class CameraPublisher:
def __init__(self, src=0):
# initialize the video camera stream and read the first frame
# from the stream
self.stream = cv2.VideoCapture(src)
if not self.stream.isOpened():
raise Exception("Video/Camera device not found at: {}".format(src))
self.pub = rospy.Publisher("camera", String)
rospy.init_node("img_raw", anonymous=True)
(self.grabbed, self.frame) = self.stream.read()
# initialize the variable used to indicate if the thread should
# be stopped
self.stopped = False
self.f = FPS()
self.f.start()
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()
self.pub.publish(self.frame)
self.f.update()
def read(self):
# return the frame most recently read
return self.grabbed, self.frame
def stop(self):
# indicate that the thread should be stopped
self.stopped = True
self.f.stop()
def get_dimensions(self):
c = int(self.stream.get(3))
r = int(self.stream.get(4))
return r, c
def get_raw_frames(self):
return self.f.get_frames()
# # draw the bounding box of the face along with the associated
# # probability
# text = "{:.2f}%".format(confidence * 100)
# y = startY - 10 if startY - 10 > 10 else startY + 10
# cv2.rectangle(frame, (startX, startY), (endX, endY),
# (0, 0, 255), 2)
# cv2.putText(frame, text, (startX, y),
# cv2.FONT_HERSHEY_SIMPLEX, 0.45, (0, 0, 255), 2)
# show the output frame
cv2.imshow("Didux.io", frame)
cv2.setWindowProperty('Didux.io', cv2.WND_PROP_ASPECT_RATIO,
cv2.WINDOW_FREERATIO)
cv2.setWindowProperty('Didux.io', cv2.WND_PROP_FULLSCREEN,
cv2.WINDOW_FULLSCREEN)
fps.update()
if cv2.waitKey(30) & 0xFF == ord('q'):
break
if fps._numFrames < args["num_frames"]:
fps.update()
if fps._numFrames == args["num_frames"]:
# stop the timer and display FPS information
fps.stop()
print("[INFO] elasped time: {:.2f}".format(fps.elapsed()))
print("[INFO] approx. FPS: {:.2f}".format(fps.fps()))
fps.start()
cv2.destroyAllWindows()
cv2.waitKey(1)
vs.stop()
class WebcamVideoStream:
def __init__(self, src=0, res=None):
# initialize the video camera stream and read the first frame
# from the stream
self.stream = cv2.VideoCapture(src)
if not self.stream.isOpened():
raise Exception("Video/Camera device not found at: {}".format(src))
(self.grabbed, self.frame) = self.stream.read()
self.resize = None
res = (480, 480)
# res is a tuple of (width, height)
if res is not None:
self.resize = res
# initialize the variable used to indicate if the thread should
# be stopped
self.stopped = False
self.f = FPS()
self.f.start()
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()
self.f.update()
def read(self):
# return the frame most recently read
if self.resize is not None:
self.frame = cv2.resize(self.frame, self.resize)
return self.grabbed, self.frame
def stop(self):
# indicate that the thread should be stopped
self.stopped = True
self.f.stop()
# TODO: Weird error "VIDIOC_DQBUF: Invalid argument"
self.stream.release()
def get_dimensions(self):
if self.resize is not None:
return self.resize[0], self.resize[1]
c = int(self.stream.get(3))
r = int(self.stream.get(4))
return r, c
def get_raw_frames(self):
return self.f.get_frames()
def is_running(self):
if self.stopped:
return False
else:
return True