git-svn-id: http://newslabx.csie.ntu.edu.tw/svn/Ginger@49 5747cdd2-2146-426f-b2b0-0570f90b98ed

trunk/gridEyeBox/client.py

@@ -0,0 +1,71 @@
+import zmq
+import cv2
+import numpy as np
+import struct
+import time
+
+context = zmq.Context()
+context2 = zmq.Context()
+
+#  Socket to talk to server
+print("Connecting to hello world server…")
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://192.168.0.12:5555")
+socket2 = context2.socket(zmq.REQ)
+socket2.connect("tcp://192.168.0.12:5556")
+
+recordFrames = 0
+startTime = 0
+
+def draw_circle(event, x, y, flags, param):
+    global recordFrames
+    if event == cv2.EVENT_LBUTTONDOWN:
+        print(img[y][x]>>8, img[y][x]&0xff)
+        print(b[y][x]>>8, b[y][x]&0xff)
+        recordFrames = 300
+        startTime = time.time()
+        
+        
+
+with open("lepton_log.bin", "wb") as f:
+    pass
+cv2.namedWindow('image')
+cv2.setMouseCallback('image', draw_circle)
+while 1:
+    socket.send(b"Hello")
+
+    #  Get the reply.
+    message = socket.recv()
+    socket2.send(b"Hello")
+    gridEyeData = socket2.recv()
+    if recordFrames > 0:
+        print ("left frames", recordFrames)
+        with open("lepton_log.bin", "ab") as f:
+            f.write(message)
+            f.write(gridEyeData)
+        recordFrames -= 1
+        sleepTime = 0.1 - (time.time() - startTime)
+        if sleepTime > 0:
+            time.sleep(sleepTime) # wait 0.1 second
+        startTime = time.time()
+        continue
+    img = np.array(struct.unpack("<19200H", message), dtype=np.uint16).reshape((120, 160))
+    # img = np.ndarray(shape=(19200,),dtype='<u2', buffer=message).reshape((120, 160))
+    #img = np.frombuffer(message, dtype=np.uint16).reshape((120, 160))
+    b = img.copy()
+    for x in range(160):
+        for y in range(120):
+            b[y][x] = ((img[y][x]&0xff)<<8) + (img[y][x]>>8)
+    b = cv2.normalize(b, dst=None, alpha=0, beta=65535, norm_type=cv2.NORM_MINMAX)
+    #img = img.astype(np.uint8)
+    #image = cv2.cvtColor(img,cv2.COLOR_GRAY2BGR)
+    #cvuint8 = cv2.convertScaleAbs(image)
+    cv2.imshow("image", b)
+    # cv2.imshow("image_o", img)
+    gridEyeImg = np.frombuffer(gridEyeData, dtype=np.uint8).reshape((32, 8))
+    cv2.imshow("gridEyeImg", cv2.resize(gridEyeImg, (160, 640)))
+    key = cv2.waitKey(100)
+    if key == ord('q'):
+        break
+
+cv2.destroyAllWindows()

trunk/gridEyeBox/grid_test.py

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+import zmq
+import cv2
+import numpy as np
+import struct
+
+context = zmq.Context()
+
+#  Socket to talk to server
+print("Connecting to hello world server…")
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://192.168.0.12:5556")
+ 
+cv2.namedWindow('image')
+while 1:
+    socket.send(b"Hello")
+
+    #  Get the reply.
+    message = socket.recv()
+    img = np.frombuffer(message, dtype=np.uint8).reshape((32, 8))
+    cv2.imshow("image", cv2.resize(img, (160, 640)))
+    key = cv2.waitKey(100)
+    if key == ord('q'):
+        break
+
+cv2.destroyAllWindows()

trunk/gridEyeBox/readFromData.py

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+import cv2
+import numpy as np
+import struct
+import time
+import sys
+
+log_file = sys.argv[1] if len(sys.argv) > 1 else 'lepton_log.bin'
+output_folder = 'videos'
+
+fourcc = cv2.VideoWriter_fourcc(*'XVID')
+leptonVideoWriter = cv2.VideoWriter(output_folder+'/lepton.avi', fourcc, 10.0, (160, 120), False)
+gridEyeVideoWriter = cv2.VideoWriter(output_folder+'/gridEye.avi', fourcc, 10.0, (320, 320), False)
+#cv2.resizeWindow('image', 320, 320)
+with open(log_file, 'rb') as f:
+    while 1:
+        leptonData = f.read(38400)
+        if len(leptonData) != 38400:
+            break
+        leptonImg = np.array(struct.unpack("<19200H", leptonData), dtype=np.uint16).reshape((120, 160))
+        b = leptonImg.copy()
+        for x in range(160):
+            for y in range(120):
+                b[y][x] = ((leptonImg[y][x]&0xff)<<8) + (leptonImg[y][x]>>8)
+        b = cv2.normalize(b, dst=None, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX)
+        b = b.astype(np.uint8)
+        cv2.imshow("image", cv2.resize(b, (427, 320)))
+        leptonVideoWriter.write(b)
+        
+        gridEyeData = f.read(4*64)
+        gridEyeImg = np.frombuffer(gridEyeData, dtype=np.uint8).reshape((32, 8))
+        reshapeImg = np.zeros((16,16), dtype=np.uint8)
+        reshapeImg[0:8, 0:8] = gridEyeImg[0:8]
+        reshapeImg[0:8, 8:16] = gridEyeImg[8:16]
+        reshapeImg[8:16, 0:8] = gridEyeImg[16:24]
+        reshapeImg[8:16, 8:16] = gridEyeImg[24:32]
+        reshapeImg = cv2.normalize(reshapeImg, dst=None, alpha=0, beta=255, norm_type=cv2.NORM_MINMAX)
+        cv2.imshow("gridEyeImg", cv2.resize(reshapeImg, (320, 320)))
+        gridEyeVideoWriter.write(cv2.resize(reshapeImg, (320, 320)))
+        key = cv2.waitKey(10)
+        if key == ord('q'):
+            break
+
+leptonVideoWriter.release()
+gridEyeVideoWriter.release()
+cv2.waitKey(0)
+cv2.destroyAllWindows()

trunk/gridEyeBox/readFromData.txt

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+import zmq
+import cv2
+import numpy as np
+import struct
+import time
+
+context = zmq.Context()
+context2 = zmq.Context()
+
+#  Socket to talk to server
+print("Connecting to hello world server…")
+socket = context.socket(zmq.REQ)
+socket.connect("tcp://192.168.0.12:5555")
+socket2 = context2.socket(zmq.REQ)
+socket2.connect("tcp://192.168.0.12:5556")
+
+recordFrames = 0
+startTime = 0
+
+def draw_circle(event, x, y, flags, param):
+    global recordFrames
+    if event == cv2.EVENT_LBUTTONDOWN:
+        print(img[y][x]>>8, img[y][x]&0xff)
+        print(b[y][x]>>8, b[y][x]&0xff)
+        recordFrames = 300
+        startTime = time.time()
+        
+        
+
+with open("lepton_log.bin", "wb") as f:
+    pass
+cv2.namedWindow('image')
+cv2.setMouseCallback('image', draw_circle)
+while 1:
+    socket.send(b"Hello")
+
+    #  Get the reply.
+    message = socket.recv()
+    socket2.send(b"Hello")
+    gridEyeData = socket2.recv()
+    if recordFrames > 0:
+        print ("left frames", recordFrames)
+        with open("lepton_log.bin", "ab") as f:
+            f.write(message)
+            f.write(gridEyeData)
+        recordFrames -= 1
+        sleepTime = 0.1 - (time.time() - startTime)
+        if sleepTime > 0:
+            time.sleep(sleepTime) # wait 0.1 second
+        startTime = time.time()
+        continue
+    img = np.array(struct.unpack("<19200H", message), dtype=np.uint16).reshape((120, 160))
+    # img = np.ndarray(shape=(19200,),dtype='<u2', buffer=message).reshape((120, 160))
+    #img = np.frombuffer(message, dtype=np.uint16).reshape((120, 160))
+    b = img.copy()
+    for x in range(160):
+        for y in range(120):
+            b[y][x] = ((img[y][x]&0xff)<<8) + (img[y][x]>>8)
+    b = cv2.normalize(b, dst=None, alpha=0, beta=65535, norm_type=cv2.NORM_MINMAX)
+    #img = img.astype(np.uint8)
+    #image = cv2.cvtColor(img,cv2.COLOR_GRAY2BGR)
+    #cvuint8 = cv2.convertScaleAbs(image)
+    cv2.imshow("image", b)
+    # cv2.imshow("image_o", img)
+    gridEyeImg = np.frombuffer(gridEyeData, dtype=np.uint8).reshape((32, 8))
+    cv2.imshow("gridEyeImg", cv2.resize(gridEyeImg, (160, 640)))
+    key = cv2.waitKey(100)
+    if key == ord('q'):
+        break
+
+cv2.destroyAllWindows()