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april_tag_finder.py
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april_tag_finder.py
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import sys as Sys
from ctypes.wintypes import tagSIZE
from threading import Thread
from pupil_apriltags import Detector
from direction import Direction
Sys.path.append("..")
import os as Os
import time as Time
import urllib.request
from queue import Queue
import cv2
import numpy as np
from imutils.video import videostream
from map import Map
from translator import Translator
class FileVideoStream:
def __init__(self, mapFile):#, path, queueSize=128):
# self.stream = videostream.VideoStream(path, framerate=32).start()
# self.stopped = True
# self.frame = self.stream.read()
self.map = Map(mapFile)
self.myMap = self.map.map
self.startStream()
def start(self):
self.stopped = False
t = Thread(target=self.update, args=())
# t.daemon = true_divide
t.start()
return self
def update(self):
while True:
if self.stopped:
return
# req = urllib.request.urlopen('http://128.179.154.82:8080/video')
# arr = np.asarray(bytearray(req.read()), dtype=np.uint8)
# frame_in = cv2.imdecode(arr, -1) # 'Load it as it is'
self.frame = self.stream.read()
def read(self):
return self.frame
def more(self):
return True
def stop(self):
self.stopped = True
def foreach(ls, fn):
for i in range(len(ls)):
ls[i] = fn(ls[i])
# fvs = FileVideoStream('http://192.168.137.79:8080/video').start()
#os.add_dll_directory("C:\\Users\\LucaS\\MIT\\GitHub\\apriltags\\src\\pupil_apriltags\\lib\\apriltag.dll")
def startStream(self):
print("start!\n")
cap = cv2.VideoCapture(1, cv2.CAP_DSHOW)
print("*************************************88")
# cap = videostream.VideoStream(src='http://192.168.137.79:8080/video', framerate=24, resolution=(1920,1260)).start()
Time.sleep(1)
at_detector = Detector(families='tag36h11',
nthreads=1,
quad_decimate=1.0,
quad_sigma=0.0,
refine_edges=1,
decode_sharpening=0.25,
debug=0)
print("starting stream!")
corner_ids = [4,18,0,6]# [4,18,0,6]
tr = Translator(corner_ids[0], corner_ids[1], corner_ids[2],corner_ids[3], self.map.max_x, self.map.max_y,at_detector)
#map2d = Map.parseFile("map.txt")
while True:
ret, frame_in = cap.read()
# frame_in = fvs.read() #.read()
# frame_in = cap.read()
# req = urllib.request.urlopen('http://192.168.11.88/capture')
# arr = np.asarray(bytearray(req.read()), dtype=np.uint8)
# frame_in = cv2.imdecode(arr, -1) # 'Load it as it is'
grey = cv2.cvtColor(frame_in, cv2.COLOR_BGR2GRAY)
# [[2.21589934e+03 0.00000000e+00 1.32500546e+03]
# [0.00000000e+00 2.27352325e+03 6.64867852e+02]
# [0.00000000e+00 0.00000000e+00 1.00000000e+00]]
tags = at_detector.detect(grey, estimate_tag_pose=True, camera_params = [2.21589934e+03, 1.32500546e+03, 2.27352325e+03, 6.64867852e+02], tag_size = 0.05)
if(len(tags) > 0):
tr.setCoords(tags)
# print(tags[0])
for i in range(len(tags)):
# if tags[i].tag_id == 0:
#cv2.putText(frame_in, str(tags[i].pose_t), [20,40], cv2.FONT_HERSHEY_SIMPLEX, 1, (255,0,0), 1,cv2.LINE_AA)
cv2.putText(frame_in, str(tags[i].tag_id), (int(tags[i].corners[1][0]),int(tags[i].corners[1][1])), cv2.FONT_HERSHEY_SIMPLEX, 1, (255,0,0), 3,cv2.LINE_AA)
cv2.rectangle(frame_in, (int(tags[i].corners[0][0] ),int(tags[i].corners[0][1])), (int(tags[i].corners[2][0]),int(tags[i].corners[2][1])), (255,0,0), 2)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
if tr.foundCorners():
sideLength_x = abs(tr.id2Coords[0] - tr.id1Coords[0])
sideLength_y = abs(tr.id4Coords[1] - tr.id1Coords[1])
max_xi = len(self.myMap)
max_yi = len(self.myMap[0])
squareSide_x = sideLength_x/max_xi
squareSide_y = sideLength_y/max_yi
for i in range(max_xi):
for j in range(max_yi):
# cv2.putText(frame_in, str((i,j)), (int(tr.inverse(i,j)[0]),int(tr.inverse(i,j)[1])), cv2.FONT_HERSHEY_SIMPLEX, .25 , (255,0,0), 1,cv2.LINE_AA)
# cv2.circle(frame_in, (int(tr.inverse(i,j)[0]),int(tr.inverse(i,j)[1])),5,(0,0,255),1)
# cv2.circle(frame_in, (int(tr.inverse(8,4)[0]),int(tr.inverse(8,4)[1])),30,(0,255,0),1)
#check if its a corner:
if (i == 0 and j == 0
or i == 0 and j == max_yi
or i == max_xi and j == 0
or i == max_xi and j == max_yi):
continue
if self.myMap[i][j].isRoad:
cell = self.myMap[i][j]
directions = cell.directions
drawUpDown = len(directions) == 1 or (len(directions) == 2 and Direction.UP in directions and Direction.DOWN in directions)
drawLeftRight = len(directions) == 1 or (len(directions) == 2 and Direction.LEFT in directions and Direction.RIGHT in directions)
if drawUpDown or drawLeftRight:
dir = directions[0]
#vertical line
# if dir == Direction.UP or dir == Direction.DOWN:
# when dir == up: draw middle line, and when dir == left
if dir == Direction.UP and Direction.RIGHT not in self.myMap[max(0, i-1)][j].directions or (dir == Direction.RIGHT and Direction.UP in self.myMap[i][max(0, j-1)].directions and len(self.myMap[i][max(0, j-1)].directions) == 1):
cv2.line(frame_in,
(int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
(int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) - int(2.0/4 * squareSide_y/2)),
(0,255,255), 1)
cv2.line(frame_in,
(int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) + int(2.0/4 * squareSide_y/2)),
(int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
(0,255,255), 1)
#left side
# if dir == Direction.DOWN:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
# (0,0,0), 1)
# #right side
# if dir == Direction.UP:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
# (0,0,0), 1)
#horizontal line
# else:
if dir == Direction.LEFT and Direction.UP not in self.myMap[i][max(0, j-1)].directions or ((dir == Direction.UP and Direction.LEFT in self.myMap[min(max_xi-1, i+1)][j].directions and len(self.myMap[min(max_xi-1, i+1)][j].directions) == 1)):
cv2.line(frame_in,
(int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1] + squareSide_y/2)),
(int(tr.inverse(i,j)[0] - squareSide_x/2) + int(1.0/4 *squareSide_x), int(tr.inverse(i,j)[1] + squareSide_y/2)),
(0,255,255), 1)
cv2.line(frame_in,
(int(tr.inverse(i,j)[0] - squareSide_x/2) + int(3.0/4 * squareSide_x), int(tr.inverse(i,j)[1] + squareSide_y/2)),
(int(tr.inverse(i,j)[0] - squareSide_x/2 + squareSide_x), int(tr.inverse(i,j)[1] + squareSide_y/2)),
(0,255,255), 1)
# if dir == Direction.LEFT:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
# (0,0,0), 1)
# if dir == Direction.RIGHT:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
# (0,0,0), 1)
# elif len(directions) == 2:
# if Direction.UP in directions and Direction.LEFT in directions:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1])),
# (int(tr.inverse(i,j)[0] - squareSide_x/2 + 1/2 * squareSide_x), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# elif Direction.UP in directions and Direction.RIGHT in directions:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2 + 1/2 * squareSide_x), int(tr.inverse(i,j)[1])),
# (int(tr.inverse(i,j)[0] - squareSide_x/2 + squareSide_x), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# elif Direction.DOWN in directions and Direction.LEFT in directions:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2), int(tr.inverse(i,j)[1])),
# (int(tr.inverse(i,j)[0] - squareSide_x/2 + 1/2 * squareSide_x), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# elif Direction.DOWN in directions and Direction.RIGHT in directions:
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2 + 1/2 * squareSide_x), int(tr.inverse(i,j)[1])),
# (int(tr.inverse(i,j)[0] - squareSide_x/2 + squareSide_x), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
# cv2.line(frame_in,
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
# (int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x/2), int(tr.inverse(i,j)[1])),
# (0,255,255), 1)
else:
cv2.rectangle(frame_in,
(int(tr.inverse(i,j)[0] - squareSide_x/2 ),int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
(int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x),int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
(0,0,0), -1)
cv2.rectangle(frame_in,
(int(tr.inverse(i,j)[0] - squareSide_x/2 ),int(tr.inverse(i,j)[1]) - int(squareSide_y/2)),
(int(tr.inverse(i,j)[0] - squareSide_x/2) + int(squareSide_x),int(tr.inverse(i,j)[1]) + int(squareSide_y/2)),
(0,0,0), 1)
cv2.rectangle(frame_in,
(int(tr.inverse(0, 0)[0] - squareSide_x/2),int(tr.inverse(0,0)[1]) + int(squareSide_y/2)),
(int(tr.inverse(max_xi, max_yi)[0] - squareSide_x/2),int(tr.inverse(max_xi, max_yi)[1]) + int(squareSide_y/2)),
(0,0,0), 2)
h = int(frame_in.shape[0]*1) # scale h
w = int(frame_in.shape[1]*1) # scale w
rsz_image = cv2.resize(frame_in, (w, h)) # resize image
cv2.imshow('camera', frame_in)
cv2.resizeWindow('camera', w, h) # resize window
# cap.release()
cv2.destroyAllWindows()
print(1/2, 1.0/2, 1.0/2.0)
myStream = FileVideoStream("map3.csv")