MyCity/traffic_analyzer/ambulance_detect.py

#!/usr/bin/python3

import pickle
import threading
import sys
import cv2
import os
import numpy as np

from telnetlib import Telnet

from utils import label_map_util
from utils import visualization_utils as vis_util

if sys.platform == "win32":

    import tensorflow as tf
    from distutils.version import StrictVersion

    if StrictVersion(tf.__version__) < StrictVersion('1.12.0'):
        raise ImportError('Please upgrade your TensorFlow installation to v1.12.*.')
else:
    # import psutil
    pass

import json

import base64
from PIL import Image
from io import BytesIO
from urllib.parse import urlencode
from urllib.request import Request, urlopen
import ssl

switch = 1

import socket

# This is needed since the notebook is stored in the object_detection folder.
sys.path.append("..")
import time
from object_detection.utils import ops as utils_ops

TELNET = False

AI_IP = '10.10.26.161'
LIGHT_IP = '192.168.2.174'
context = ssl._create_unverified_context()
if TELNET:
    tn = Telnet(LIGHT_IP, 31)
light_green = False

# What model to download.


encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]

PATH_TO_LABELS = os.path.join('object_detection/data', 'mscoco_label_map.pbtxt')


category_index = label_map_util.create_category_index_from_labelmap(PATH_TO_LABELS, use_display_name=True)



def load_image_into_numpy_array(image):
  (im_width, im_height) = image.size
  return np.array(image.getdata()).reshape(
      (im_height, im_width, 3)).astype(np.uint8)

data = {"gpu_temp":"10C","gpu_load":"15%","cpu_temp":"47C","cpu_load":"15%","mem_temp":"NaN","mem_load":"17%","fan_speed":"10000RPM"}

"""
def get_temps():
    global data
    if not sys.platform == "win32":
        temps = psutil.sensors_temperatures()
        data["cpu_temp"] = str(int(temps["dell_smm"][0][1]))+"°C"
        data["cpu_load"] = str(psutil.cpu_percent())+"%"
        data["mem_load"] = str(dict(psutil.virtual_memory()._asdict())["percent"])+"%"
        data["fan_speed"] = str(psutil.sensors_fans()["dell_smm"][0][1])+"RPM"
"""


def run_inference_for_single_image(image):
    _, buffer = cv2.imencode('.jpg', image)
    img_base64 =  base64.b64encode(buffer).decode('ascii')
    url = 'https://%s:5001/ai' % AI_IP # Set destination URL here
    post_fields = {'img': img_base64,"type":"coco"}     # Set POST fields here
    request = Request(url, urlencode(post_fields).encode())
    data = urlopen(request, context=context).read().decode("ascii")
    output_dict = json.loads(json.loads(data))
    return output_dict

kill = True

def listener(port=8385):
    serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    serversocket.bind((socket.gethostname(), port))
    serversocket.listen(5)
    while kill:
        serversocket.accept()

    print('Bye!')

def lights_on():
    global light_green
    light_green = True
    tn.write(b"1-0")
    time.sleep(1)
    tn.write(b"2-0")
    time.sleep(10)
    light_green = False
    tn.write(b"0-1")
    time.sleep(1)
    tn.write(b"0-2")

cut = (150, 250, 250, 150)
cut_send = [0, 0, 0, 0]
img_counter = 0
socket_switch = True

thread = threading.Thread(target=listener)
thread.start()

cam = cv2.VideoCapture(1)


switch = 0
# get_temps()
# (left, right, top, bottom)
ambulance_coordinates = (65, 190, 0, 140)

reps = -1
reps_vid = 0

while 1:
    ret,image = cam.read()
    image = cv2.imread('/home/efeaydin/Masaüstü/union-county-car-accident-attorneys.jpg')
    reps_vid += 1

    reps += 1
    try:  # Kavşak
        t1 = time.time()
        image_np = image
        output_dict = run_inference_for_single_image(image_np)

        height, width, channels = image_np.shape

        out_dict = {'detection_boxes': [], 'detection_classes': [], 'detection_scores': []}
        for index,i in enumerate(output_dict['detection_classes']):
            cont = False
            if i in [3, 6, 8,44,77]:  # Car, bus, truck
                score = output_dict['detection_scores'][index]
                if score > 0.3:
                    if not any((output_dict['detection_boxes'][index] == b) for b in out_dict['detection_boxes']):
                        avg_x = (output_dict['detection_boxes'][index][0] + output_dict['detection_boxes'][index][2])/2
                        avg_y = (output_dict['detection_boxes'][index][1] + output_dict['detection_boxes'][index][3])/2
                        for box in out_dict['detection_boxes']:
                            avg_box_x = (box[0] + box[2])/2
                            avg_box_y = (box[1] + box[3])/2
                            if abs(avg_x-avg_box_x) < 0.1 and abs(avg_y-avg_box_y) < 0.1:
                                cont = True
                                break
                        if cont:
                            continue
                        out_dict['detection_classes'].append(i)
                        out_dict['detection_boxes'].append(output_dict['detection_boxes'][index])
                        out_dict['detection_scores'].append(output_dict['detection_scores'][index])

        out_dict['detection_classes'] = np.array(out_dict['detection_classes'])
        out_dict['detection_boxes'] = np.array(out_dict['detection_boxes'])
        out_dict['detection_scores'] = np.array(out_dict['detection_scores'])

        im_height, im_width, _ = image_np.shape
        if not light_green and TELNET:
            for index, box in enumerate(out_dict['detection_boxes']):
                box = tuple(map(int, (box[1] * im_width, box[3] * im_width, box[0] * im_height, box[2] * im_height)))
                # (left, right, top, bottom)
                if abs((box[0] + box[1])/2 - (ambulance_coordinates[0] + ambulance_coordinates[1])/2) < 25 and \
                    abs((box[2] + box[3])/2 - (ambulance_coordinates[2] + ambulance_coordinates[3])/2) < 25:
                    print('ambulance')
                    threading.Thread(target=lights_on).start()

        vis_util.visualize_boxes_and_labels_on_image_array(
            image_np,
            out_dict['detection_boxes'],
            out_dict['detection_classes'],
            out_dict['detection_scores'],
            category_index,
            instance_masks=out_dict.get('detection_masks'),
            use_normalized_coordinates=True,
            line_thickness=8,
            min_score_thresh=0.3
        )
        cv2.imwrite('/home/efeaydin/Masaüstü/foto.jpg', image_np)
        cv2.imshow('frame', image_np)
        ex_c = [27, ord("q"), ord("Q")]
        if cv2.waitKey(1) & 0xFF in ex_c:
            break

        t2 = time.time()
        print("time taken for {}".format(t2-t1))
        if not sys.platform == "win32" and t2-t1 < 0.1:
            time.sleep(0.1-(t2-t1))
        send_image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
        if socket_switch:
            try:
                client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
                client_socket.settimeout(0.1)
                client_socket.connect(('127.0.0.1', 8485))
                connection = client_socket.makefile('wb')
                socket_switch = False
            except:
                socket_switch = True
                continue
        try:
            crop_img = send_image.copy(order='C')
            crop_img = Image.fromarray(crop_img, "RGB")
            buffered = BytesIO()
            crop_img.save(buffered, format="JPEG")
            img = base64.b64encode(buffered.getvalue()).decode("ascii")
            lens = [len(send_image), 0, len(send_image[0])]
            for i in range(0,len(cut), 2):
                if cut[i] < 0:
                    cut_send[i] = lens[i] + cut[i]
                cut_send[i+1] = abs(cut[i])-abs(cut[i+1])
            client_socket.sendall(json.dumps({"image_full":img,"image_sizes":{"x":65,"y":0,"width":125,"height":140},"load":data}).encode('gbk')+b"\n")
            img_counter += 1
        except:
            socket_switch = True

        if img_counter % 10 == 0:
            # get_temps()
            pass

    except Exception as e:
        if hasattr(e, 'message'):
            print(e.message)
        else:
            print(e)
        break



if not socket_switch:
    client_socket.sendall(b"Bye\n")
    cam.release()


cv2.destroyAllWindows()
cam.release()
kill = False
thread.join()