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tweak gige and try bg subtraction

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This commit is contained in:
Ruben van de Ven 2025-05-12 16:51:00 +02:00
parent e33cc1279e
commit a3d981f42c
3 changed files with 12 additions and 4 deletions
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9
trap/cv_renderer.py
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@ -349,6 +349,7 @@ class CvRenderer:
# https://gist.github.com/ronekko/dc3747211543165108b11073f929b85e
cv2.moveWindow("frame", 1920, -1)
cv2.setWindowProperty("frame",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
bgsub = cv2.createBackgroundSubtractorMOG2(120, 50, detectShadows=True)
while self.is_running.is_set():
i+=1
@ -396,7 +397,7 @@ class CvRenderer:
first_time = frame.time
# img = frame.img
img = decorate_frame(frame, tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters, self.counter_listener)
img = decorate_frame(frame, tracker_frame, prediction_frame, first_time, self.config, self.tracks, self.predictions, self.config.render_clusters, self.counter_listener,bgsub)
logger.debug(f"write frame {frame.time - first_time:.3f}s")
if self.out_writer:
@ -459,7 +460,7 @@ def get_animation_position(track: Track, current_frame: Frame):
def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True, counter_listener: CounterListerner|None = None) -> np.array:
def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame, first_time: float, config: Namespace, tracks: Dict[str, Track], predictions: Dict[str, Track], as_clusters = True, counter_listener: CounterListerner|None = None, bg_subtractor = None) -> np.array:
scale = 100
# TODO: replace opencv with QPainter to support alpha? https://doc.qt.io/qtforpython-5/PySide2/QtGui/QPainter.html#PySide2.QtGui.PySide2.QtGui.QPainter.drawImage
# or https://github.com/pygobject/pycairo?tab=readme-ov-file
@ -467,6 +468,10 @@ def decorate_frame(frame: Frame, tracker_frame: Frame, prediction_frame: Frame,
# and use http://code.astraw.com/projects/motmot/pygarrayimage.html or https://gist.github.com/nkymut/1cb40ea6ae4de0cf9ded7332f1ca0d55
# or https://api.arcade.academy/en/stable/index.html (supports gradient color in line -- "Arcade is built on top of Pyglet and OpenGL.")
dst_img = frame.camera.img_to_world(frame.img, scale)
# mask = bg_subtractor.apply(dst_img)
# mask = cv2.cvtColor(mask, cv2.COLOR_GRAY2RGB).astype(float) / 255
# dst_img = dst_img * mask
# undistorted_img = cv2.undistort(frame.img, config.camera.mtx, config.camera.dist, None, config.camera.newcameramtx)
# dst_img = cv2.warpPerspective(undistorted_img,convert_world_space_to_img_space(config.camera.H),(config.camera.w,config.camera.h))
# dst_img2 = cv2.warpPerspective(undistorted_img,convert_world_space_to_img_space(config.camera.H), None)

2
trap/plumber.py
View file

@ -99,7 +99,7 @@ def start():
# ExceptionHandlingProcess(target=run_ws_forwarder, kwargs={'config': args, 'is_running': isRunning}, name='forwarder'),
ExceptionHandlingProcess(target=run_frame_emitter, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_fe.iterations}, name='frame_emitter'),
ExceptionHandlingProcess(target=run_tracker, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_tracker.iterations}, name='tracker'),
ExceptionHandlingProcess(target=run_detector, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_faces.iterations}, name='detector'),
# ExceptionHandlingProcess(target=run_detector, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_faces.iterations}, name='detector'),
ExceptionHandlingProcess(target=Stage.start, kwargs={'config': args, 'is_running': isRunning, 'timer_counter': timer_stage.iterations}, name='stage'),
]

5
trap/video_sources.py
View file

@ -65,8 +65,11 @@ class GigE(VideoSource):
# print('exposure time', self.camera.f.ExposureAutoMaxValue.Set(20000)) # shutter 1/50
print('exposure time', self.camera.f.ExposureAutoMaxValue.Set(25000))
print('brightness targt', self.camera.f.BrightnessAutoNominalValue.Get())
print('brightness targt', self.camera.f.BrightnessAutoNominalValue.Set(20))
print('brightness targt', self.camera.f.BrightnessAutoNominalValue.Set(30))
print('exposure time', self.camera.f.ExposureTime.Get())
print('Gamma', self.camera.f.Gamma.Set(0.39))
# print('LUT', self.camera.f.LUTIndex.Get())
# print('LUT', self.camera.f.LUTEnable.Get())
# print('exposure time max', self.camera.f.ExposureTimeGapMax.Get())
# print('exposure time min', self.camera.f.ExposureTimeGapMin.Get())
# self.pixfmt = self.camera.f.PixelFormat.Get()