mirror of
https://github.com/NanjingForestryUniversity/supermachine-tobacco.git
synced 2025-11-08 14:23:55 +00:00
166 lines
8.6 KiB
Python
Executable File
166 lines
8.6 KiB
Python
Executable File
import os
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import sys
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import cv2
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import time
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import numpy as np
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import utils as utils_customized
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from config import Config
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from models import RgbDetector, SpecDetector
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import logging
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def main(only_spec=False, only_color=False, if_merge=False, interval_time=None, delay_repeat_time=None,
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single_spec=False, single_color=False):
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spec_detector = SpecDetector(blk_model_path=Config.blk_model_path, pixel_model_path=Config.pixel_model_path)
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rgb_detector = RgbDetector(tobacco_model_path=Config.rgb_tobacco_model_path,
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background_model_path=Config.rgb_background_model_path,
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ai_path=Config.ai_path)
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_, _ = spec_detector.predict(np.ones((Config.nRows, Config.nCols, Config.nBands), dtype=float)*0.4),\
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rgb_detector.predict(np.ones((Config.nRgbRows, Config.nRgbCols, Config.nRgbBands), dtype=np.uint8)*40)
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total_len = Config.nRows * Config.nCols * Config.nBands * 4 # float型变量, 4个字节
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total_rgb = Config.nRgbRows * Config.nRgbCols * Config.nRgbBands * 1 # int型变量
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if not single_color:
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if not os.access(img_fifo_path, os.F_OK):
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os.mkfifo(img_fifo_path, 0o777)
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if not os.access(mask_fifo_path, os.F_OK):
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os.mkfifo(mask_fifo_path, 0o777)
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if not single_spec:
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if not os.access(rgb_fifo_path, os.F_OK):
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os.mkfifo(rgb_fifo_path, 0o777)
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if not os.access(rgb_mask_fifo_path, os.F_OK):
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os.mkfifo(rgb_mask_fifo_path, 0o777)
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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。")
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if (interval_time is not None) and (delay_repeat_time is not None):
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interval_time = float(interval_time) / 1000.0
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delay_repeat_time = int(delay_repeat_time)
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logging.warning(f'Delay {interval_time*1000:.2f}ms will be added per {delay_repeat_time} frames')
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delay_repeat_time_count = 0
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while True:
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if not single_color:
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fd_img = os.open(img_fifo_path, os.O_RDONLY)
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# spec data read
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data = os.read(fd_img, total_len)
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if len(data) < 3:
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try:
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threshold = int(float(data))
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Config.spec_size_threshold = threshold
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logging.info(f'[INFO] Get spec threshold: {threshold}')
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except Exception as e:
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logging.error(
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f'毁灭性错误:收到长度小于3却无法转化为整数spec_size_threshold的网络报文，报文内容为 {data},'
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f' 错误为 {e}.')
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else:
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data_total = data
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os.close(fd_img)
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try:
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img_data = np.frombuffer(data_total, dtype=np.float32).reshape((Config.nRows, Config.nBands, -1)) \
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.transpose(0, 2, 1)
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except Exception as e:
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logging.error(f'毁灭性错误!收到的光谱数据长度为{len(data_total)}无法转化成指定的形状 {e}')
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if not single_spec:
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fd_rgb = os.open(rgb_fifo_path, os.O_RDONLY)
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# rgb data read
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rgb_data = os.read(fd_rgb, total_rgb)
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if len(rgb_data) < 3:
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try:
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rgb_threshold = int(float(rgb_data))
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Config.rgb_size_threshold = rgb_threshold
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logging.info(f'Get rgb threshold: {rgb_threshold}')
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except Exception as e:
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logging.error(f'毁灭性错误:收到长度小于3却无法转化为整数spec_size_threshold的网络报文，报文内容为 {total_rgb},'
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f' 错误为 {e}.')
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continue
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else:
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rgb_data_total = rgb_data
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os.close(fd_rgb)
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try:
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rgb_data = np.frombuffer(rgb_data_total, dtype=np.uint8).reshape((Config.nRgbRows, Config.nRgbCols, -1))
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except Exception as e:
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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}')
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# 识别 read
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since = time.time()
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# predict
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if single_spec or single_color:
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if single_spec:
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mask_spec = spec_detector.predict(img_data).astype(np.uint8)
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masks = [mask_spec, ]
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else:
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mask_rgb = rgb_detector.predict(rgb_data).astype(np.uint8)
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masks = [mask_rgb, ]
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else:
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if only_spec:
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# 光谱识别
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mask_spec = spec_detector.predict(img_data).astype(np.uint8)
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mask_rgb = np.zeros_like(mask_spec, dtype=np.uint8)
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elif only_color:
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# rgb识别
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mask_rgb = rgb_detector.predict(rgb_data).astype(np.uint8)
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mask_spec = np.zeros_like(mask_rgb, dtype=np.uint8)
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else:
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mask_spec = spec_detector.predict(img_data).astype(np.uint8)
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mask_rgb = rgb_detector.predict(rgb_data).astype(np.uint8)
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masks = [mask_spec, mask_rgb]
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# 进行多个喷阀的合并
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masks = [utils_customized.valve_expend(mask) for mask in masks]
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# 进行喷阀同时开启限制,在8月11日后收到倪超老师的电话，关闭
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# masks = [utils_customized.valve_limit(mask, Config.max_open_valve_limit) for mask in masks]
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# control the size of the output masks, 在resize前，图像的宽度是和喷阀对应的
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masks = [cv2.resize(mask.astype(np.uint8), Config.target_size) for mask in masks]
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# merge the masks if needed
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if if_merge and (len(masks) > 1):
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masks = [masks[0] | masks[1], masks[1]]
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if (interval_time is not None) and (delay_repeat_time is not None):
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delay_repeat_time_count += 1
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if delay_repeat_time_count > delay_repeat_time:
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logging.warning(f"Delay time {interval_time*1000:.2f}ms after {delay_repeat_time} frames")
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delay_repeat_time_count = 0
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time.sleep(interval_time)
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# 写出
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if single_spec:
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output_fifos = [mask_fifo_path, ]
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elif single_color:
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output_fifos = [rgb_mask_fifo_path, ]
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else:
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output_fifos = [mask_fifo_path, rgb_mask_fifo_path]
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for fifo, mask in zip(output_fifos, masks):
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fd_mask = os.open(fifo, os.O_WRONLY)
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os.write(fd_mask, mask.tobytes())
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os.close(fd_mask)
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time_spent = (time.time() - since) * 1000
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predict_by = 'spec' if single_spec else 'rgb' if single_color else 'spec+rgb'
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logging.info(f'Total time is: {time_spent:.2f} ms, predicted by {predict_by}')
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if time_spent > Config.max_time_spent:
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logging.warning(f'警告预测超时,预测耗时超过了200ms,The prediction time is {time_spent:.2f} ms.')
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if __name__ == '__main__':
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import argparse
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parser = argparse.ArgumentParser(description='主程序')
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parser.add_argument('-oc', default=False, action='store_true', help='只进行RGB彩色预测 only rgb', required=False)
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parser.add_argument('-os', default=False, action='store_true', help='只进行光谱预测 only spec', required=False)
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parser.add_argument('-sc', default=False, action='store_true', help='只进行RGB预测且只返回一个mask', required=False)
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parser.add_argument('-ss', default=False, action='store_true', help='只进行光谱预测且只返回一个mask', required=False)
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parser.add_argument('-m', default=False, action='store_true', help='if merge the two masks', required=False)
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parser.add_argument('-d', default=False, action='store_true', help='是否使用DEBUG模式', required=False)
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parser.add_argument('-dt', default=None, help='delay time', required=False)
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parser.add_argument('-df', default=None, help='delay occours after how many frames', required=False)
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args = parser.parse_args()
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# fifo 参数
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img_fifo_path = '/tmp/dkimg.fifo'
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rgb_fifo_path = '/tmp/dkrgb.fifo'
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# mask fifo
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mask_fifo_path = '/tmp/dkmask.fifo'
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rgb_mask_fifo_path = '/tmp/dkmask_rgb.fifo'
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# logging相关
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file_handler = logging.FileHandler(os.path.join(Config.root_dir, '.tobacco_algorithm.log'))
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file_handler.setLevel(logging.DEBUG if args.d else logging.WARNING)
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console_handler = logging.StreamHandler(sys.stdout)
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console_handler.setLevel(logging.DEBUG if args.d else logging.WARNING)
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logging.basicConfig(format='%(asctime)s - %(levelname)s - %(message)s',
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handlers=[file_handler, console_handler], level=logging.DEBUG)
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main(only_spec=args.os, only_color=args.oc, if_merge=args.m, interval_time=args.dt, delay_repeat_time=args.df)
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