Merge pull request #11 from IQTLabs/tracker

Adding in Object Tracking

axis-ptz/camera.py

@@ -32,11 +32,18 @@
 cameraZoom = None
 cameraMoveSpeed = None
 cameraDelay = None
+object_topic = None
+flight_topic = None
 pan = 0
 tilt = 0
 actualPan = 0
 actualTilt = 0
+follow_x = 0
+follow_y = 0
+actualX = 0
+actualY = 0
 currentPlane=None
+object_timeout=0
 
 # https://stackoverflow.com/questions/45659723/calculate-the-difference-between-two-compass-headings-python
 
@@ -58,6 +65,14 @@ def getHeadingDiff(h1, h2):
  else:
  return absDiff - 360
 
+def setXY(x,y):
+ global follow_x
+ global follow_y
+
+ follow_x = int(x)
+ follow_y = int(y)
+
+
 def setPan(bearing):
  global pan
  camera_bearing = args.bearing
@@ -109,6 +124,7 @@ def get_jpeg_request(): # 5.2.4.1
  """
  payload = {
  'resolution': "1920x1080",
+ 'compression': 5,
  'camera': 1,
  }
  url = 'https://' + args.axis_ip + '/axis-cgi/jpg/image.cgi'
@@ -132,25 +148,84 @@ def get_jpeg_request(): # 5.2.4.1
  text += str(resp.text)
  return text
 
+def get_bmp_request(): # 5.2.4.1
+ """
+ The requests specified in the JPEG/MJPG section are supported by those video products
+ that use JPEG and MJPG encoding.
+ Args:
+ resolution: Resolution of the returned image. Check the product’s Release notes.
+ camera: Selects the source camera or the quad stream.
+ square_pixel: Enable/disable square pixel correction. Applies only to video encoders.
+ compression: Adjusts the compression level of the image.
+ clock: Shows/hides the time stamp. (0 = hide, 1 = show)
+ date: Shows/hides the date. (0 = hide, 1 = show)
+ text: Shows/hides the text. (0 = hide, 1 = show)
+ text_string: The text shown in the image, the string must be URL encoded.
+ text_color: The color of the text shown in the image. (black, white)
+ text_background_color: The color of the text background shown in the image.
+ (black, white, transparent, semitransparent)
+ rotation: Rotate the image clockwise.
+ text_position: The position of the string shown in the image. (top, bottom)
+ overlay_image: Enable/disable overlay image.(0 = disable, 1 = enable)
+ overlay_position:The x and y coordinates defining the position of the overlay image.
+ (<int>x<int>)
+ Returns:
+ Success ('image save' and save the image in the file folder) or Failure (Error and
+ description).
+ """
+ payload = {
+ 'resolution': "1920x1080",
+ 'camera': 1,
+ }
+ url = 'https://' + args.axis_ip + '/axis-cgi/bitmap/image.bmp'
+ resp = requests.get(url, auth=HTTPDigestAuth(args.axis_username, args.axis_password),
+ params=payload)
+
+ if resp.status_code == 200:
+ captureDir = "capture/{}".format(currentPlane["type"])
+ try:
+ os.makedirs(captureDir)
+ except OSError as e:
+ if e.errno != errno.EEXIST:
+ raise # This was not a "directory exist" error..
+ filename = "{}/{}_{}.bmp".format(captureDir, currentPlane["icao24"],datetime.now().strftime('%Y-%m-%d-%H-%M-%S'))
+
+ with open(filename, 'wb') as var:
+ var.write(resp.content)
+ return str('Image saved')
+
+ text = str(resp)
+ text += str(resp.text)
+ return text
 
 def moveCamera():
  global actualPan
  global actualTilt
+ global actualX
+ global actualY
  global camera
 
 
  while True:
  lockedOn = False
- if actualTilt != tilt or actualPan != pan:
- logging.info("Moving camera to Tilt: %d & Pan: %d"%(tilt, pan))
- actualTilt = tilt
- actualPan = pan
- lockedOn = True
- camera.absolute_move(pan, tilt, cameraZoom, cameraMoveSpeed)
- time.sleep(0.3)
- get_jpeg_request()
-
-
+ if (object_timeout < time.mktime(time.gmtime())):
+ if actualTilt != tilt or actualPan != pan:
+ logging.info("Moving camera to Tilt: %d & Pan: %d"%(tilt, pan))
+ actualTilt = tilt
+ actualPan = pan
+ lockedOn = True
+ camera.absolute_move(pan, tilt, cameraZoom, cameraMoveSpeed)
+ time.sleep(cameraDelay)
+ get_jpeg_request()
+ #get_bmp_request()
+ else:
+ if actualX != follow_x or actualY != follow_y:
+ actualX = follow_x
+ actualY = follow_y
+ #camera.center_move(actualX, actualY, cameraMoveSpeed)
+ pan_tilt = str(actualX) + "," + str(actualY)
+ camera._camera_command({'center': pan_tilt, 'speed': cameraMoveSpeed, 'imagewidth': '1280', 'imageheight': '720'})
+ #time.sleep(cameraDelay)
  #if lockedOn == True:
  # filename = "capture/{}_{}".format(datetime.now().strftime('%Y-%m-%d-%H-%M-%S'), currentPlane)
  # camera.capture("{}.jpeg".format(filename))
@@ -163,6 +238,8 @@ def moveCamera():
 #############################################
 def on_message(client, userdata, message):
  global currentPlane
+ global object_timeout
+
  command = str(message.payload.decode("utf-8"))
  #rint(command)
  try:
@@ -179,10 +256,17 @@ def on_message(client, userdata, message):
  except:
  print("Caught it!")
 
- logging.info("{}\tBearing: {} \tElevation: {}".format(update["icao24"],update["bearing"],update["elevation"]))
- bearingGood = setPan(update["bearing"])
- setTilt(update["elevation"])
- currentPlane = update
+ if message.topic == object_topic:
+ logging.info("Got Object Topic")
+ setXY(update["x"], update["y"])
+ object_timeout = time.mktime(time.gmtime()) + 5
+ elif message.topic == flight_topic:
+ logging.info("{}\tBearing: {} \tElevation: {}".format(update["icao24"],update["bearing"],update["elevation"]))
+ bearingGood = setPan(update["bearing"])
+ setTilt(update["elevation"])
+ currentPlane = update
+ else:
+ logging.info("Message: {} Object: {} Flight: {}".format(message.topic, object_topic, flight_topic))
 
 def main():
  global args
@@ -194,12 +278,15 @@ def main():
  global cameraMoveSpeed
  global cameraZoom
  global cameraConfig
+ global flight_topic
+ global object_topic
 
  parser = argparse.ArgumentParser(description='An MQTT based camera controller')
 
  parser.add_argument('-b', '--bearing', help="What bearing is the font of the PI pointed at (0-360)", default=0)
  parser.add_argument('-m', '--mqtt-host', help="MQTT broker hostname", default='127.0.0.1')
- parser.add_argument('-t', '--mqtt-topic', help="MQTT topic to subscribe to", default="SkyScan")
+ parser.add_argument('-t', '--mqtt-flight-topic', help="MQTT topic to subscribe to", default="skyscan/flight/json")
+ parser.add_argument( '--mqtt-object-topic', help="MQTT topic to subscribe to", default="skyscan/object/json")
  parser.add_argument('-u', '--axis-username', help="Username for the Axis camera", required=True)
  parser.add_argument('-p', '--axis-password', help="Password for the Axis camera", required=True)
  parser.add_argument('-a', '--axis-ip', help="IP address for the Axis camera", required=True)
@@ -237,14 +324,17 @@ def main():
  threading.Thread(target = moveCamera, daemon = True).start()
  # Sleep for a bit so we're not hammering the HAT with updates
  time.sleep(0.005)
- print("connecting to MQTT broker at "+ args.mqtt_host+", channel '"+args.mqtt_topic+"'")
+ flight_topic=args.mqtt_flight_topic
+ object_topic = args.mqtt_object_topic
+ print("connecting to MQTT broker at "+ args.mqtt_host+", channel '"+flight_topic+"'")
  client = mqtt.Client("skyscan-axis-ptz-camera-" + ID) #create new instance
 
  client.on_message=on_message #attach function to callback
 
  client.connect(args.mqtt_host) #connect to broker
  client.loop_start() #start the loop
- client.subscribe(args.mqtt_topic+"/#")
+ client.subscribe(flight_topic+"/#")
+ client.subscribe(object_topic+"/#")
  client.publish("skyscan/registration", "skyscan-axis-ptz-camera-"+ID+" Registration", 0, False)
 
  #############################################

docker-compose.yml

@@ -4,7 +4,7 @@ services:
 
  tracker:
  build: ./tracker
- entrypoint: "./flighttracker.py -m mqtt -l ${LAT} -L ${LONG} -a ${ALT} -P skyscan/planes/json -T skyscan/tracking/json -M ${MIN_ELEVATION} -c ${CAMERA_LEAD}"
+ entrypoint: "./flighttracker.py -m mqtt -l ${LAT} -L ${LONG} -a ${ALT} -P skyscan/planes/json -T skyscan/flight/json -M ${MIN_ELEVATION} -c ${CAMERA_LEAD}"
  depends_on:
  - mqtt
  restart: unless-stopped
@@ -21,7 +21,7 @@ services:
 
  pan-tilt-pi:
  build: ./pan-tilt-pi
- entrypoint: "./camera.py -m mqtt -t skyscan/tracking/json"
+ entrypoint: "./camera.py -m mqtt -t skyscan/flight/json"
  volumes:
  - /opt/vc:/opt/vc
  - ./capture:/app/capture
@@ -36,7 +36,7 @@ services:
 
  axis-ptz:
  build: ./axis-ptz
- entrypoint: "./camera.py -m mqtt -t skyscan/tracking/json -u ${AXIS_USERNAME} -p ${AXIS_PASSWORD} -a ${AXIS_IP} -z ${CAMERA_ZOOM} -s ${CAMERA_MOVE_SPEED} -d ${CAMERA_DELAY}"
+ entrypoint: "./camera.py -m mqtt -t skyscan/flight/json -u ${AXIS_USERNAME} -p ${AXIS_PASSWORD} -a ${AXIS_IP} -z ${CAMERA_ZOOM} -s ${CAMERA_MOVE_SPEED} -d ${CAMERA_DELAY}"
  volumes:
  - ./capture:/app/capture
  depends_on:

object-tracker/.gitignore

@@ -0,0 +1,2 @@
+all_models/
+**__pycache__

object-tracker/CONTRIBUTING.md

@@ -0,0 +1,28 @@
+# How to Contribute
+
+We'd love to accept your patches and contributions to this project. There are
+just a few small guidelines you need to follow.
+
+## Contributor License Agreement
+
+Contributions to this project must be accompanied by a Contributor License
+Agreement. You (or your employer) retain the copyright to your contribution;
+this simply gives us permission to use and redistribute your contributions as
+part of the project. Head over to <https://cla.developers.google.com/> to see
+your current agreements on file or to sign a new one.
+
+You generally only need to submit a CLA once, so if you've already submitted one
+(even if it was for a different project), you probably don't need to do it
+again.
+
+## Code reviews
+
+All submissions, including submissions by project members, require review. We
+use GitHub pull requests for this purpose. Consult
+[GitHub Help](https://help.github.com/articles/about-pull-requests/) for more
+information on using pull requests.
+
+## Community Guidelines
+
+This project follows [Google's Open Source Community
+Guidelines](https://opensource.google.com/conduct/).