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speed-cam.py
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#!/usr/bin/python
"""
speed-cam.py written by Claude Pageau [email protected]
Windows, Unix, Raspberry (Pi) - python opencv2 Speed tracking
using picamera module or Web Cam
GitHub Repo here https://github.com/pageauc/rpi-speed-camera/tree/master/
This is a python openCV object speed tracking demonstration program.
It will detect speed in the field of view and use openCV to calculate the
largest contour and return its x,y coordinate. The image is tracked for
a specified pixel length and the final speed is calculated.
Note: Variables for this program are stored in config.py
Some of this code is based on a YouTube tutorial by
Kyle Hounslow using C here https://www.youtube.com/watch?v=X6rPdRZzgjg
Thanks to Adrian Rosebrock jrosebr1 at http://www.pyimagesearch.com
for the PiVideoStream Class code available on github at
https://github.com/jrosebr1/imutils/blob/master/imutils/video/pivideostream.py
Here is my YouTube video demonstrating a previous speed tracking demo
program using a Raspberry Pi B2 https://youtu.be/09JS7twPBsQ
and a fun speed lapse video https://youtu.be/-xdB_x_CbC8
Installation
Requires a Raspberry Pi with a RPI camera module or Web Cam installed and working
or Windows, Unix Distro computer with a USB Web Cam. See github wiki for
more detail https://github.com/pageauc/speed-camera/wiki
Install from a logged in SSH session per commands below.
Code should run on a non RPI platform using a Web Cam
curl -L https://raw.github.com/pageauc/rpi-speed-camera/master/speed-install.sh | bash
or
wget https://raw.github.com/pageauc/rpi-speed-camera/master/speed-install.sh
chmod +x speed-install.sh
./speed-install.sh
./speed-cam.py
"""
from __future__ import print_function
print("Loading ...")
import time
import datetime
import os
import sys
import glob
import shutil
import logging
import sqlite3
from threading import Thread
import subprocess
progVer = "9.09"
# Temporarily put these variables here so config.py does not need updating
# These are required for sqlite3 speed_cam.db database.
# Will work on reports and possibly a web query page for speed data.
DB_DIR = "/home/pi/speed-camera/data"
DB_NAME = "speed_cam.db"
DB_TABLE = "speed"
if not os.path.exists(DB_DIR):
os.makedirs(DB_DIR)
DB_PATH = os.path.join(DB_DIR, DB_NAME)
mypath = os.path.abspath(__file__) # Find the full path of this python script
# get the path location only (excluding script name)
baseDir = mypath[0:mypath.rfind("/")+1]
baseFileName = mypath[mypath.rfind("/")+1:mypath.rfind(".")]
progName = os.path.basename(__file__)
horz_line = "----------------------------------------------------------------------"
print(horz_line)
print("%s %s written by Claude Pageau" % (progName, progVer))
# Color data for OpenCV lines and text
cvWhite = (255, 255, 255)
cvBlack = (0, 0, 0)
cvBlue = (255, 0, 0)
cvGreen = (0, 255, 0)
cvRed = (0, 0, 255)
# Check for variable file to import and error out if not found.
configFilePath = os.path.join(baseDir, "config.py")
if not os.path.exists(configFilePath):
print("ERROR : Missing config.py file - File Not Found %s"
% configFilePath)
import urllib2
config_url = "https://raw.github.com/pageauc/speed-camera/master/config.py"
print("INFO : Attempting to Download config.py file from %s" % config_url)
try:
wgetfile = urllib2.urlopen(config_url)
except:
print("ERROR : Download of config.py Failed")
print(" Try Rerunning the speed-install.sh Again.")
print(" or")
print(" Perform GitHub curl install per Readme.md")
print(" and Try Again.")
print(" %s %s Exiting Due to Error" % (progName, progVer))
sys.exit(1)
f = open('config.py', 'wb')
f.write(wgetfile.read())
f.close()
# Read Configuration variables from config.py file
from config import *
# Now that variables are imported from config.py Setup Logging
if loggingToFile:
logging.basicConfig(level=logging.DEBUG,
format='%(asctime)s %(levelname)-8s %(funcName)-10s %(message)s',
datefmt='%Y-%m-%d %H:%M:%S',
filename=logFilePath,
filemode='w')
elif verbose:
logging.basicConfig(level=logging.DEBUG,
format='%(asctime)s %(levelname)-8s %(funcName)-10s %(message)s',
datefmt='%Y-%m-%d %H:%M:%S')
else:
logging.basicConfig(level=logging.CRITICAL,
format='%(asctime)s %(levelname)-8s %(funcName)-10s %(message)s',
datefmt='%Y-%m-%d %H:%M:%S')
from search_config import search_dest_path
# Import Settings from specified plugin if pluginEnable=True
if pluginEnable: # Check and verify plugin and load variable overlay
pluginDir = os.path.join(baseDir, "plugins")
# Check if there is a .py at the end of pluginName variable
if pluginName.endswith('.py'):
pluginName = pluginName[:-3] # Remove .py extensiion
pluginPath = os.path.join(pluginDir, pluginName + '.py')
logging.info("pluginEnabled - loading pluginName %s", pluginPath)
if not os.path.isdir(pluginDir):
logging.error("plugin Directory Not Found at %s", pluginDir)
logging.info("Rerun github curl install script to install plugins")
logging.info("https://github.com/pageauc/pi-timolo/wiki/")
logging.info("How-to-Install-or-Upgrade#quick-install")
logging.warn("%s %s Exiting Due to Error" % (progName, progVer))
sys.exit(1)
elif not os.path.exists(pluginPath):
logging.error("File Not Found pluginName %s", pluginPath)
logging.info("Check Spelling of pluginName Value in %s", configFilePath)
logging.info("------- Valid Names -------")
validPlugin = glob.glob(pluginDir + "/*py")
validPlugin.sort()
for entry in validPlugin:
pluginFile = os.path.basename(entry)
plugin = pluginFile.rsplit('.', 1)[0]
if not ((plugin == "__init__") or (plugin == "current")):
logging.info(" %s", plugin)
logging.info("------- End of List -------")
logging.info(" Note: pluginName Should Not have .py Ending.")
logging.info("or Rerun github curl install command. See github wiki")
logging.info("https://github.com/pageauc/speed-camera/wiki/")
logging.info("How-to-Install-or-Upgrade#quick-install")
logging.warn("%s %s Exiting Due to Error", progName, progVer)
sys.exit(1)
else:
pluginCurrent = os.path.join(pluginDir, "current.py")
try: # Copy image file to recent folder
logging.info("Copy %s to %s", pluginPath, pluginCurrent)
shutil.copy(pluginPath, pluginCurrent)
except OSError as err:
logging.error('Copy Failed from %s to %s - %s',
pluginPath, pluginCurrent, err)
logging.info("Check permissions, disk space, Etc.")
logging.warn("%s %s Exiting Due to Error", progName, progVer)
sys.exit(1)
logging.info("Import Plugin %s", pluginPath)
# add plugin directory to program PATH
sys.path.insert(0, pluginDir)
from plugins.current import *
try:
if os.path.exists(pluginCurrent):
os.remove(pluginCurrent)
pluginCurrentpyc = os.path.join(pluginDir, "current.pyc")
if os.path.exists(pluginCurrentpyc):
os.remove(pluginCurrentpyc)
except OSError as err:
logging.warn("Failed To Remove File %s - %s",
pluginCurrentpyc, err)
# import the necessary packages
# -----------------------------
try: #Add this check in case running on non RPI platform using web cam
from picamera.array import PiRGBArray
from picamera import PiCamera
except ImportError:
WEBCAM = True
if not WEBCAM:
# Check that pi camera module is installed and enabled
camResult = subprocess.check_output("vcgencmd get_camera", shell=True)
camResult = camResult.decode("utf-8")
camResult = camResult.replace("\n", "")
if (camResult.find("0")) >= 0: # -1 is zero not found. Cam OK
logging.error("Pi Camera Module Not Found %s", camResult)
logging.error("if supported=0 Enable Camera per command sudo raspi-config")
logging.error("if detected=0 Check Pi Camera Module is Installed Correctly")
logging.error("%s %s Exiting Due to Error", progName, progVer)
sys.exit(1)
else:
logging.info("Pi Camera Module is Enabled and Connected %s", camResult)
try: # Check to see if opencv is installed
import cv2
except ImportError:
logging.error("Could Not import cv2 library")
if sys.version_info > (2, 9):
logging.error("python3 failed to import cv2")
logging.error("Try installing opencv for python3")
logging.error("For RPI See https://github.com/pageauc/opencv3-setup")
else:
logging.error("python2 failed to import cv2")
logging.error("Try RPI Install per command")
logging.error("%s %s Exiting Due to Error", progName, progVer)
sys.exit(1)
# fix possible invalid values
if WINDOW_BIGGER < 1.0:
WINDOW_BIGGER = 1.0
if image_bigger < 1.0:
image_bigger = 1.0
# System Settings
if WEBCAM:
# Set width of trigger point image to save
image_width = int(WEBCAM_WIDTH * image_bigger)
# Set height of trigger point image to save
image_height = int(WEBCAM_HEIGHT * image_bigger)
else:
# Set width of trigger point image to save
image_width = int(CAMERA_WIDTH * image_bigger)
# Set height of trigger point image to save
image_height = int(CAMERA_HEIGHT * image_bigger)
# Calculate conversion from camera pixel width to actual speed.
px_to_kph = float(cal_obj_mm/cal_obj_px * 0.0036)
quote = '"' # Used for creating quote delimited log file of speed data
if SPEED_MPH:
speed_units = "mph"
speed_conv = 0.621371 * px_to_kph
else:
speed_units = "kph"
speed_conv = px_to_kph
try:
x_buf_adjust # check if variable exists in config.py
except:
x_buf_adjust = 10 # Default=10 Divisor for screen width to Set space on left and right
# of Crop image to ensure object contour is mostly inside tracking area.
# smaller give more buffer space.
logging.warn("x_buf_adjust Not Found in config.py Setting value to %d", x_buf_adjust)
# setup buffer area to ensure contour is mostly contained in crop area
x_buf = int((x_right - x_left) / x_buf_adjust)
try:
track_counter # check if variable exists in config.py
except:
track_counter = 3 # number of consecutive movements before reporting speed
fix_msg = ("""track_counter variable Not Found in config.py
To Fix Problem Run menubox.sh UPGRADE menu pick.
Latest config.py will be named config.py.new
Do the following commands in SSH or terminal
cd ~/speed-camera
cp config.py config.py.bak
cp config.py.new config.py
Then Transfer settings from bak File to config.py
Setting track_counter = %i""" % track_counter)
logging.warn(fix_msg)
try:
raw_input("Press Enter to Continue...") # python 2
except:
input("Press Enter to Continue...") # python 3
#------------------------------------------------------------------------------
class PiVideoStream:
def __init__(self, resolution=(CAMERA_WIDTH, CAMERA_HEIGHT),
framerate=CAMERA_FRAMERATE, rotation=0,
hflip=CAMERA_HFLIP, vflip=CAMERA_VFLIP):
""" initialize the camera and stream """
try:
self.camera = PiCamera()
except:
logging.error("PiCamera Already in Use by Another Process")
logging.error("%s %s Exiting Due to Error", progName, progVer)
sys.exit(1)
self.camera.resolution = resolution
self.camera.rotation = rotation
self.camera.framerate = framerate
self.camera.hflip = hflip
self.camera.vflip = vflip
self.rawCapture = PiRGBArray(self.camera, size=resolution)
self.stream = self.camera.capture_continuous(self.rawCapture,
format="bgr",
use_video_port=True)
"""
initialize the frame and the variable used to indicate
if the thread should be stopped
"""
self.frame = None
self.stopped = False
def start(self):
""" start the thread to read frames from the video stream """
t = Thread(target=self.update, args=())
t.daemon = True
t.start()
return self
def update(self):
""" keep looping infinitely until the thread is stopped """
for f in self.stream:
# grab the frame from the stream and clear the stream in
# preparation for the next frame
self.frame = f.array
self.rawCapture.truncate(0)
# if the thread indicator variable is set, stop the thread
# and resource camera resources
if self.stopped:
self.stream.close()
self.rawCapture.close()
self.camera.close()
return
def read(self):
""" return the frame most recently read """
return self.frame
def stop(self):
""" indicate that the thread should be stopped """
self.stopped = True
#------------------------------------------------------------------------------
class WebcamVideoStream:
def __init__(self, CAM_SRC=WEBCAM_SRC, CAM_WIDTH=WEBCAM_WIDTH,
CAM_HEIGHT=WEBCAM_HEIGHT):
"""
initialize the video camera stream and read the first frame
from the stream
"""
self.stream = CAM_SRC
self.stream = cv2.VideoCapture(CAM_SRC)
self.stream.set(3, CAM_WIDTH)
self.stream.set(4, CAM_HEIGHT)
(self.grabbed, self.frame) = self.stream.read()
# initialize the variable used to indicate if the thread should
# be stopped
self.stopped = False
def start(self):
""" start the thread to read frames from the video stream """
t = Thread(target=self.update, args=())
t.daemon = True
t.start()
return self
def update(self):
""" keep looping infinitely until the thread is stopped """
while True:
# if the thread indicator variable is set, stop the thread
if self.stopped:
return
# otherwise, read the next frame from the stream
(self.grabbed, self.frame) = self.stream.read()
def read(self):
""" return the frame most recently read """
return self.frame
def stop(self):
""" indicate that the thread should be stopped """
self.stopped = True
#------------------------------------------------------------------------------
def get_fps(start_time, frame_count):
""" Calculate and display frames per second processing """
if frame_count >= 1000:
duration = float(time.time() - start_time)
FPS = float(frame_count / duration)
logging.info("%.2f fps Last %i Frames", FPS, frame_count)
frame_count = 0
start_time = time.time()
else:
frame_count += 1
return start_time, frame_count
#------------------------------------------------------------------------------
def show_settings():
"""Initialize and Display program variable settings from config.py"""
cwd = os.getcwd()
html_path = "media/html"
if not os.path.isdir(image_path):
logging.info("Creating Image Storage Folder %s", image_path)
os.makedirs(image_path)
os.chdir(image_path)
os.chdir(cwd)
if imageRecentMax > 0:
if not os.path.isdir(imageRecentDir):
logging.info("Create Recent Folder %s", imageRecentDir)
try:
os.makedirs(imageRecentDir)
except OSError as err:
logging.error('Failed to Create Folder %s - %s',
imageRecentDir, err)
if not os.path.isdir(search_dest_path):
logging.info("Creating Search Folder %s", search_dest_path)
os.makedirs(search_dest_path)
if not os.path.isdir(html_path):
logging.info("Creating html Folder %s", html_path)
os.makedirs(html_path)
os.chdir(cwd)
if verbose:
print(horz_line)
print("Note: To Send Full Output to File Use command")
print("python -u ./%s | tee -a log.txt" % progName)
print("Set log_data_to_file=True to Send speed_Data to CSV File %s.log"
% baseFileName)
print(horz_line)
print("")
print("Debug Messages .. verbose=%s display_fps=%s calibrate=%s"
% (verbose, display_fps, calibrate))
print(" show_out_range=%s" % show_out_range)
print("Plugins ......... pluginEnable=%s pluginName=%s"
% (pluginEnable, pluginName))
print("Calibration ..... cal_obj_px=%i px cal_obj_mm=%i mm (longer is faster) speed_conv=%.5f"
% (cal_obj_px, cal_obj_mm, speed_conv))
if pluginEnable:
print(" (Change Settings in %s)" % pluginPath)
else:
print(" (Change Settings in %s)" % configFilePath)
print("Logging ......... Log_data_to_CSV=%s log_filename=%s.csv (CSV format)"
% (log_data_to_CSV, baseFileName))
print(" loggingToFile=%s logFilePath=%s"
% (loggingToFile, logFilePath))
print(" SQLITE3 DB_PATH=%s DB_TABLE=%s"
% (DB_PATH, DB_TABLE))
print("Speed Trigger ... Log only if max_speed_over > %i %s"
% (max_speed_over, speed_units))
print(" and track_counter >= %i consecutive motion events"
% track_counter)
print("Exclude Events .. If x_diff_min < %i or x_diff_max > %i px"
% (x_diff_min, x_diff_max))
print(" If y_upper < %i or y_lower > %i px"
% (y_upper, y_lower))
print(" or x_left < %i or x_right > %i px"
% (x_left, x_right))
print(" If max_speed_over < %i %s"
% (max_speed_over, speed_units))
print(" If event_timeout > %.2f seconds Start New Track"
% (event_timeout))
print(" track_timeout=%.2f sec wait after Track Ends"
" (avoid retrack of same object)"
% (track_timeout))
print("Speed Photo ..... Size=%ix%i px image_bigger=%.1f"
" rotation=%i VFlip=%s HFlip=%s "
% (image_width, image_height, image_bigger,
CAMERA_ROTATION, CAMERA_VFLIP, CAMERA_HFLIP))
print(" image_path=%s image_Prefix=%s"
% (image_path, image_prefix))
print(" image_font_size=%i px high image_text_bottom=%s"
% (image_font_size, image_text_bottom))
print("Motion Settings . Size=%ix%i px px_to_kph=%f speed_units=%s"
% (CAMERA_WIDTH, CAMERA_HEIGHT, px_to_kph, speed_units))
print("OpenCV Settings . MIN_AREA=%i sq-px BLUR_SIZE=%i"
" THRESHOLD_SENSITIVITY=%i CIRCLE_SIZE=%i px"
% (MIN_AREA, BLUR_SIZE, THRESHOLD_SENSITIVITY, CIRCLE_SIZE))
print(" WINDOW_BIGGER=%i gui_window_on=%s"
" (Display OpenCV Status Windows on GUI Desktop)"
% (WINDOW_BIGGER, gui_window_on))
print(" CAMERA_FRAMERATE=%i fps video stream speed"
% CAMERA_FRAMERATE)
print("Sub-Directories . imageSubDirMaxHours=%i (0=off)"
" imageSubDirMaxFiles=%i (0=off)"
% (imageSubDirMaxHours, imageSubDirMaxFiles))
print(" imageRecentDir=%s imageRecentMax=%i (0=off)"
% (imageRecentDir, imageRecentMax))
if spaceTimerHrs > 0: # Check if disk mgmnt is enabled
print("Disk Space ..... Enabled - Manage Target Free Disk Space."
" Delete Oldest %s Files if Needed" % (spaceFileExt))
print(" Check Every spaceTimerHrs=%i hr(s) (0=off)"
" Target spaceFreeMB=%i MB min is 100 MB)"
% (spaceTimerHrs, spaceFreeMB))
print(" If Needed Delete Oldest spaceFileExt=%s spaceMediaDir=%s"
% (spaceFileExt, spaceMediaDir))
else:
print("Disk Space ..... Disabled - spaceTimerHrs=%i"
" Manage Target Free Disk Space. Delete Oldest %s Files"
% (spaceTimerHrs, spaceFileExt))
print(" spaceTimerHrs=%i (0=Off)"
" Target spaceFreeMB=%i (min=100 MB)" % (spaceTimerHrs, spaceFreeMB))
print("")
print(horz_line)
return
#------------------------------------------------------------------------------
def take_calibration_image(speed, filename, cal_image):
"""
Create a calibration image for determining value of IMG_VIEW_FT variable
Create calibration hash marks
"""
# If there is bad contrast with background you can change the hash
# colors to give more contrast. You need to change values below
# per values cvRed, cvBlue, cvWhite, cvBlack, cvGreen
hash_color = cvRed
motion_win_color = cvBlue
for i in range(10, image_width - 9, 10):
cv2.line(cal_image, (i, y_upper - 5), (i, y_upper + 30), hash_color, 1)
# This is motion window
cal_image = speed_image_add_lines(cal_image, motion_win_color)
if SPEED_MPH:
speed_units = 'mph'
else:
speed_units = 'kph'
print("----------------------------- Create Calibration Image "
"-----------------------------")
print("")
print(" Instructions for using %s image for camera calibration" % filename)
print("")
print(" 1 - Use Known Similar Size Reference Objects in Images, Like similar vehicles at the Required Distance.")
print(" 2 - Record cal_obj_px Value Using Red y_upper Hash Marks at every 10 px Current Setting is %i px" %
cal_obj_px)
print(" 3 - Record cal_obj_mm of object. This is Actual length in mm of object above Current Setting is %i mm" %
cal_obj_mm)
print(" If Recorded Speed %.1f %s is Too Low, Increasing cal_obj_mm to Adjust or Visa-Versa" %
(speed, speed_units))
if pluginEnable:
print(" 4 - Edit %s File and Change Values for Above Variables." %
pluginPath)
else:
print(" 4 - Edit %s File and Change Values for the Above Variables." %
configFilePath)
print(" 5 - Do a Speed Test to Confirm/Tune Settings. You May Need to Repeat.")
print(" 6 - When Calibration is Finished, Set config.py Variable calibrate = False")
print(" Then Restart speed-cam.py and monitor activity.")
print("")
print(" WARNING: It is Advised to Use 320x240 Stream for Best Performance.")
print(" Higher Resolutions Need More OpenCV Processing")
print("")
print(" Calibration Image Saved To %s%s " % (baseDir, filename))
print(" View Calibration Image in Web Browser (Ensure webserver.py is started)")
print("")
print("---------------------- Press cntl-c to Quit Calibration Mode "
"-----------------------")
return cal_image
#------------------------------------------------------------------------------
def subDirLatest(directory):
""" Scan for directories and return most recent """
dirList = ([name for name in os.listdir(directory)
if os.path.isdir(os.path.join(directory, name))])
if len(dirList) > 0:
lastSubDir = sorted(dirList)[-1]
lastSubDir = os.path.join(directory, lastSubDir)
else:
lastSubDir = directory
return lastSubDir
#------------------------------------------------------------------------------
def subDirCreate(directory, prefix):
""" Create media subdirectories base on required naming """
now = datetime.datetime.now()
# Specify folder naming
subDirName = ('%s%d%02d%02d-%02d%02d' %
(prefix,
now.year, now.month, now.day,
now.hour, now.minute))
subDirPath = os.path.join(directory, subDirName)
if not os.path.exists(subDirPath):
try:
os.makedirs(subDirPath)
except OSError as err:
logging.error('Cannot Create Dir %s - %s, using default location.',
subDirPath, err)
subDirPath = directory
else:
logging.info('Created %s', subDirPath)
else:
subDirPath = directory
return subDirPath
#------------------------------------------------------------------------------
def deleteOldFiles(maxFiles, dirPath, prefix):
"""
Delete Oldest files gt or
equal to maxfiles that match filename prefix
"""
try:
fileList = sorted(glob.glob(os.path.join(dirPath, prefix + '*')),
key=os.path.getmtime)
except OSError as err:
logging.error('Problem Reading Directory %s - %s', dirPath, err)
else:
while len(fileList) >= maxFiles:
oldest = fileList[0]
oldestFile = oldest
try: # Remove oldest file in recent folder
fileList.remove(oldest)
os.remove(oldestFile)
except OSError as err:
logging.error('Cannot Remove %s - %s', oldestFile, err)
#------------------------------------------------------------------------------
def subDirCheckMaxFiles(directory, filesMax):
""" Count number of files in a folder path """
fileList = glob.glob(directory + '/*jpg')
count = len(fileList)
if count > filesMax:
makeNewDir = True
logging.info('Total Files in %s Exceeds %i ', directory, filesMax)
else:
makeNewDir = False
return makeNewDir
#------------------------------------------------------------------------------
def subDirCheckMaxHrs(directory, hrsMax, prefix):
""" extract the date-time from the directory name """
# Note to self need to add error checking
dirName = os.path.split(directory)[1] # split dir path and keep dirName
# remove prefix from dirName so just date-time left
dirStr = dirName.replace(prefix, '')
# convert string to datetime
dirDate = datetime.datetime.strptime(dirStr, "%Y-%m-%d-%H:%M")
rightNow = datetime.datetime.now() # get datetime now
diff = rightNow - dirDate # get time difference between dates
days, seconds = diff.days, diff.seconds
dirAgeHours = days * 24 + seconds // 3600 # convert to hours
if dirAgeHours > hrsMax: # See if hours are exceeded
makeNewDir = True
logging.info('MaxHrs %i Exceeds %i for %s',
dirAgeHours, hrsMax, directory)
else:
makeNewDir = False
return makeNewDir
#------------------------------------------------------------------------------
def subDirChecks(maxHours, maxFiles, directory, prefix):
""" Check if motion SubDir needs to be created """
if maxHours < 1 and maxFiles < 1: # No Checks required
# logging.info('No sub-folders Required in %s', directory)
subDirPath = directory
else:
subDirPath = subDirLatest(directory)
if subDirPath == directory: # No subDir Found
logging.info('No sub folders Found in %s', directory)
subDirPath = subDirCreate(directory, prefix)
elif (maxHours > 0 and maxFiles < 1): # Check MaxHours Folder Age Only
if subDirCheckMaxHrs(subDirPath, maxHours, prefix):
subDirPath = subDirCreate(directory, prefix)
elif (maxHours < 1 and maxFiles > 0): # Check Max Files Only
if subDirCheckMaxFiles(subDirPath, maxFiles):
subDirPath = subDirCreate(directory, prefix)
elif maxHours > 0 and maxFiles > 0: # Check both Max Files and Age
if subDirCheckMaxHrs(subDirPath, maxHours, prefix):
if subDirCheckMaxFiles(subDirPath, maxFiles):
subDirPath = subDirCreate(directory, prefix)
else:
logging.info('MaxFiles Not Exceeded in %s', subDirPath)
os.path.abspath(subDirPath)
return subDirPath
#------------------------------------------------------------------------------
def filesToDelete(mediaDirPath, extension=image_format):
""" Return a list of files to be deleted """
return sorted(
(os.path.join(dirname, filename)
for dirname, dirnames, filenames in os.walk(mediaDirPath)
for filename in filenames
if filename.endswith(extension)),
key=lambda fn: os.stat(fn).st_mtime, reverse=True)
#------------------------------------------------------------------------------
def saveRecent(recentMax, recentDir, filename, prefix):
"""
Create a symlink file in recent folder or file if non unix system
or symlink creation fails.
Delete Oldest symlink file if recentMax exceeded.
"""
src = os.path.abspath(filename) # Original Source File Path
# Destination Recent Directory Path
dest = os.path.abspath(os.path.join(recentDir,
os.path.basename(filename)))
deleteOldFiles(recentMax, os.path.abspath(recentDir), prefix)
try: # Create symlink in recent folder
logging.info(' symlink %s', dest)
os.symlink(src, dest) # Create a symlink to actual file
# Symlink can fail on non unix systems so copy file to Recent Dir instead
except OSError as err:
logging.error('symlink Failed: %s', err)
try: # Copy image file to recent folder (if no support for symlinks)
shutil.copy(filename, recentDir)
except OSError as err:
logging.error('Copy from %s to %s - %s', filename, recentDir, err)
#------------------------------------------------------------------------------
def freeSpaceUpTo(freeMB, mediaDir, extension=image_format):
"""
Walks mediaDir and deletes oldest files
until spaceFreeMB is achieved Use with Caution
"""
mediaDirPath = os.path.abspath(mediaDir)
if os.path.isdir(mediaDirPath):
MB2Bytes = 1048576 # Conversion from MB to Bytes
targetFreeBytes = freeMB * MB2Bytes
fileList = filesToDelete(mediaDir, extension)
totFiles = len(fileList)
delcnt = 0
logging.info('Session Started')
while fileList:
statv = os.statvfs(mediaDirPath)
availFreeBytes = statv.f_bfree*statv.f_bsize
if availFreeBytes >= targetFreeBytes:
break
filePath = fileList.pop()
try:
os.remove(filePath)
except OSError as err:
logging.error('Del Failed %s', filePath)
logging.error('Error: %s', err)
else:
delcnt += 1
logging.info('Del %s', filePath)
logging.info('Target=%i MB Avail=%i MB Deleted %i of %i Files ',
targetFreeBytes / MB2Bytes,
availFreeBytes / MB2Bytes,
delcnt, totFiles)
# Avoid deleting more than 1/4 of files at one time
if delcnt > totFiles / 4:
logging.warning('Max Deletions Reached %i of %i', delcnt, totFiles)
logging.warning('Deletions Restricted to 1/4 of total files per session.')
break
logging.info('Session Ended')
else:
logging.error('Directory Not Found - %s', mediaDirPath)
#------------------------------------------------------------------------------
def freeDiskSpaceCheck(lastSpaceCheck):
""" Free disk space by deleting some older files """
if spaceTimerHrs > 0: # Check if disk free space timer hours is enabled
# See if it is time to do disk clean-up check
if (datetime.datetime.now() - lastSpaceCheck).total_seconds() > spaceTimerHrs * 3600:
lastSpaceCheck = datetime.datetime.now()
# Set freeSpaceMB to reasonable value if too low
if spaceFreeMB < 100:
diskFreeMB = 100
else:
diskFreeMB = spaceFreeMB
logging.info('spaceTimerHrs=%i diskFreeMB=%i spaceMediaDir=%s spaceFileExt=%s',
spaceTimerHrs, diskFreeMB, spaceMediaDir, spaceFileExt)
freeSpaceUpTo(diskFreeMB, spaceMediaDir, spaceFileExt)
return lastSpaceCheck
#------------------------------------------------------------------------------
def get_image_name(path, prefix):
""" build image file names by number sequence or date/time Added tenth of second"""
rightNow = datetime.datetime.now()
filename = ("%s/%s%04d%02d%02d-%02d%02d%02d%d.jpg" %
(path, prefix, rightNow.year, rightNow.month, rightNow.day,
rightNow.hour, rightNow.minute, rightNow.second, rightNow.microsecond/100000))
return filename
#------------------------------------------------------------------------------
def log_to_csv(data_to_append):
""" Store date to a comma separated value file """
log_file_path = baseDir + baseFileName + ".csv"
if not os.path.exists(log_file_path):
open(log_file_path, 'w').close()
f = open(log_file_path, 'ab')
# header_text = ('"YYYYMMDD","HH","MM","Speed","Unit",
# " Speed Photo Path ",
# "X","Y","W","H","Area","Direction"' + "\n")
# f.write( header_text )
f.close()
logging.info("Create New Data Log File %s", log_file_path)
filecontents = data_to_append + "\n"
f = open(log_file_path, 'a+')
f.write(filecontents)
f.close()
logging.info(" CSV - Updated Data %s", log_file_path)
return
#------------------------------------------------------------------------------
def isSQLite3(filename):
"""
Determine if file is in sqlite3 format
"""
if os.path.isfile(filename):
if os.path.getsize(filename) < 100: # SQLite database file header is 100 bytes
size = os.path.getsize(filename)
logging.error("%s %d is Less than 100 bytes", filename, size)
return False
with open(filename, 'rb') as fd:
header = fd.read(100)
if header.startswith('SQLite format 3'):
logging.info("Success: File is sqlite3 Format %s", filename)
return True
else:
logging.error("Failed: File NOT sqlite3 Header Format %s", filename)
return False
else:
logging.warning("File Not Found %s", filename)
logging.info("Create sqlite3 database File %s", filename)
try:
conn = sqlite3.connect(filename)
except sqlite3.Error as e:
logging.error("Failed: Create Database %s.", filename)
logging.error("Error Msg: %s", e)
return False
conn.commit()
conn.close()
logging.info("Success: Created sqlite3 Database %s", filename)
return True
#------------------------------------------------------------------------------
def db_check(db_file):
"""
Check if db_file is a sqlite3 file and connect if possible
"""
if isSQLite3(db_file):
try:
conn = sqlite3.connect(db_file)
except sqlite3.Error as e:
logging.error("Failed: sqlite3 Connect to DB %s", db_file)
logging.error("Error Msg: %s", e)
return None
else:
logging.error("Failed: sqlite3 Not DB Format %s", db_file)
return None
conn.commit()
logging.info("Success: sqlite3 Connected to DB %s", db_file)
return conn
def db_open(db_file):
"""
Insert speed data into database table
"""
if os.path.isfile(db_file):
db_exists = True
else:
db_exists = False
try:
db_conn = sqlite3.connect(db_file)
cursor = db_conn.cursor()
except sqlite3.Error as e:
logging.error("Failed: sqlite3 Connect to DB %s", db_file)
logging.error("Error Msg: %s", e)
return None
sql_cmd = '''create table if not exists {} (idx text primary key,
log_date text, log_hour text, log_minute text,
camera text,
ave_speed real, speed_units text, image_path text,
image_w integer, image_h integer, image_bigger integer,
direction text, plugin_name text,
cx integer, cy integer,
mw integer, mh integer, m_area integer,
x_left integer, x_right integer,
y_upper integer, y_lower integer,
max_speed_over integer,
min_area integer, track_counter integer,
cal_obj_px integer, cal_obj_mm integer)'''.format(DB_TABLE)
try:
db_conn.execute(sql_cmd)
except sqlite3.Error as e:
logging.error("Failed: To Create Table %s on sqlite3 DB %s", DB_TABLE, db_file)
logging.error("Error Msg: %s", e)
return None
else:
db_conn.commit()
return db_conn
def speed_get_contours(image, grayimage1):
image_ok = False
while not image_ok:
image = vs.read() # Read image data from video steam thread instance
if WEBCAM:
if (WEBCAM_HFLIP and WEBCAM_VFLIP):
image = cv2.flip(image, -1)
elif WEBCAM_HFLIP:
image = cv2.flip(image, 1)
elif WEBCAM_VFLIP:
image = cv2.flip(image, 0)
# crop image to motion tracking area only
try:
image_crop = image[y_upper:y_lower, x_left:x_right]
image_ok = True
except ValueError:
logging.error("image Stream Image is Not Complete. Cannot Crop. Retry.")
image_ok = False
# Convert to gray scale, which is easier
grayimage2 = cv2.cvtColor(image_crop, cv2.COLOR_BGR2GRAY)
# Get differences between the two greyed images
differenceimage = cv2.absdiff(grayimage1, grayimage2)
# Blur difference image to enhance motion vectors
differenceimage = cv2.blur(differenceimage, (BLUR_SIZE, BLUR_SIZE))
# Get threshold of blurred difference image
# based on THRESHOLD_SENSITIVITY variable
retval, thresholdimage = cv2.threshold(differenceimage,
THRESHOLD_SENSITIVITY,
255, cv2.THRESH_BINARY)
try:
# opencv 2 syntax default
contours, hierarchy = cv2.findContours(thresholdimage,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
except ValueError:
# opencv 3 syntax
thresholdimage, contours, hierarchy = cv2.findContours(thresholdimage,
cv2.RETR_EXTERNAL,
cv2.CHAIN_APPROX_SIMPLE)
# Update grayimage1 to grayimage2 ready for next image2
grayimage1 = grayimage2
return grayimage1, contours
def speed_image_add_lines(image, color):
cv2.line(image, (x_left, y_upper),
(x_right, y_upper), color, 1)
cv2.line(image, (x_left, y_lower),
(x_right, y_lower), color, 1)
cv2.line(image, (x_left, y_upper),
(x_left, y_lower), color, 1)
cv2.line(image, (x_right, y_upper),
(x_right, y_lower), color, 1)
return image
def speed_notify():
if pluginEnable:
logging.info("Plugin Enabled per pluginName=%s", pluginName)
else:
logging.info("Plugin Disabled per pluginEnable=%s", pluginEnable)
if verbose:
if loggingToFile:
print("Logging to File %s (Console Messages Disabled)" % logFilePath)
else:
logging.info("Logging to Console per Variable verbose=True")
if gui_window_on:
logging.info("Press lower case q on OpenCV GUI Window to Quit program")
logging.info(" or ctrl-c in this terminal session to Quit")
else:
logging.info("Press ctrl-c in this terminal session to Quit")
else:
print("Logging Messages Disabled per verbose=%s" % verbose)
if calibrate:
logging.warn("IMPORTANT: Camera Is In Calibration Mode ....")
logging.info("Begin Motion Tracking .....")
#------------------------------------------------------------------------------
def speed_camera():
""" Main speed camera processing function """
ave_speed = 0.0
# initialize variables
frame_count = 0
fps_time = time.time()
first_event = True # Start a New Motion Track
event_timer = time.time()
start_pos_x = None
end_pos_x = None
prev_pos_x = None
travel_direction = ""
font = cv2.FONT_HERSHEY_SIMPLEX
# Calculate position of text on the images
if image_text_bottom:
text_y = (image_height - 50) # show text at bottom of image
else:
text_y = 10 # show text at top of image
# Initialize prev_image used for taking speed image photo
lastSpaceCheck = datetime.datetime.now()
speed_path = image_path
db_conn = db_check(DB_PATH)
# check and open sqlite3 db
if db_conn is not None:
db_conn = db_open(DB_PATH)
if db_conn is None:
logging.error("Failed: Connect to sqlite3 DB %s", DB_PATH)
db_is_open = False
else:
logging.info("sqlite3 DB is Open %s", DB_PATH)
db_cur = db_conn.cursor() # Set cursor position
db_is_open = True
speed_notify()
# initialize a cropped grayimage1 image
image2 = vs.read() # Get image from PiVideoSteam thread instance
prev_image = image2 # make a copy of the first image
try:
# crop image to motion tracking area only
image_crop = image2[y_upper:y_lower, x_left:x_right]
except:
vs.stop()
logging.warn("Problem Connecting To Camera Stream.")
logging.warn("Restarting Camera. One Moment Please ...")
time.sleep(4)
return