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Video modifications and last changes

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This commit is contained in:
Corwin Perren
2018-01-25 15:46:31 -08:00
parent b85319665e
commit 6297a2af44
6 changed files with 266 additions and 62 deletions
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design_reference/Canadian team's awesome rover diagram - THANKS CANADA!!.png Normal file
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15
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@@ -579,26 +663,29 @@
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52
ground_station/Framework/VideoSystems/RoverVideoCoordinator.py
View File

@@ -13,9 +13,13 @@ import RoverVideoReceiver
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
CAMERA_TOPIC_PATH = "/cameras" CAMERA_TOPIC_PATH = "/cameras/"
EXCLUDED_CAMERAS = ["zed"] EXCLUDED_CAMERAS = ["zed"]
PRIMARY_LABEL_MAX = (640, 360)
SECONDARY_LABEL_MAX = (256, 144)
TERTIARY_LABEL_MAX = (256, 144)
##################################### #####################################
# RoverVideoCoordinator Class Definition # RoverVideoCoordinator Class Definition
@@ -48,6 +52,7 @@ class RoverVideoCoordinator(QtCore.QThread):
# Camera variables # Camera variables
self.camera_threads = {} self.camera_threads = {}
self.valid_cameras = [] self.valid_cameras = []
self.disabled_cameras = []
# Setup cameras # Setup cameras
self.__get_cameras() self.__get_cameras()
@@ -57,17 +62,57 @@ class RoverVideoCoordinator(QtCore.QThread):
self.secondary_label_current_setting = 0 self.secondary_label_current_setting = 0
self.tertiary_label_current_setting = 0 self.tertiary_label_current_setting = 0
self.primary_label_max_resolution = -1
self.secondary_label_max_resolution = -1
self.tertiary_label_max_resolution = -1
def run(self): def run(self):
self.logger.debug("Starting Video Coordinator Thread") self.logger.debug("Starting Video Coordinator Thread")
while self.run_thread_flag: self.__set_max_resolutions() # Do this initially so we don't try to disable cameras before they're set up
self.msleep(500)
self.msleep(100) while self.run_thread_flag:
self.__set_max_resolutions()
# self.__toggle_background_cameras_if_needed()
self.msleep(10)
self.__wait_for_camera_threads() self.__wait_for_camera_threads()
self.logger.debug("Stopping Video Coordinator Thread") self.logger.debug("Stopping Video Coordinator Thread")
def __set_max_resolutions(self):
self.primary_label_max_resolution = self.camera_threads[
self.valid_cameras[self.primary_label_current_setting]].current_max_resolution
self.secondary_label_max_resolution = self.camera_threads[
self.valid_cameras[self.secondary_label_current_setting]].current_max_resolution
self.tertiary_label_max_resolution = self.camera_threads[
self.valid_cameras[self.tertiary_label_current_setting]].current_max_resolution
if self.primary_label_max_resolution != PRIMARY_LABEL_MAX:
self.camera_threads[self.valid_cameras[self.primary_label_current_setting]].change_max_resolution_setting(
PRIMARY_LABEL_MAX)
if self.secondary_label_max_resolution != SECONDARY_LABEL_MAX and self.secondary_label_current_setting != self.primary_label_current_setting:
self.camera_threads[self.valid_cameras[self.secondary_label_current_setting]].change_max_resolution_setting(
SECONDARY_LABEL_MAX)
if self.tertiary_label_max_resolution != TERTIARY_LABEL_MAX and self.tertiary_label_current_setting != self.primary_label_current_setting:
self.camera_threads[self.valid_cameras[self.tertiary_label_current_setting]].change_max_resolution_setting(
TERTIARY_LABEL_MAX)
def __toggle_background_cameras_if_needed(self):
enabled = list({self.primary_label_current_setting, self.secondary_label_current_setting,
self.tertiary_label_current_setting})
for camera_index, camera_name in enumerate(self.valid_cameras):
if camera_index not in enabled:
self.camera_threads[camera_name].toggle_video_display()
self.disabled_cameras.append(camera_index)
elif camera_index in self.disabled_cameras:
self.camera_threads[camera_name].toggle_video_display()
self.disabled_cameras.remove(camera_index)
def __get_cameras(self): def __get_cameras(self):
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH) topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
@@ -140,4 +185,3 @@ class RoverVideoCoordinator(QtCore.QThread):
def on_kill_threads_requested__slot(self): def on_kill_threads_requested__slot(self):
self.run_thread_flag = False self.run_thread_flag = False

71
ground_station/Framework/VideoSystems/RoverVideoReceiver.py
View File

@@ -17,7 +17,7 @@ from sensor_msgs.msg import CompressedImage
##################################### #####################################
# Global Variables # Global Variables
##################################### #####################################
FONT = cv2.FONT_HERSHEY_TRIPLEX CAMERA_TOPIC_PATH = "/cameras/"
##################################### #####################################
@@ -44,11 +44,23 @@ class RoverVideoReceiver(QtCore.QThread):
# ########## Class Variables ########## # ########## Class Variables ##########
self.camera_title_name = self.camera_name.replace("_", " ").title() self.camera_title_name = self.camera_name.replace("_", " ").title()
self.topic_path = "/cameras/" + self.camera_name + "/image_640x360/compressed" self.topic_base_path = CAMERA_TOPIC_PATH + self.camera_name
self.camera_topics = {}
self.current_max_resolution = None
self.current_camera_settings = {
"resolution": None,
"quality_setting": 80,
}
self.previous_camera_settings = self.current_camera_settings.copy()
self.temp_topic_path = CAMERA_TOPIC_PATH + self.camera_name + "/image_640x360/compressed"
# Subscription variables # Subscription variables
self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage, self.video_subscriber = None # type: rospy.Subscriber
self.__image_data_received_callback) # type: rospy.Subscriber
# Image variables # Image variables
self.raw_image = None self.raw_image = None
@@ -72,6 +84,7 @@ class RoverVideoReceiver(QtCore.QThread):
self.camera_name_opencv_640x360_image = None self.camera_name_opencv_640x360_image = None
self.__create_camera_name_opencv_images() self.__create_camera_name_opencv_images()
self.__get_camera_available_resolutions()
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)
@@ -82,12 +95,45 @@ class RoverVideoReceiver(QtCore.QThread):
else: else:
self.__show_video_disabled() self.__show_video_disabled()
self.msleep(18) self.msleep(10)
self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name) self.logger.debug("Stopping \"%s\" Camera Thread" % self.camera_title_name)
def __get_camera_available_resolutions(self):
topics = rospy.get_published_topics(self.topic_base_path)
resolution_options = []
for topics_group in topics:
main_topic = topics_group[0]
camera_name = main_topic.split("/")[3]
resolution_options.append(camera_name)
resolution_options = list(set(resolution_options))
for resolution in resolution_options:
# Creates a tuple in (width, height) format that we can use as the key
group = int(resolution.split("image_")[1].split("x")[0]), int(resolution.split("image_")[1].split("x")[1])
self.camera_topics[group] = self.topic_base_path + "/" + resolution + "/compressed"
def __update_camera_subscription_and_settings(self):
if self.current_camera_settings["resolution"] != self.previous_camera_settings["resolution"]:
if self.video_subscriber:
self.video_subscriber.unregister()
new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
self.video_subscriber = rospy.Subscriber(new_topic, CompressedImage, self.__image_data_received_callback)
self.new_frame = False
while not self.new_frame:
self.msleep(10)
self.previous_camera_settings["resolution"] = self.current_camera_settings["resolution"]
def __show_video_enabled(self): def __show_video_enabled(self):
if self.new_frame: self.__update_camera_subscription_and_settings()
if self.new_frame and self.current_camera_settings["resolution"]:
# if self.raw_image:
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)
@@ -103,8 +149,6 @@ class RoverVideoReceiver(QtCore.QThread):
self.image_ready_signal.emit(self.camera_name) self.image_ready_signal.emit(self.camera_name)
def __create_final_pixmaps(self, opencv_image): def __create_final_pixmaps(self, opencv_image):
height, width, _ = opencv_image.shape height, width, _ = opencv_image.shape
if width != 1280 and height != 720: if width != 1280 and height != 720:
@@ -155,14 +199,21 @@ class RoverVideoReceiver(QtCore.QThread):
self.camera_name_opencv_640x360_image = \ self.camera_name_opencv_640x360_image = \
cv2.resize(camera_name_opencv_image, (camera_name_width_buffered / 2, camera_name_height_buffered / 2)) cv2.resize(camera_name_opencv_image, (camera_name_width_buffered / 2, camera_name_height_buffered / 2))
def change_max_resolution_setting(self, resolution_max):
self.current_max_resolution = resolution_max
self.current_camera_settings["resolution"] = resolution_max
def toggle_video_display(self): def toggle_video_display(self):
if self.video_enabled: if self.video_enabled:
if self.video_subscriber:
self.video_subscriber.unregister() self.video_subscriber.unregister()
self.new_frame = True self.new_frame = True
self.video_enabled = False self.video_enabled = False
else: else:
self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage, new_topic = self.camera_topics[self.current_camera_settings["resolution"]]
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):