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Ginger
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git-svn-id: http://newslabx.csie.ntu.edu.tw/svn/Ginger@25 5747cdd2-2146-426f-b2b0-0570f90b98ed

master
Hobe 6 years ago
parent
0b9a17e4e7
commit
64f1e346d5
6 changed files with 176 additions and 120 deletions
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  1. BIN
      trunk/Slide/Meeting 05_30.pptx
  2. BIN
      trunk/code/4_production.avi
  3. BIN
      trunk/code/four_sensor.avi
  4. +176
    -120
      trunk/code/readGridEye.py
  5. BIN
      trunk/code/sift_1.avi
  6. BIN
      trunk/code/up_down.avi

BIN
trunk/Slide/Meeting 05_30.pptx View File


BIN
trunk/code/4_production.avi View File


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trunk/code/four_sensor.avi View File


+ 176
- 120
trunk/code/readGridEye.py View File

@ -10,8 +10,10 @@ class Frame():
class GridEye():
def __init__(self, serialPort, baudrate):
self.port = serial.Serial(serialPort, baudrate)
self.frame = None
self.frame1 = None
self.frame2 = None
self.reading = True
self.distance = -1
self.thread = threading.Thread(target = self.reader)
self.thread.setDaemon(True)
self.lock = threading.Lock()
@ -25,15 +27,10 @@ class GridEye():
self.thread.join()
def reader(self):
data = []
data_time = 0;
while (self.reading):
line = b''
while (self.reading):
c = self.port.read()
if c == b'\r':
c = self.port.read()
break
if c == b'\n':
break
line += c
@ -43,28 +40,36 @@ class GridEye():
# time.sleep(0.01)
# if self.port.in_waiting > 0:
# print (self.port.in_waiting)
if b'#' in line:
if len(data) == 8:
#print (data)
self.lock.acquire()
self.frame = Frame(data_time, data)
self.lock.release()
else:
print ('something wrong', len(data))
data_time = time.time()
data = []
else:
if b':' in line:
try:
row = [float(x) for x in line.split()]
if len(row) == 8:
data.append(row)
except ValueError as e:
print ('error', e)
data_time = time.time()
data = []
if len(data) > 8:
data.pop(0)
tag = line.decode('utf-8').split(':')[0]
if 'Distance' in tag:
dist = float(line.decode('utf-8').split(':')[1])
if dist > 200.0:
dist = 200.0
self.lock.acquire()
self.distance = dist
self.lock.release()
else:
values = [int(x, 16)*0.25 for x in line.decode('utf-8').split(':')[1].split()]
if len(values) == 64:
#print (data)
data = []
for i in range(8):
data.append(values[i*8:i*8+8])
self.lock.acquire()
if '104' in tag:
self.frame1 = Frame(time.time(), data)
else:
self.frame2 = Frame(time.time(), data)
self.lock.release()
else:
print ('something wrong', len(data))
except Exception as e:
print (e)
class Distance():
def __init__(self, serialPort, baudrate):
self.port = serial.Serial(serialPort, baudrate)
@ -115,144 +120,195 @@ if __name__ == '__main__':
return tmp.astype(np.uint8)
SIZE = 128
overlap = 120
AVERAGE_FRAME = 10
distanceBetweenSensors = 7.7 #cm
distanceBetweenSensors_w = 2.6 #cm
distanceBetweenSensors_h = 2.6 #cm
distance2Object = 60.0 #cm
ADJUST_BACK = 5
EXPONENTAL_VALUE = 0.4
offset = (distanceBetweenSensors / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE
overlap = int(SIZE - offset)
print (overlap)
grideye = GridEye('COM15', 115200)
grideye = GridEye('COM25', 115200)
grideye.start()
grideye2 = GridEye('COM17', 115200)
grideye2 = GridEye('COM24', 115200)
grideye2.start()
distanceSensor = Distance('COM18', 9600)
distanceSensor.start()
# distanceSensor = Distance('COM18', 9600)
# distanceSensor.start()
fourcc = cv2.VideoWriter_fourcc(*'XVID')
videoWriter = cv2.VideoWriter('output.avi', fourcc, 10.0, (SIZE*2,SIZE*3))
videoWriter = cv2.VideoWriter('output.avi', fourcc, 10.0, (SIZE*4,SIZE*4))
siftVideoWriter = cv2.VideoWriter('sift.avi', fourcc, 10.0, (SIZE*2,SIZE*1))
cv2.imshow('sample', np.zeros((SIZE*3,SIZE*2), np.uint8))
aver1 = np.zeros((SIZE,SIZE), np.uint16)
aver2 = np.zeros((SIZE,SIZE), np.uint16)
cnt = 0
avers = []
while True:
if grideye.frame and grideye2.frame:
if grideye.frame1 and grideye.frame2 and grideye2.frame1 and grideye2.frame2:
grideye.lock.acquire()
grideye2.lock.acquire()
distanceSensor.lock.acquire()
frame = grideye.frame
grideye.frame = None
frame2 = grideye2.frame
grideye2.frame = None
# frame2 = frame
distance2Object = distanceSensor.distance
distanceSensor.lock.release()
frames = [grideye.frame1, grideye.frame2, grideye2.frame1, grideye2.frame2]
grideye.frame1 = None
grideye.frame2 = None
grideye2.frame1 = None
grideye2.frame2 = None
distance2Object = grideye.distance + grideye2.distance + 1
print (distance2Object)
if distance2Object <= 0:
distance2Object = 200
grideye2.lock.release()
grideye.lock.release()
p = np.zeros((16,16), np.uint16)
img = (np.array(frame.data)-15)*10
img = cv2.resize(img.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_CUBIC) # INTER_LINEAR, INTER_CUBIC
img2 = (np.array(frame2.data)-15)*10
img2 = cv2.resize(img2.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_CUBIC)
imgs = []
for frame in frames:
img = (np.array(frame.data)-15)*10
img = cv2.resize(img.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_LINEAR) # INTER_LINEAR, INTER_CUBIC
imgs.append(img)
avers.append(np.zeros((SIZE,SIZE), np.uint16))
if cnt < AVERAGE_FRAME:
cnt += 1
aver1 += img
aver2 += img2
for i in range(len(imgs)):
avers[i] += imgs[i]
if cnt == AVERAGE_FRAME:
aver1 = aver1/AVERAGE_FRAME
aver1 = aver1.astype(np.uint8)
aver1 += ADJUST_BACK
aver2 = aver2/AVERAGE_FRAME
aver2 = aver2.astype(np.uint8)
aver2 += ADJUST_BACK
for i in range(len(avers)):
avers[i] = avers[i]/AVERAGE_FRAME
avers[i] = avers[i].astype(np.uint8)
avers[i] += ADJUST_BACK
continue
img = cv2.subtract(img, aver1)
img2 = cv2.subtract(img2, aver2)
for i in range(len(imgs)):
imgs[i] = cv2.subtract(imgs[i], avers[i])
print ('xdd')
out = np.full((SIZE*3, SIZE*2), 255, dtype=np.uint16)
out[:SIZE, :SIZE] = img
out[:SIZE, SIZE:] = img2
out = np.full((SIZE*4, SIZE*4), 255, dtype=np.uint16)
out[:SIZE, :SIZE] = imgs[0]
out[:SIZE, SIZE:SIZE*2] = imgs[1]
out[SIZE:SIZE*2, :SIZE] = imgs[2]
out[SIZE:SIZE*2, SIZE:SIZE*2] = imgs[3]
try:
overlap = int(SIZE - (distanceBetweenSensors / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
overlap_w = int(SIZE - (distanceBetweenSensors_w / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
except:
overlap = 0
if overlap < 0:
overlap = 0
offset = int(overlap/2)
# tmp = cv2.resize(img.astype(np.uint8), (SIZE*2-overlap, SIZE))
# tmp.astype(np.uint16)
tmp = np.zeros((SIZE, SIZE*2-overlap), dtype=np.uint16)
tmp[:, :SIZE] = img
tmp[:, -SIZE:] += img2
tmp[:, (SIZE-overlap): SIZE] = tmp[:, (SIZE-overlap): SIZE]/2
tmp = exponential(tmp, EXPONENTAL_VALUE)
out[SIZE:SIZE*2, offset: SIZE*2-overlap+offset] = tmp
# out[SIZE:SIZE*2, offset:SIZE+offset] = img
# out[SIZE:SIZE*2, (SIZE-overlap)+offset:SIZE+offset] += img2[:,:overlap]
# out[SIZE:SIZE*2, (SIZE-overlap)+offset:SIZE+offset] = out[SIZE:SIZE*2, (SIZE-overlap)+offset:SIZE+offset]/2
# out[SIZE:SIZE*2, SIZE+offset:SIZE+(SIZE-overlap)+offset] = img2[:,overlap:SIZE]
overlap_w = 0
if overlap_w < 0:
overlap_w = 0
try:
overlap_h = int(SIZE - (distanceBetweenSensors_h / (2*distance2Object*math.tan(30.0/180.0*math.pi))) * SIZE)
except:
overlap_h = 0
if overlap_h < 0:
overlap_h = 0
tmp = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
tmp[:, :SIZE] = imgs[0]
tmp[:, -SIZE:] += imgs[1]
tmp[:, (SIZE-overlap_w): SIZE] = tmp[:, (SIZE-overlap_w): SIZE]/2
tmp2 = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
tmp2[:, :SIZE] = imgs[2]
tmp2[:, -SIZE:] += imgs[3]
tmp2[:, (SIZE-overlap_w): SIZE] = tmp2[:, (SIZE-overlap_w): SIZE]/2
merge = np.zeros((SIZE*2-overlap_h, SIZE*2-overlap_w), dtype=np.uint16)
merge[:SIZE, :] = tmp
merge[-SIZE:, :] += tmp2
merge[(SIZE-overlap_h):SIZE, :] = merge[(SIZE-overlap_h):SIZE, :]/2
# merge = exponential(merge, EXPONENTAL_VALUE)
offset_w = int(overlap_w/2)
offset_h = int(overlap_h/2)
print (SIZE*2+offset_h, SIZE*4-overlap_h+offset_h, offset_w, SIZE*2-overlap_w+offset_w)
out[SIZE*2+offset_h:SIZE*4-overlap_h+offset_h, offset_w: SIZE*2-overlap_w+offset_w] = merge
maxProduct = 0
overlap2 = 0
overlap_w = 0
for i in range(80, 128):
product = sum(img[:,SIZE-i:].astype(np.uint32)*img2[:,:i].astype(np.uint32))
product = sum(imgs[0][:,SIZE-i:].astype(np.uint32)*imgs[1][:,:i].astype(np.uint32))
product += sum(imgs[2][:,SIZE-i:].astype(np.uint32)*imgs[3][:,:i].astype(np.uint32))
product = sum(product) / len(product)
if product > maxProduct:
maxProduct = product
overlap2 = i
overlap_w = i
maxProduct = 0
overlap_h = 0
for i in range(80, 128):
product = sum(imgs[0][SIZE-i:, :].astype(np.uint32)*imgs[2][:i,:].astype(np.uint32))
product += sum(imgs[1][SIZE-i:, :].astype(np.uint32)*imgs[3][:i,:].astype(np.uint32))
product = sum(product) / len(product)
if product > maxProduct:
maxProduct = product
overlap_h = i
tmp = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
tmp[:, :SIZE] = imgs[0]
tmp[:, -SIZE:] += imgs[1]
tmp[:, (SIZE-overlap_w): SIZE] = tmp[:, (SIZE-overlap_w): SIZE]/2
offset = int(overlap2/2)
tmp = np.zeros((SIZE, SIZE*2-overlap2), dtype=np.uint16)
tmp[:, :SIZE] = img
tmp[:, -SIZE:] += img2
tmp[:, (SIZE-overlap2): SIZE] = tmp[:, (SIZE-overlap2): SIZE]/2
tmp = exponential(tmp, EXPONENTAL_VALUE)
out[SIZE*2:, offset: SIZE*2-overlap2+offset] = tmp
tmp2 = np.zeros((SIZE, SIZE*2-overlap_w), dtype=np.uint16)
tmp2[:, :SIZE] = imgs[2]
tmp2[:, -SIZE:] += imgs[3]
tmp2[:, (SIZE-overlap_w): SIZE] = tmp2[:, (SIZE-overlap_w): SIZE]/2
merge = np.zeros((SIZE*2-overlap_h, SIZE*2-overlap_w), dtype=np.uint16)
merge[:SIZE, :] = tmp
merge[-SIZE:, :] += tmp2
merge[(SIZE-overlap_h):SIZE, :] = merge[(SIZE-overlap_h):SIZE, :]/2
# out[SIZE*2:, offset:SIZE+offset] = img
# out[SIZE*2:, (SIZE-overlap2)+offset:SIZE+offset] += img2[:,:overlap2]
# out[SIZE*2:, (SIZE-overlap2)+offset:SIZE+offset] = out[SIZE*2:, (SIZE-overlap2)+offset:SIZE+offset]/2
# out[SIZE*2:, SIZE+offset:SIZE+(SIZE-overlap2)+offset] = img2[:,overlap2:SIZE]
out = out.astype(np.uint8)
img = (np.array(frame.data)-15)*10
img = img.astype(np.uint8)
img2 = (np.array(frame2.data)-15)*10
img2 = img2.astype(np.uint8)
p = np.zeros((8,16), np.uint8)
for i in range(16):
if i%2 == 0:
p[:,i] = img[:,int(i/2)]
else:
p[:,i] = img2[:,int(i/2)]
p = cv2.resize(p, (SIZE,SIZE), interpolation = cv2.INTER_CUBIC)
offset_w = int(overlap_w/2)
offset_h = int(overlap_h/2)
out[SIZE*2+offset_h:SIZE*4-overlap_h+offset_h, SIZE*2+offset_w: SIZE*4-overlap_w+offset_w] = merge
# offset = int(overlap2/2)
# tmp = np.zeros((SIZE, SIZE*2-overlap2), dtype=np.uint16)
# tmp[:, :SIZE] = img
# tmp[:, -SIZE:] += img2
# tmp[:, (SIZE-overlap2): SIZE] = tmp[:, (SIZE-overlap2): SIZE]/2
# tmp = exponential(tmp, EXPONENTAL_VALUE)
# out[SIZE*2:, offset: SIZE*2-overlap2+offset] = tmp
out = out.astype(np.uint8)
out = exponential(out, EXPONENTAL_VALUE)
cv2.imshow('sample', out)
cv2.imshow('p', p)
videoWriter.write(cv2.cvtColor(out,cv2.COLOR_GRAY2BGR))
key = cv2.waitKey(1)
if key == ord('q'):
break
elif key == ord('a'):
overlap += 1
elif key == ord('d'):
overlap -= 1
elif key == ord('c'):
cv2.imwrite('out.jpg', out)
try:
sift = cv2.xfeatures2d.SIFT_create()
img1 = exponential(imgs[0], EXPONENTAL_VALUE)
img2 = exponential(imgs[1], EXPONENTAL_VALUE)
kp_1, desc_1 = sift.detectAndCompute(img1, None)
kp_2, desc_2 = sift.detectAndCompute(img2, None)
index_params = dict(algorithm=0, trees=5)
search_params = dict()
flann = cv2.FlannBasedMatcher(index_params, search_params)
matches = flann.knnMatch(desc_1, desc_2, k=2)
good_points = []
ratio = 0.8
for m, n in matches:
if m.distance < ratio*n.distance:
good_points.append(m)
result = cv2.drawMatches(img1, kp_1, img2, kp_2, good_points, None)
cv2.imshow("result", result)
print (result.shape)
siftVideoWriter.write(result)
except:
pass
key = cv2.waitKey(1)
if key == ord('q'):
break
elif key == ord('c'):
cv2.imwrite('out.jpg', out)
time.sleep(0.001)
grideye.stop()
grideye2.stop()
videoWriter.release()
siftVideoWriter.release()
cv2.destroyAllWindows()

BIN
trunk/code/sift_1.avi View File


BIN
trunk/code/up_down.avi View File


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