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128 lines
4.3 KiB
128 lines
4.3 KiB
import cv2
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import serial
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import threading
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import time
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class Frame():
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def __init__(self, time, data):
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self.time = time
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self.data = data
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class GridEye():
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def __init__(self, serialPort, baudrate):
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self.port = serial.Serial(serialPort, baudrate)
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self.frame = None
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self.reading = True
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self.thread = threading.Thread(target = self.reader)
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self.thread.setDaemon(True)
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self.lock = threading.Lock()
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def start(self):
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self.port.reset_input_buffer()
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self.thread.start()
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def stop(self):
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self.reading = False
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self.thread.join()
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def reader(self):
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data = []
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data_time = 0;
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while (self.reading):
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line = b''
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while (self.reading):
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c = self.port.read()
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if c == b'\r':
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c = self.port.read()
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break
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if c == b'\n':
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break
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line += c
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#line = self.port.readline()#.decode('utf-8')
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# if line:
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# print (line)
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# time.sleep(0.01)
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# if self.port.in_waiting > 0:
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# print (self.port.in_waiting)
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if b'#' in line:
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if len(data) == 8:
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#print (data)
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self.lock.acquire()
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self.frame = Frame(data_time, data)
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self.lock.release()
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else:
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print ('something wrong', len(data))
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data_time = time.time()
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data = []
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else:
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try:
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row = [float(x) for x in line.split()]
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if len(row) == 8:
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data.append(row)
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except ValueError as e:
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print ('error', e)
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data_time = time.time()
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data = []
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if len(data) > 8:
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data.pop(0)
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if __name__ == '__main__':
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import cv2
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import numpy as np
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SIZE = 128
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overlap = 120
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grideye = GridEye('COM17', 115200)
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grideye.start()
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grideye2 = GridEye('COM15', 115200)
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grideye2.start()
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fourcc = cv2.VideoWriter_fourcc(*'XVID')
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videoWriter = cv2.VideoWriter('output.avi', fourcc, 10.0, (SIZE*2,SIZE*2))
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cv2.imshow('sample', np.zeros((SIZE*2,SIZE*2), np.uint8))
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while True:
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if grideye.frame and grideye2.frame:
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grideye.lock.acquire()
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grideye2.lock.acquire()
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frame = grideye.frame
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grideye.frame = None
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frame2 = grideye2.frame
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grideye2.frame = None
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# frame2 = frame
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grideye2.lock.release()
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grideye.lock.release()
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img = (np.array(frame.data)-15)*10
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img = cv2.equalizeHist(cv2.resize(img.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_CUBIC)) # INTER_LINEAR, INTER_CUBIC
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img2 = (np.array(frame2.data)-15)*10
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img2 = cv2.equalizeHist(cv2.resize(img2.astype(np.uint8), (SIZE,SIZE), interpolation = cv2.INTER_CUBIC))
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out = np.zeros((SIZE*2, SIZE*2), dtype=np.uint16)
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out[:SIZE, :SIZE] = img
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out[:SIZE, SIZE:] = img2
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offset = int(overlap/2)
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out[SIZE:, offset:SIZE+offset] = img
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out[SIZE:, (SIZE-overlap)+offset:SIZE+offset] += img2[:,:overlap]
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out[SIZE:, (SIZE-overlap)+offset:SIZE+offset] = out[SIZE:, (SIZE-overlap)+offset:SIZE+offset]/2
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out[SIZE:, SIZE+offset:SIZE+(SIZE-overlap)+offset] = img2[:,overlap:SIZE]
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out = out.astype(np.uint8)
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cv2.imshow('sample', out)
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videoWriter.write(cv2.cvtColor(out,cv2.COLOR_GRAY2BGR))
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key = cv2.waitKey(1)
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if key == ord('q'):
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break
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elif key == ord('a'):
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overlap += 1
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elif key == ord('d'):
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overlap -= 1
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elif key == ord('c'):
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cv2.imwrite('out.jpg', out)
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time.sleep(0.001)
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grideye.stop()
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grideye2.stop()
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