From 84199c1d75abd997c2d9ff66bdef1f5543513928 Mon Sep 17 00:00:00 2001 From: "li.zhenye" Date: Wed, 10 Aug 2022 16:42:25 +0800 Subject: [PATCH] delay version for valve debug --- main.py | 22 ++++++++++++++++++---- 1 file changed, 18 insertions(+), 4 deletions(-) diff --git a/main.py b/main.py index c039491..eff38b1 100755 --- a/main.py +++ b/main.py @@ -11,7 +11,7 @@ from models import RgbDetector, SpecDetector import logging -def main(only_spec=False, only_color=False, if_merge=False): +def main(only_spec=False, only_color=False, if_merge=False, interval_time=None, delay_repeat_time=None): spec_detector = SpecDetector(blk_model_path=Config.blk_model_path, pixel_model_path=Config.pixel_model_path) rgb_detector = RgbDetector(tobacco_model_path=Config.rgb_tobacco_model_path, background_model_path=Config.rgb_background_model_path) @@ -28,6 +28,11 @@ def main(only_spec=False, only_color=False, if_merge=False): if not os.access(rgb_mask_fifo_path, os.F_OK): os.mkfifo(rgb_mask_fifo_path, 0o777) logging.info(f"请注意!正在以调试模式运行程序，输出的信息可能较多。") + if (interval_time is not None) and (delay_repeat_time is not None): + interval_time = float(interval_time) / 1000.0 + delay_repeat_time = int(delay_repeat_time) + logging.warning(f'Delay {interval_time*1000:.2f}ms will be added per {delay_repeat_time} frames') + delay_repeat_time_count = 0 while True: fd_img = os.open(img_fifo_path, os.O_RDONLY) fd_rgb = os.open(rgb_fifo_path, os.O_RDONLY) @@ -59,7 +64,7 @@ def main(only_spec=False, only_color=False, if_merge=False): else: rgb_data_total = rgb_data os.close(fd_rgb) - # 识别 + # 识别 read since = time.time() try: img_data = np.frombuffer(data_total, dtype=np.float32).reshape((Config.nRows, Config.nBands, -1)) \ @@ -70,6 +75,7 @@ def main(only_spec=False, only_color=False, if_merge=False): rgb_data = np.frombuffer(rgb_data_total, dtype=np.uint8).reshape((Config.nRgbRows, Config.nRgbCols, -1)) except Exception as e: logging.error(f'毁灭性错误!收到的rgb数据长度为{len(rgb_data)}无法转化成指定形状 {e}') + # predict if only_spec: # 光谱识别 mask_spec = spec_detector.predict(img_data).astype(np.uint8) @@ -92,7 +98,13 @@ def main(only_spec=False, only_color=False, if_merge=False): masks = [cv2.resize(mask.astype(np.uint8), Config.target_size) for mask in masks] # merge the masks if needed if if_merge: - masks = [masks[0] | mask[1], mask[1]] + masks = [masks[0] | masks[1], masks[1]] + if (interval_time is not None) and (delay_repeat_time is not None): + delay_repeat_time_count += 1 + if delay_repeat_time_count > delay_repeat_time: + logging.warning(f"Delay time {interval_time*1000:.2f}ms after {delay_repeat_time} frames") + delay_repeat_time_count = 0 + time.sleep(interval_time) # 写出 output_fifos = [mask_fifo_path, rgb_mask_fifo_path] for fifo, mask in zip(output_fifos, masks): @@ -112,6 +124,8 @@ if __name__ == '__main__': parser.add_argument('-os', default=False, action='store_true', help='只进行光谱预测 only spec', required=False) parser.add_argument('-m', default=False, action='store_true', help='if merge the two masks', required=False) parser.add_argument('-d', default=False, action='store_true', help='是否使用DEBUG模式', required=False) + parser.add_argument('-dt', default=None, help='delay time', required=False) + parser.add_argument('-df', default=None, help='delay occours after how many frames', required=False) args = parser.parse_args() # fifo 参数 img_fifo_path = '/tmp/dkimg.fifo' @@ -126,4 +140,4 @@ if __name__ == '__main__': console_handler.setLevel(logging.DEBUG if args.d else logging.WARNING) logging.basicConfig(format='%(asctime)s - %(levelname)s - %(message)s', handlers=[file_handler, console_handler], level=logging.DEBUG) - main(only_spec=args.os, only_color=args.oc, if_merge=args.m) + main(only_spec=args.os, only_color=args.oc, if_merge=args.m, interval_time=args.dt, delay_repeat_time=args.df)