######## Webcam Object Detection Using Tensorflow-trained Classifier #########
#
# Author: Evan Juras
# Date: 1/20/18
# Description: 
# This program uses a TensorFlow-trained classifier to perform object detection.
# It loads the classifier uses it to perform object detection on a webcam feed.
# It draws boxes and scores around the objects of interest in each frame from
# the webcam.

## Some of the code is copied from Google's example at
## https://github.com/tensorflow/models/blob/master/research/object_detection/object_detection_tutorial.ipynb

## and some is copied from Dat Tran's example at
## https://github.com/datitran/object_detector_app/blob/master/object_detection_app.py

## but I changed it to make it more understandable to me.


# Import packages
import os
import cv2
import numpy as np
import tensorflow as tf
import sys

# This is needed since the notebook is stored in the object_detection folder.
sys.path.append("..")

# Import utilites
from utils import label_map_util
from utils import visualization_utils as vis_util
#import serial
import time

import socket
import pickle
HEADERSIZE = 10
s = socket.socket()         
 
s.bind(('0.0.0.0', 8090 ))
s.listen(0)                 
 



# Name of the directory containing the object detection module we're using
MODEL_NAME = 'inference_graph'

# Grab path to current working directory
CWD_PATH = os.getcwd()

# Path to frozen detection graph .pb file, which contains the model that is used
# for object detection.
PATH_TO_CKPT = os.path.join(CWD_PATH,'frozen_inference_graph.pb')

# Path to label map file
PATH_TO_LABELS = os.path.join(CWD_PATH,'labelmap.pbtxt')

# Number of classes the object detector can identify
NUM_CLASSES = 1

## Load the label map.
# Label maps map indices to category names, so that when our convolution
# network predicts `5`, we know that this corresponds to `king`.
# Here we use internal utility functions, but anything that returns a
# dictionary mapping integers to appropriate string labels would be fine
label_map = label_map_util.load_labelmap(PATH_TO_LABELS)
categories = label_map_util.convert_label_map_to_categories(label_map, max_num_classes=NUM_CLASSES, use_display_name=True)
category_index = label_map_util.create_category_index(categories)

# Load the Tensorflow model into memory.
detection_graph = tf.Graph()
with detection_graph.as_default():
    od_graph_def = tf.GraphDef()
    with tf.gfile.GFile(PATH_TO_CKPT, 'rb') as fid:
        serialized_graph = fid.read()
        od_graph_def.ParseFromString(serialized_graph)
        tf.import_graph_def(od_graph_def, name='')

    sess = tf.Session(graph=detection_graph)


# Define input and output tensors (i.e. data) for the object detection classifier

# Input tensor is the image
image_tensor = detection_graph.get_tensor_by_name('image_tensor:0')

# Output tensors are the detection boxes, scores, and classes
# Each box represents a part of the image where a particular object was detected
detection_boxes = detection_graph.get_tensor_by_name('detection_boxes:0')

# Each score represents level of confidence for each of the objects.
# The score is shown on the result image, together with the class label.
detection_scores = detection_graph.get_tensor_by_name('detection_scores:0')
detection_classes = detection_graph.get_tensor_by_name('detection_classes:0')

# Number of objects detected
num_detections = detection_graph.get_tensor_by_name('num_detections:0')

# Initialize webcam feed
#video = cv2.VideoCapture(1)
video = cv2.VideoCapture(1)
#ret = video.set(3,1280)
#ret = video.set(4,720)
#ser=serial.Serial('COM3',9600,timeout=.1)
while(True):
    client, addr = s.accept()
    while(True):

        # Acquire frame and expand frame dimensions to have shape: [1, None, None, 3]
        # i.e. a single-column array, where each item in the column has the pixel RGB value
        _, frame = video.read()
        frame=cv2.resize(frame,(500,500))
        frame_expanded = np.expand_dims(frame, axis=0)

    


        # Perform the actual detection by running the model with the image as input
        (boxes, scores, classes, num) = sess.run(
            [detection_boxes, detection_scores, detection_classes, num_detections],
            feed_dict={image_tensor: frame_expanded})

        # Draw the results of the detection (aka 'visulaize the results')
        vis_util.visualize_boxes_and_labels_on_image_array(
            frame,
            np.squeeze(boxes),
            np.squeeze(classes).astype(np.int32),
            np.squeeze(scores),
            category_index,
            use_normalized_coordinates=True,
            line_thickness=4,
            min_score_thresh=0.98)

        final_score = np.squeeze(scores)    
        count = 0
        for i in range(100):
            if scores is None or final_score[i] > 0.95:
                count = count + 1
        print(count) 
        #count=str(count)
        #s2a(count)  
        if(count>0):
            msg=(1).to_bytes(1,'little')
            print(msg)
            client.send(msg)
            time.sleep(0.75)
        '''
        else:
            msg=(0).to_bytes(1,'little')
            print(msg)
            client.send(msg)
            time.sleep(0.75)
        '''


        # All the results have been drawn on the frame, so it's time to display it.
        cv2.imshow('Object detector', frame)
        #print(boxes,num,scores,classes)
        # Press 'q' to quit
        if cv2.waitKey(1) == ord('q'):
            break

# Clean up
video.release()
cv2.destroyAllWindows()

