (128, 255, 0), 1)
text = "Occupied"
motionCounter += 1
#print(motionCounter)
#print(text)
LED.colorWipe(Color(255,16,0))
lastMovtionCaptured = timestamp
if (timestamp - lastMovtionCaptured).seconds >= 0.5:
LED.colorWipe(Color(255,255,0))
encoded, buffer = cv2.imencode('.jpg', frame_image)
jpg_as_text = base64.b64encode(buffer)
footage_socket.send(jpg_as_text)
rawCapture.truncate(0)
if __name__ == '__main__':
fpv=FPV()
while 1:
fpv.capture_thread('192.168.1.110')
pass