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257 lines
8.4 KiB
257 lines
8.4 KiB
#!/usr/bin/python3
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import pickle
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import threading
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import sys,getpass
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import cv2
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import os
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import numpy as np
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import psutil
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import subprocess
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from telnetlib import Telnet
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from utils import label_map_util
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from utils import visualization_utils as vis_util
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if getpass.getuser() == "tedankara":
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import tensorflow as tf
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from distutils.version import StrictVersion
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if StrictVersion(tf.__version__) < StrictVersion('1.12.0'):
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raise ImportError('Please upgrade your TensorFlow installation to v1.12.*.')
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else:
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# import psutil
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pass
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import json
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import base64
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from PIL import Image
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from io import BytesIO
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from urllib.parse import urlencode
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from urllib.request import Request, urlopen
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from imutils.video import VideoStream
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import ssl
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switch = 1
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import socket
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# This is needed since the notebook is stored in the object_detection folder.
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sys.path.append("..")
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import time
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from object_detection.utils import ops as utils_ops
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TELNET = True
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AI_IP = '127.0.0.1'
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LIGHT_IP = '192.168.2.174'
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context = ssl._create_unverified_context()
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if TELNET:
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tn = Telnet(LIGHT_IP, 31)
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light_green = False
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# What model to download.
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encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), 90]
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PATH_TO_LABELS = os.path.join('object_detection/data', 'mscoco_label_map.pbtxt')
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category_index = label_map_util.create_category_index_from_labelmap(PATH_TO_LABELS, use_display_name=True)
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def load_image_into_numpy_array(image):
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(im_width, im_height) = image.size
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return np.array(image.getdata()).reshape(
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(im_height, im_width, 3)).astype(np.uint8)
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data = {"gpu_temp":"10C","gpu_load":"15%","cpu_temp":"47C","cpu_load":"15%","mem_temp":"NaN","mem_load":"17%","fan_speed":"10000RPM"}
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def get_temps():
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global data
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temps = psutil.sensors_temperatures()
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result = subprocess.run(['nvidia-smi', '--query-gpu=utilization.memory', '--format=csv'] , stdout=subprocess.PIPE)
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data["gpu_load"] = result.stdout.decode("utf-8").split("\n")[1]
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result = subprocess.run(['nvidia-smi', '--query-gpu=temperature.gpu', '--format=csv'] , stdout=subprocess.PIPE)
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data["gpu_temp"] = result.stdout.decode("utf-8").split("\n")[1]+"°C"
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data["cpu_temp"] = str(int(temps["coretemp"][0][1]))+"°C"
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data["cpu_load"] = str(psutil.cpu_percent())+"%"
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data["mem_load"] = str(dict(psutil.virtual_memory()._asdict())["percent"])+"%"
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data["fan_speed"] = str(psutil.sensors_fans()["dell_smm"][0][1])+"RPM"
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def run_inference_for_single_image(image):
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_, buffer = cv2.imencode('.jpg', image)
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img_base64 = base64.b64encode(buffer).decode('ascii')
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url = 'https://%s:5001/ai' % AI_IP # Set destination URL here
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post_fields = {'img': img_base64,"type":"coco"} # Set POST fields here
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request = Request(url, urlencode(post_fields).encode())
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data = urlopen(request, context=context).read().decode("ascii")
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output_dict = json.loads(data)
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return output_dict
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kill = True
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def listener(port=8385):
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serversocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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serversocket.bind((socket.gethostname(), port))
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serversocket.listen(5)
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while kill:
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serversocket.accept()
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print('Bye!')
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def lights_on():
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global light_green
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light_green = True
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tn.write(b"1-0")
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time.sleep(1)
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tn.write(b"2-0")
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time.sleep(10)
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light_green = False
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tn.write(b"0-1")
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time.sleep(1)
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tn.write(b"0-2")
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cut = (150, 250, 250, 150)
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cut_send = [0, 0, 0, 0]
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img_counter = 0
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socket_switch = True
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thread = threading.Thread(target=listener)
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thread.start()
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cam = VideoStream(src=0).start()
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switch = 0
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get_temps()
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# (left, right, top, bottom)
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ambulance_coordinates = (150, 400, 250, 400)
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reps = -1
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reps_vid = 0
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while 1:
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image = cam.read()
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reps_vid += 1
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reps += 1
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try: # Kavşak
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t1 = time.time()
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image_np = image
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output_dict = run_inference_for_single_image(image_np)
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height, width, channels = image_np.shape
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cv2.imshow('frmmi', image[ambulance_coordinates[2]:ambulance_coordinates[3], ambulance_coordinates[0]:ambulance_coordinates[1]])
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out_dict = {'detection_boxes': [], 'detection_classes': [], 'detection_scores': []}
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for index,i in enumerate(output_dict['detection_classes']):
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cont = False
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if i in [3, 6, 8,44,77]: # Car, bus, truck
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score = output_dict['detection_scores'][index]
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if score > 0.3:
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if not any((output_dict['detection_boxes'][index] == b) for b in out_dict['detection_boxes']):
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avg_x = (output_dict['detection_boxes'][index][0] + output_dict['detection_boxes'][index][2])/2
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avg_y = (output_dict['detection_boxes'][index][1] + output_dict['detection_boxes'][index][3])/2
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for box in out_dict['detection_boxes']:
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avg_box_x = (box[0] + box[2])/2
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avg_box_y = (box[1] + box[3])/2
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if abs(avg_x-avg_box_x) < 0.1 and abs(avg_y-avg_box_y) < 0.1:
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cont = True
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break
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if cont:
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continue
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out_dict['detection_classes'].append(i)
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out_dict['detection_boxes'].append(output_dict['detection_boxes'][index])
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out_dict['detection_scores'].append(output_dict['detection_scores'][index])
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out_dict['detection_classes'] = np.array(out_dict['detection_classes'])
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out_dict['detection_boxes'] = np.array(out_dict['detection_boxes'])
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out_dict['detection_scores'] = np.array(out_dict['detection_scores'])
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im_height, im_width, _ = image_np.shape
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if not light_green and TELNET:
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for index, box in enumerate(out_dict['detection_boxes']):
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box = tuple(map(int, (box[1] * im_width, box[3] * im_width, box[0] * im_height, box[2] * im_height)))
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# (left, right, top, bottom)
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if abs((box[0] + box[1])/2 - (ambulance_coordinates[0] + ambulance_coordinates[1])/2) < 25 and \
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abs((box[2] + box[3])/2 - (ambulance_coordinates[2] + ambulance_coordinates[3])/2) < 25:
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print('ambulance')
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threading.Thread(target=lights_on).start()
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vis_util.visualize_boxes_and_labels_on_image_array(
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image_np,
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out_dict['detection_boxes'],
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out_dict['detection_classes'],
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out_dict['detection_scores'],
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category_index,
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instance_masks=out_dict.get('detection_masks'),
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use_normalized_coordinates=True,
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line_thickness=8,
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min_score_thresh=0.3
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)
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#cv2.imshow('frame', image_np)
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#ex_c = [27, ord("q"), ord("Q")]
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#if cv2.waitKey(1) & 0xFF in ex_c:
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# break
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t2 = time.time()
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print("time taken for {}".format(t2-t1))
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if not sys.platform == "win32" and t2-t1 < 0.1:
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time.sleep(0.1-(t2-t1))
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send_image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
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if socket_switch:
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try:
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client_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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client_socket.settimeout(0.1)
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client_socket.connect(('127.0.0.1', 8485))
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connection = client_socket.makefile('wb')
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socket_switch = False
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except:
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socket_switch = True
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continue
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try:
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crop_img = send_image.copy(order='C')
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crop_img = Image.fromarray(crop_img, "RGB")
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buffered = BytesIO()
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crop_img.save(buffered, format="JPEG")
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img = base64.b64encode(buffered.getvalue()).decode("ascii")
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lens = [len(send_image), 0, len(send_image[0])]
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for i in range(0,len(cut), 2):
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if cut[i] < 0:
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cut_send[i] = lens[i] + cut[i]
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cut_send[i+1] = abs(cut[i])-abs(cut[i+1])
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client_socket.sendall(json.dumps({"image_full":img,"image_sizes":{"x":90,"y":0,"width":140,"height":140},"load":data}).encode('gbk')+b"\n")
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img_counter += 1
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except:
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socket_switch = True
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if img_counter % 10 == 0:
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get_temps()
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pass
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except Exception as e:
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if hasattr(e, 'message'):
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print(e.message)
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else:
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print(e)
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break
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if not socket_switch:
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client_socket.sendall(b"Bye\n")
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cam.release()
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cv2.destroyAllWindows()
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cam.stop()
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kill = False
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thread.join()
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