motrack.py

#!/usr/bin/python3
from __future__ import print_function
'''
Note to self
Look at adding image crop area of interest, similar to speed camera.
This will reduce open cv processing on larger images and eliminate
non relavent motion outside the area of interest.
'''
PROG_VERSION = "1.65"

import logging
# Setup Logging
logging.basicConfig(level=logging.DEBUG,
                    format="%(asctime)s %(levelname)-8s %(message)s",
                    datefmt="%Y-%m-%d %H:%M:%S")
logging.info("Loading Python Libraries ...")

import os
import sys
import time
import datetime
import math
import cv2
import subprocess
from strmcam import strmcam
from configcam import CAMERA
from timeit import default_timer as timer
import user_code_speed


CONFIG_FILENAME = "config.py"  # Settings variables file to import
if os.path.exists(CONFIG_FILENAME):
    # Read Configuration variables from config.py file
    try:
        logging.info("Import Variable Settings from %s", CONFIG_FILENAME)
        from config import *
    except ImportError:
        logging.error("Import Failed, from config import * for %s" % CONFIG_FILENAME)
        sys.exit(1)
else:
    logging.error("Configuration File Not Found %s" % CONFIG_FILENAME)
    sys.exit(1)

PROG_NAME = os.path.basename(__file__)


# ------------------------------------------------------------------------------
def show_settings(filename):
    '''
    Display program configuration variable settings
    read config file and print each decoded line
    '''
    print("============= %s Settings ===================" % filename)
    with open(filename, 'rb') as f:
        for line in f:
            print(line.decode().strip())
    print("=====================================================")


# ------------------------------------------------------------------------------
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 timer_end(timer_start, timer_sec):
    '''
    Check if timer has expired
    Return updated start time status of expired timer True or False
    '''
    rightNow = datetime.datetime.now()
    timeDiff = (rightNow - timer_start).total_seconds()
    if timeDiff >= timer_sec:
        return True
    else:
        return False


# ------------------------------------------------------------------------------
def get_motion_track_point(grayimage1, grayimage2):
    '''
    Process two grayscale images.
    check for motion and return center point
    of motion for largest contour.
    '''
    movement_center = None
    movement_size = 0
    # 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:
        # opencv2 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
        )
    if contours:
        c = max(contours, key = cv2.contourArea)
        (x, y, w, h) = cv2.boundingRect(c)
        movement_size = w * h
        if movement_size <= TRACK_MIN_AREA:
            return None, movement_size
        movement_center = (int(x + w / 2), int(y + h / 2))
        movement_size = w * h
    return movement_center, movement_size


# ------------------------------------------------------------------------------
def track_motion_distance(xy1, xy2):
    '''
    Return the triangulated distance between two tracking positions
    '''
    x1, y1 = xy1
    x2, y2 = xy2
    trackLen = int(abs(math.hypot(x2 - x1, y2 - y1)))
    return trackLen


# ------------------------------------------------------------------------------
# ------------------------------------------------------------------------------
def track_motion_direction(xy1, xy2):
    '''
    Return the direction of travel between tracking locations
    '''
    x1, y1 = xy1
    x2, y2 = xy2
    
    trackdirection = "NONE"
    dist = x1 - x2

    if dist < 0 :
        trackdirection = "L2R"
    elif dist > 0 :
        trackdirection = "R2L"
    
    logging.info("Distance %i direction %s", dist, trackdirection)
    return trackdirection



if __name__ == "__main__":

    if SHOW_SETTINGS_ON:
        show_settings(CONFIG_FILENAME)
    if SHOW_CAM_SETTINGS_ON:
        show_settings('configcam.py')

    if not os.path.exists(IM_DIR):  # Check if image directory exists
        os.makedirs(IM_DIR)  # Create directory if Not Found

    logging.info("%s ver %s written by Claude Pageau", PROG_NAME, PROG_VERSION)
    vs = strmcam()  # start video stream thread

    start_track = True
    track_hist = []
    image1_full = vs.read()  # get first image frame
    image1 = image1_full[y_upper:y_lower, x_left:x_right]

    try:
        grayimage1 = cv2.cvtColor(image1, cv2.COLOR_BGR2GRAY)
    except cv2.error:
        logging.error('Problem Connecting to %s. Review Log Messages and Correct', CAMERA.upper())
        sys.exit(1)
    im_height, im_width, _ = image1.shape
    if TRACK_TRIG_AUTO:
        # Auto calculate variables below
        TRACK_TRIG_LEN = int(im_width / 8)  # auto calc track len.
        # Max allowed px distance from previous track point
        TRACK_INTERVAL_LEN = int(TRACK_TRIG_LEN / 2.0)
        logging.info("Auto Calculated TRACK_TRIG_LEN=%i and TRACK_INTERVAL_LEN=%i",
                      TRACK_TRIG_LEN, TRACK_INTERVAL_LEN)
    logging.info("Start Motion Tracking Loop. Ctrl-c Quits ...")
    if GUI_ON:
        logging.info('GUI_ON = True - To Quit OpenCV display windows.')
        logging.info('Press Q key when cursor is inside OpenCV window')
    logging.info("--------------------------------------------")
    tracking = True
    try:
        while tracking:
            image2_full = vs.read()
            image2 = image2_full[y_upper:y_lower, x_left:x_right]
            try:
                grayimage2 = cv2.cvtColor(image2, cv2.COLOR_BGR2GRAY)
            except:
                # If there is a problem with image eg cam, network, Etc then try again
                # logging.warn('Problem with converting image2 to grayscale. Retrying')
                continue

            motion_xy, motion_size = get_motion_track_point(grayimage1, grayimage2)
            grayimage1 = grayimage2  # update for next track

            # No motion try again
            if motion_xy is None:
                continue

            # Check if timer expired and if so restart track and try again
            if not start_track and timer_end(track_timer_start, TRACK_TIMEOUT_SEC):
                if LOGGING_ON:
                    logging.info("  IIMER: GT %i TRACK_TIMEOUT_SEC",
                                 TRACK_TIMEOUT_SEC)
                start_track = True
                continue
            # If this is first track motion initialize tracking variables
            if motion_xy and start_track:
                track_start  = timer()
                track_timer_start = datetime.datetime.now()
                startimage  = image2_full
                filename1  = get_image_name(IM_DIR,"")
                

                mpoint_start = motion_xy
                prev_mpoint = motion_xy
                max_radius = TRACK_INTERVAL_LEN
                if LOGGING_ON:
                    logging.info("START: (%i, %i) %i sqpx",
                                 mpoint_start[0], mpoint_start[1], motion_size)
                if TRACK_HIST_ON: # Reset Tracking History
                    track_hist = [mpoint_start]
                start_track = False
            # Start tracking motion
            else:
                mpoint2 = motion_xy
                track_length = track_motion_distance(mpoint_start, mpoint2)
                if TRACK_HIST_ON:
                    track_hist.append(mpoint2)  # Append current mpoint to track history
                if GUI_ON and CIRCLE_ON:
                    cv2.circle(image2,
                               mpoint2,
                               CIRCLE_SIZE,
                               LINE_COLOR,
                               LINE_THICKNESS)
                if track_length <= max_radius:
                    max_radius = track_length + TRACK_INTERVAL_LEN
                else:
                    # ignore out of range points and reset start point
                    mpoint_start = mpoint2
                    if LOGGING_ON:
                        logging.info("  RESET: (%i, %i) %i sqpx Radius %i Exceeds %i",
                        mpoint2[0], mpoint2[1], motion_size, track_length, max_radius)
                    continue
                if track_length > TRACK_TRIG_LEN:
                    # This was a valid track
                    if LOGGING_ON:
                        logging.info("END  : (%i, %i) %i sqpx Len %i GT %i TRACK_TRIG_LEN px",
                                     mpoint2[0], mpoint2[1], motion_size, track_length, TRACK_TRIG_LEN)

                    track_direction = track_motion_direction(mpoint_start, mpoint2)

                    track_stop  = timer()
                    tracktime = (track_stop - track_start)*1000

                    if track_direction == "R2L":
                        #save first image
                        filename1  = get_image_name(IM_DIR,"Start_")
                        cv2.imwrite(filename1, startimage)
                        logging.info("SAVE : %s", filename1)

                        #save last image
                        filename2 = get_image_name(IM_DIR, "Stop_")
                        cv2.imwrite(filename2, image2_full)
                        logging.info("SAVE : %s", filename2)
                    
                        user_code_speed.userMotionCode(filename1,filename2,tracktime)
                        
                    time.sleep(TRACK_DELAY_SEC)  # Delay before starting another track
                    start_track = True
                else:
                    if LOGGING_ON:
                        logging.info("  TRACK: (%i, %i) %i sqpx Len %i px",
                                      mpoint2[0], mpoint2[1], motion_size, track_length)

            if GUI_ON:
                cv2.imshow("MoTrack (q in Window Quits)", image2)
                if cv2.waitKey(1) & 0xFF == ord("q"):
                    cv2.destroyAllWindows()


    except KeyboardInterrupt:
        print("")
        logging.info("User Pressed Keyboard ctrl-c")
        logging.info("Exiting %s ver %s", PROG_NAME, PROG_VERSION)
        vs.stop()
        logging.info("Stopped Camera Stream Thread %s", CAMERA.upper())
        logging.info("Bye ...")
        sys.exit(0)