mirror of
https://github.com/OSURoboticsClub/Rover_2017_2018.git
synced 2025-11-08 10:11:14 +00:00
Video modifications and last changes
This commit is contained in:
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After Width: | Height: | Size: 1.6 MiB |
15
ground_station/.idea/inspectionProfiles/Project_Default.xml
generated
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15
ground_station/.idea/inspectionProfiles/Project_Default.xml
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7
ground_station/.idea/inspectionProfiles/profiles_settings.xml
generated
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7
ground_station/.idea/inspectionProfiles/profiles_settings.xml
generated
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181
ground_station/.idea/workspace.xml
generated
181
ground_station/.idea/workspace.xml
generated
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@@ -57,7 +47,7 @@
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@@ -69,10 +59,11 @@
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@@ -81,7 +72,7 @@
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<file leaf-file-name="RoverGroundStation.py" pinned="false" current-in-tab="false">
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@@ -90,6 +81,18 @@
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<file leaf-file-name="RoverVideoReceiverOld.py" pinned="false" current-in-tab="false">
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</file>
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<component name="FileTemplateManagerImpl">
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@@ -117,6 +120,7 @@
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<sorting>DEFINITION_ORDER</sorting>
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<component name="ProjectFrameBounds">
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<option name="y" value="16" />
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@@ -145,7 +149,6 @@
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<foldersAlwaysOnTop value="true" />
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<pane id="Scratches" />
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@@ -217,6 +220,7 @@
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<pane id="Scope" />
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<pane id="Scratches" />
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<component name="PropertiesComponent">
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@@ -453,28 +457,28 @@
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<servers />
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<frame x="0" y="0" width="1920" height="1044" extended-state="6" />
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<caret line="43" column="38" selection-start-line="43" selection-start-column="38" selection-end-line="43" selection-end-column="38" />
|
||||
<folding>
|
||||
<element signature="e#110#152#0" expanded="false" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/RoverGroundStation.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="1434">
|
||||
<state relative-caret-position="2826">
|
||||
<caret line="167" column="43" selection-start-line="167" selection-start-column="43" selection-end-line="167" selection-end-column="43" />
|
||||
<folding>
|
||||
<element signature="e#132#142#0" expanded="true" />
|
||||
@@ -579,26 +663,29 @@
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiverOld.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="-433">
|
||||
<caret line="54" column="43" selection-start-line="54" selection-start-column="39" selection-end-line="54" selection-end-column="43" />
|
||||
<state relative-caret-position="1134">
|
||||
<caret line="74" column="18" selection-start-line="74" selection-start-column="16" selection-end-line="74" selection-end-column="142" />
|
||||
<folding>
|
||||
<element signature="e#0#10#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py">
|
||||
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="720">
|
||||
<caret line="100" column="92" selection-start-line="100" selection-start-column="92" selection-end-line="100" selection-end-column="92" />
|
||||
<folding />
|
||||
<state relative-caret-position="359">
|
||||
<caret line="77" column="12" selection-start-line="77" selection-start-column="12" selection-end-line="77" selection-end-column="12" />
|
||||
<folding>
|
||||
<element signature="e#110#145#0" expanded="true" />
|
||||
<marker date="1516923718211" expanded="false" signature="2739:4048" ph="..." />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoCoordinator.py">
|
||||
<entry file="file://$PROJECT_DIR$/Framework/VideoSystems/RoverVideoReceiver.py">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="138">
|
||||
<caret line="62" column="48" selection-start-line="62" selection-start-column="48" selection-end-line="62" selection-end-column="48" />
|
||||
<state relative-caret-position="-1219">
|
||||
<caret line="74" column="33" selection-start-line="74" selection-start-column="33" selection-end-line="74" selection-end-column="33" />
|
||||
<folding>
|
||||
<element signature="e#110#152#0" expanded="true" />
|
||||
</folding>
|
||||
@@ -607,6 +694,6 @@
|
||||
</entry>
|
||||
</component>
|
||||
<component name="webServersAuthStorage">
|
||||
<data>AAAAsC92Kuu3oLrABnhEDJd2fqLpSLKMDnz1RoGljcqcyx6rWWvT/BV+wcLNHGnvYk97nqnk/pKm4cGIiar9MRU3nZkNwyjJxPVtt3haC8iDCZdLJZ6CmktPYqrohRIav09rau96cPFO/I//1EIneIP/1ljcNiibrP6ukAATwUH19NLQaGz1/EYXXVq+qowSGeFE7dAFp107pLkmub5CsKj/8zF+PCqHoF8AEDn937Vn/JpXGWVGlieBMxMrucAQD8JqIA==</data>
|
||||
<data>AAAAsNHwc2N+8Zbshoe1tr2XDVkf8aGU/l0YnN7t0gOfSXYMOeQZo2dVv+GbvgrFH5EF+uviJzRPHArF3uX1Vb0CuhmnSE0NSLdGfSjyMrpWsoZyS3WBI979X8Y/8lSe/g2O65pafrceXlU4ySEbA9w/JNU42PtXijURL7sXfaZ8kxhE5bYQlRppUyBo5g/qgzvj275mbp6uuZ5w9ssFsOzrJGsGulioJmZ9L9P6O6PVj2sPT2AEw+jC8eGiiappc0lWOA==</data>
|
||||
</component>
|
||||
</project>
|
||||
@@ -13,9 +13,13 @@ import RoverVideoReceiver
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
CAMERA_TOPIC_PATH = "/cameras"
|
||||
CAMERA_TOPIC_PATH = "/cameras/"
|
||||
EXCLUDED_CAMERAS = ["zed"]
|
||||
|
||||
PRIMARY_LABEL_MAX = (640, 360)
|
||||
SECONDARY_LABEL_MAX = (256, 144)
|
||||
TERTIARY_LABEL_MAX = (256, 144)
|
||||
|
||||
|
||||
#####################################
|
||||
# RoverVideoCoordinator Class Definition
|
||||
@@ -48,6 +52,7 @@ class RoverVideoCoordinator(QtCore.QThread):
|
||||
# Camera variables
|
||||
self.camera_threads = {}
|
||||
self.valid_cameras = []
|
||||
self.disabled_cameras = []
|
||||
|
||||
# Setup cameras
|
||||
self.__get_cameras()
|
||||
@@ -57,17 +62,57 @@ class RoverVideoCoordinator(QtCore.QThread):
|
||||
self.secondary_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):
|
||||
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.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):
|
||||
topics = rospy.get_published_topics(CAMERA_TOPIC_PATH)
|
||||
|
||||
@@ -140,4 +185,3 @@ class RoverVideoCoordinator(QtCore.QThread):
|
||||
|
||||
def on_kill_threads_requested__slot(self):
|
||||
self.run_thread_flag = False
|
||||
|
||||
|
||||
@@ -17,7 +17,7 @@ from sensor_msgs.msg import CompressedImage
|
||||
#####################################
|
||||
# Global Variables
|
||||
#####################################
|
||||
FONT = cv2.FONT_HERSHEY_TRIPLEX
|
||||
CAMERA_TOPIC_PATH = "/cameras/"
|
||||
|
||||
|
||||
#####################################
|
||||
@@ -44,11 +44,23 @@ class RoverVideoReceiver(QtCore.QThread):
|
||||
# ########## Class Variables ##########
|
||||
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
|
||||
self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage,
|
||||
self.__image_data_received_callback) # type: rospy.Subscriber
|
||||
self.video_subscriber = None # type: rospy.Subscriber
|
||||
|
||||
# Image variables
|
||||
self.raw_image = None
|
||||
@@ -72,6 +84,7 @@ class RoverVideoReceiver(QtCore.QThread):
|
||||
self.camera_name_opencv_640x360_image = None
|
||||
|
||||
self.__create_camera_name_opencv_images()
|
||||
self.__get_camera_available_resolutions()
|
||||
|
||||
def run(self):
|
||||
self.logger.debug("Starting \"%s\" Camera Thread" % self.camera_title_name)
|
||||
@@ -82,12 +95,45 @@ class RoverVideoReceiver(QtCore.QThread):
|
||||
else:
|
||||
self.__show_video_disabled()
|
||||
|
||||
self.msleep(18)
|
||||
self.msleep(10)
|
||||
|
||||
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):
|
||||
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")
|
||||
|
||||
self.__create_final_pixmaps(opencv_image)
|
||||
@@ -103,8 +149,6 @@ class RoverVideoReceiver(QtCore.QThread):
|
||||
self.image_ready_signal.emit(self.camera_name)
|
||||
|
||||
def __create_final_pixmaps(self, opencv_image):
|
||||
|
||||
|
||||
height, width, _ = opencv_image.shape
|
||||
|
||||
if width != 1280 and height != 720:
|
||||
@@ -155,14 +199,21 @@ class RoverVideoReceiver(QtCore.QThread):
|
||||
self.camera_name_opencv_640x360_image = \
|
||||
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):
|
||||
if self.video_enabled:
|
||||
if self.video_subscriber:
|
||||
self.video_subscriber.unregister()
|
||||
self.new_frame = True
|
||||
self.video_enabled = False
|
||||
else:
|
||||
self.video_subscriber = rospy.Subscriber(self.topic_path, CompressedImage,
|
||||
self.__image_data_received_callback)
|
||||
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(self.temp_topic_path, CompressedImage,
|
||||
# self.__image_data_received_callback)
|
||||
self.video_enabled = True
|
||||
|
||||
def connect_signals_and_slots(self):
|
||||
|
||||
Reference in New Issue
Block a user