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Everything ready to do sensing of frame rates to adjust quality. Dynamic reconfigure working! :D

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This commit is contained in:
Corwin Perren
2018-01-25 17:55:23 -08:00
parent 39e33fb8c5
commit 219bc0956c
3 changed files with 246 additions and 19 deletions
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230
software/ground_station/.idea/workspace.xml generated
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6
software/ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
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@@ -15,11 +15,15 @@ import RoverVideoReceiver
##################################### #####################################
CAMERA_TOPIC_PATH = "/cameras/" CAMERA_TOPIC_PATH = "/cameras/"
EXCLUDED_CAMERAS = ["zed"] EXCLUDED_CAMERAS = ["zed"]
#
PRIMARY_LABEL_MAX = (640, 360) PRIMARY_LABEL_MAX = (640, 360)
SECONDARY_LABEL_MAX = (256, 144) SECONDARY_LABEL_MAX = (256, 144)
TERTIARY_LABEL_MAX = (256, 144) TERTIARY_LABEL_MAX = (256, 144)
# PRIMARY_LABEL_MAX = (1280, 720)
# SECONDARY_LABEL_MAX = (640, 360)
# TERTIARY_LABEL_MAX = (640, 360)
##################################### #####################################
# RoverVideoCoordinator Class Definition # RoverVideoCoordinator Class Definition

29
software/ground_station/Framework/VideoSystems/RoverVideoReceiver.py
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@@ -9,6 +9,7 @@ import numpy as np
import qimage2ndarray import qimage2ndarray
import rospy import rospy
import dynamic_reconfigure.client
from cv_bridge import CvBridge from cv_bridge import CvBridge
from sensor_msgs.msg import CompressedImage from sensor_msgs.msg import CompressedImage
@@ -19,6 +20,9 @@ from sensor_msgs.msg import CompressedImage
##################################### #####################################
CAMERA_TOPIC_PATH = "/cameras/" CAMERA_TOPIC_PATH = "/cameras/"
QUALITY_MAX = 50
QUALITY_MIN = 15
##################################### #####################################
# RoverVideoReceiver Class Definition # RoverVideoReceiver Class Definition
@@ -51,7 +55,7 @@ class RoverVideoReceiver(QtCore.QThread):
self.current_camera_settings = { self.current_camera_settings = {
"resolution": None, "resolution": None,
"quality_setting": 80, "quality_setting": QUALITY_MAX,
} }
@@ -83,8 +87,13 @@ class RoverVideoReceiver(QtCore.QThread):
self.camera_name_opencv_1280x720_image = None self.camera_name_opencv_1280x720_image = None
self.camera_name_opencv_640x360_image = None self.camera_name_opencv_640x360_image = None
# ROS Dynamic Reconfigure Client
self.reconfigure_clients = {}
# Initial class setup to make text images and get camera resolutions
self.__create_camera_name_opencv_images() self.__create_camera_name_opencv_images()
self.__get_camera_available_resolutions() self.__get_camera_available_resolutions()
self.__setup_reconfigure_clients()
def run(self): def run(self):
self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name) self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
@@ -99,6 +108,18 @@ class RoverVideoReceiver(QtCore.QThread):
self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name) self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name)
def __perform_quality_check_and_adjust(self):
self.__set_jpeg_quality(self.current_camera_settings["quality_setting"])
def __set_jpeg_quality(self, quality_setting):
self.reconfigure_clients[self.current_camera_settings["resolution"]].update_configuration({"jpeg_quality": quality_setting})
def __setup_reconfigure_clients(self):
for resolution_group in self.camera_topics:
image_topic_string = "image_%sx%s" % resolution_group
full_topic = self.topic_base_path + "/" + image_topic_string + "/compressed"
self.reconfigure_clients[resolution_group] = dynamic_reconfigure.client.Client(full_topic)
def __get_camera_available_resolutions(self): def __get_camera_available_resolutions(self):
topics = rospy.get_published_topics(self.topic_base_path) topics = rospy.get_published_topics(self.topic_base_path)
@@ -132,8 +153,10 @@ class RoverVideoReceiver(QtCore.QThread):
def __show_video_enabled(self): def __show_video_enabled(self):
self.__update_camera_subscription_and_settings() self.__update_camera_subscription_and_settings()
if self.new_frame and self.current_camera_settings["resolution"]: if self.new_frame and self.current_camera_settings["resolution"]:
# if self.raw_image: self.__perform_quality_check_and_adjust()
opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8") opencv_image = self.bridge.compressed_imgmsg_to_cv2(self.raw_image, "rgb8")
self.__create_final_pixmaps(opencv_image) self.__create_final_pixmaps(opencv_image)
@@ -212,8 +235,6 @@ class RoverVideoReceiver(QtCore.QThread):
else: else:
new_topic = self.camera_topics[self.current_camera_settings["resolution"]] new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback) self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback)
# self.video_subscriber = rospy.Subscriber(self.temp_topic_path, CompressedImage,
# self.__image_data_received_callback)
self.video_enabled = True self.video_enabled = True
def connect_signals_and_slots(self): def connect_signals_and_slots(self):