Vision2018/vision.py at master · FRC2713/Vision2018 · GitHub

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from socketserver import ThreadingMixIn
from threading import Thread
from io import BytesIO
from PIL import Image
import numpy as np
import cv2
import math
from networktables import NetworkTables
from http.server import BaseHTTPRequestHandler, HTTPServer
import time
from stream import WebcamVideoStream
import os


class CamHandler(BaseHTTPRequestHandler):
    def do_GET(self):

        if self.path.endswith('.mjpg'):
            self.send_response(200)
            self.send_header('Content-type', 'multipart/x-mixed-replace; boundary=--jpgboundary')
            self.end_headers()
            while True:
                try:
                    global final, port
                    img = final
                    # rc, img = capture.read()
                    # if not rc:
                    #    continue
                    imgRGB = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
                    jpg = Image.fromarray(imgRGB)
                    tmpFile = BytesIO()
                    jpg.save(tmpFile, 'JPEG')
                    self.wfile.write("--jpgboundary".encode())
                    self.send_header('Content-type', 'image/jpeg')
                    self.send_header('Content-length', str(tmpFile.getbuffer().nbytes))
                    self.end_headers()
                    # print(jpg)
                    self.wfile.write(tmpFile.getvalue())

                    # jpg.save(self.wfile, 'JPEG')
                    time.sleep(0.05)
                except KeyboardInterrupt:
                    break
            return
        if self.path.endswith('.html'):
            self.send_response(200)
            self.send_header('Content-type', 'text/html')
            self.end_headers()
            self.wfile.write('<html><head></head><body>'.encode())
            self.wfile.write(
                ('<img src="http:// ' + self.client_address[0] + ':' + str(port) + '/cam.mjpg"/>').encode())
            self.wfile.write('</body></html>'.encode())
            return


class ThreadedHTTPServer(ThreadingMixIn, HTTPServer):
    """Handle requests in a separate thread."""

def serve():
    server = ThreadedHTTPServer(("", port), CamHandler)
    server.serve_forever()

def resetTable(vt):
    vt.putNumber("angle", -1)
    vt.putNumber("distance", -1)
    vt.putNumber("x", -1)
    vt.putNumber("y", -1)
    vt.putNumber("ipp", -1)

def haveSameCoordinates(rect1, rect2):
    if round(rect1[0][0], 0) == round(rect2[0][0], 0) and round(rect1[0][1], 0) == round(rect2[0][1], 0):
        return True
    else:
        return False

def isCorrectRatio(rect):
    if rect[1][0] > 6 and rect[1][1] > 6:
        correct_ratio = 15.3 / 2.0
        err = 5
        width = rect[1][0]
        height = rect[1][1]
        ratio = round(height / width, 2)
        if ratio < 1:
            ratio = 1 / ratio
        if (correct_ratio - 1) < ratio < (correct_ratio + err):
            return True
    return False

def getRegularRatio(ratio):
    r = ratio
    if r < 1:
        r = 1 / r
    return r

def distance_to_camera(pixHeight):
    # KNOWN_DISTANCE = 77
    #KNOWN_HEIGHT = 183
    #focalHeight = 51.333336
    #return (KNOWN_HEIGHT * focalHeight) / pixHeight
    return 9394 / pixHeight

def width_to_pixel_width(width):
    return 8 / width

def drawBox(frame, rect, color=(0, 0, 255)):
    box = cv2.boxPoints(rect)
    box = np.array(box).reshape((-1, 1, 2)).astype(np.int32)
    cv2.drawContours(frame, [box], -1, color, 1)

if __name__ == '__main__':
    start_t = time.time()

    NetworkTables.initialize(server="roboRIO-2713-frc.local")
    vt = NetworkTables.getTable("VisionProcessing")
    vt.putNumber("heartbeat", 0)
    resetTable(vt)

    vs = WebcamVideoStream().start()
    final = vs.read()
    # vt.putNumber("screen_width", 1920)
    print(os.name)
    displayDebugWindow = (os.name == 'nt') or ("DISPLAY" in os.environ)
    port = 8087

    # Range of color
    r = 32
    g = 0
    b = 202

    rh = 119
    gh = 255
    bh = 255

    lower_c = np.array([r, g, b])
    upper_c = np.array([rh, gh, bh])


    server_thread = Thread(target=serve, args=())
    server_thread.start()

    print("mjpeg server started on port " + str(port))
    while 1:

        frame = vs.read()
        # ---- FILTER OUT THINGS WE DON'T WANT ----
        hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
        mask = cv2.inRange(hsv, lower_c, upper_c)
        rgb = cv2.cvtColor(mask, cv2.COLOR_BAYER_BG2RGB)
        gray = cv2.cvtColor(rgb, cv2.COLOR_BGR2GRAY)
        # gray = cv2.GaussianBlur(gray, (5, 5), 3)
        edged = cv2.Canny(gray, 35, 135)
        if displayDebugWindow:
            cv2.imshow("contours", edged)

        _, cnts, _ = cv2.findContours(edged.copy(), cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE)
        rectborders = [cv2.minAreaRect(c) for c in cnts]
        rounded = []
        pairs = []

        # ---- FILTER OUT REPEAT CONTOURS ----

        for rect in rectborders:
            n = -1
            rnd_rect = ((round(rect[0][0], n), round(rect[0][1], n)), (round(rect[1][0], n), round(rect[1][1], n)),
                        round(rect[2], n))
            if isCorrectRatio(rect):
                drawBox(frame, rect)

            for r2 in rounded:
                if rnd_rect == r2:
                    rectborders.remove(rect)
                    rounded.remove(rnd_rect)
            rounded.append(rnd_rect)

        # ---- GET PAIRS OF SIMILAR CONTOURS THAT MAY BE TARGET ----
        for r in rectborders:
            # sim_* resembles range of difference between rectangles that is deemed "acceptable" for them to be a pair
            sim_ratio = 3
            sim_angle = 4
            sim_area = 1
            if isCorrectRatio(r):
                ratio_r = round(r[1][1] / r[1][0], 2)
                width = r[1][0]
                if ratio_r != getRegularRatio(ratio_r):
                    ratio_r = getRegularRatio(ratio_r)
                    width = r[1][1]
                angle_r = round(r[2], 1)
                area_r = r[1][1] * r[1][0]
                x_r = r[0][0]
                y_r = r[0][1]
                for r2 in rectborders:
                    if r == r2 or haveSameCoordinates(r, r2):
                        break
                    elif isCorrectRatio(r2):
                        ratio_r2 = round(r2[1][1] / r2[1][0], 2)
                        ratio_r2 = getRegularRatio(ratio_r2)
                        angle_r2 = round(r2[2], 1)
                        area_r2 = r2[1][1] * r2[1][0]
                        x_r2 = r2[0][0]
                        y_r2 = r2[0][1]
                        distance = math.sqrt((y_r2 - y_r) ** 2 + (x_r2 - x_r) ** 2)

                        if 2 * width < distance < 5 * width:
                            # if (ratio_r2 < ratio_r + sim_ratio and ratio_r2 > ratio_r - 1):
                            if angle_r + sim_angle > angle_r2 > angle_r - sim_angle:
                                if abs(area_r / area_r2 - 1) < sim_area:
                                    pairs.append([r, r2])

        # print(pairs)

        """
        This may help in understanding some of the code:
         _____
        |     |
        |     |  * = center, (x, y)
        |     |  _ and | = side of minimum area rect of contour
        |     |
        |     |  h / w = approx 15.3 / 2.0 (dimension of single target rectangle)
        h  *  |
        |     |
        |     |
        |     |
        |     |
        |__w__|

        cv2.minAreaRect(contour) = ((x, y), (w, h), angle)

        Reason for inverting values at times is due to the fact that width and height may not correlate from one rectangle to another (width and height may be switched)

        """

        # ---- DISPLAY VISUALIZATIONS FOR CONTOURS ----
        min_x = 1920
        max_x = 0
        min_y = 1080
        max_y = 0
        distances = []
        lmost = -1
        if len(pairs) > 0:
            pair = pairs[0]
            for rect in pair:
                color = (255, 0, 255)

                width = rect[1][0]
                height = rect[1][1]

                x = rect[0][0]
                y = rect[0][1]

                angle = rect[2]

                ratio = round(height / width, 3)
                if ratio != getRegularRatio(ratio):
                    ratio = round(getRegularRatio(ratio), 3)
                    tmp = height
                    height = width
                    width = tmp

                # Bounds of target in frame (Not currently used, meant for commented tracking loop)
                if x - width / 2 < min_x:
                    min_x = int(x - width / 2)
                    lmost += 1
                if x + width / 2 > max_x:
                    max_x = int(x + width / 2)
                if y - height / 2 < min_y:
                    min_y = int(y - height / 2)
                if y + height / 2 > max_y:
                    max_y = int(y + height / 2)
                # ---

                black = (0, 0, 0)

                cv2.putText(frame, str(ratio), (int(x), int(y)), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 255), 1)
                cv2.putText(frame, "w: " + str(round(width, 0)), (int(x), int(y + 20)), cv2.FONT_HERSHEY_SIMPLEX, 0.4,
                            black, 1)
                cv2.putText(frame, "h: " + str(round(height, 0)), (int(x), int(y + 40)), cv2.FONT_HERSHEY_SIMPLEX, 0.4,
                            black, 1)
                cv2.putText(frame, "angle: " + str(round(angle, 0)) + "deg", (int(x), int(y + 60)),
                            cv2.FONT_HERSHEY_SIMPLEX, 0.4, black, 1)

                inches = distance_to_camera(height)
                distances.append(inches)

                cv2.circle(frame, (int(round(x, 0)), int(round(y, 0))), 2, (0, 0, 0), 1)
                drawBox(frame, rect, color)

            # Tracking stuff: Would follow the target through mean shift
            """

            track_window = (min_x, min_y, max_x - min_x, max_y - min_y)
            target_window = ((min_x, min_y),(max_x - min_x, max_y - min_y), 0.0)
            drawBox(frame, target_window, (255,100,0))
            print(track_window)
            roi = frame[min_y:max_y, min_x:max_x]
            #print(roi)
            hsv_roi = cv2.cvtColor(roi, cv2.COLOR_BGR2HSV)
            mask_roi = cv2.inRange(hsv_roi, lower_c, upper_c)
            #mask_roi = mask[min_y:max_y, min_x:max_x]
            roi_hist = cv2.calcHist([hsv_roi], [0], mask_roi, [256], [0, 256])
            cv2.normalize(roi_hist, roi_hist, 0, 255, cv2.NORM_MINMAX)
            term_crit = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 80, 1)
            cv2.imshow("mask", mask_roi)

            while True:
                # grab the frame from the threaded video stream and resize it
                # to have a maximum width of 400 pixels
                frame = vs.read()
                hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
                dst = cv2.calcBackProject([hsv], [0], roi_hist, [0, 180], 1)
                ret, track_window = cv2.meanShift(dst, track_window, term_crit)
                filter = cv2.inRange(hsv, np.array((0, 146, 149)), np.array((102, 178, 213)))
                x, y, w, h = track_window
                cv2.rectangle(frame, (x, y), (x + w, y + h), 255, 2)
                cv2.rectangle(filter, (x, y), (x + w, y + h), 255, 2)
                cv2.putText(frame, 'Tracked', (x - 25, y - 10), cv2.FONT_HERSHEY_SIMPLEX,
                            1, (255, 255, 255), 2)

                # frame = imutils.resize(frame, width=400)

                # check to see if the frame should be displayed to our screen
                obj = frame[y:y + h, x:x + w]
                cv2.imshow("Frame", frame)
                cv2.imshow("obj", obj)

                cv2.imshow("filter", filter)
                if cv2.waitKey(1) & 0xFF == ord('q'):
                    break
            """

            # ---- FINDS AVERAGE DISTANCE OF TARGET AND PERSPECTIVE ANGLE ----

            if len(distances) == 2:
                diff = distances[0] - distances[1]  # this gives us the opposite for the triangle
                if lmost == 0:
                    diff *= -1
                distance = round((distances[0] + distances[1]) / 24, 1)
                cv2.putText(frame, "%.2fft" % distance, (frame.shape[1] - 200, frame.shape[0] - 100), cv2.FONT_HERSHEY_SIMPLEX, 2.0, (0, 0, 0), 3)
                pairs = pairs[0]
                center = ((pairs[0][0][0] + pairs[1][0][0]) / 2, (pairs[0][0][1] + pairs[1][0][1]) / 2)
                if abs(diff) < 6:  # 6 is the length in inches of the target, this gives u the hypotenuse
                    perspective_angle = round(math.degrees(math.asin(diff / 6)), 3)
                    vt.putNumber("angle", perspective_angle)
                    vt.putNumber("distance", distance)
                    vt.putNumber("x", center[0])
                    vt.putNumber("y", center[1])
                    vt.putNumber("ipp", width_to_pixel_width(pairs[0][1][0]*2 + pairs[1][1][0]*2))
                    cv2.putText(frame, str(perspective_angle), (frame.shape[1] - 200, frame.shape[0]), cv2.FONT_HERSHEY_SIMPLEX, 2.0, (0, 0, 0), 3)
            else:
                resetTable(vt)
        vt.putNumber("heartbeat", vt.getNumber("heartbeat") + 1)
        final = frame

        cv2.putText(frame, str(int(1 / (time.time() - start_t))) + " FPS", (frame.shape[1] - 130, 40),
                    cv2.FONT_HERSHEY_SIMPLEX, 1.0, (0, 255, 0), 2)
        if displayDebugWindow:
            cv2.imshow("image", frame)  # cv2.resize(image, (960, 540))
        start_t = time.time()

        k = cv2.waitKey(1) & 0xFF
        if k == ord('q'):
            break

    vs.stop()
    cv2.destroyAllWindows()