def __init__(self, parent=None):
QDialog.__init__(self, parent)
self.cam = webcam(640, 480, '/dev/video0')
self.cam.activate()
self.statusLabel = QLabel()
self.quitButton = QPushButton("Quit")
self.quitButton.setAutoDefault(False)
buttonLayout = QHBoxLayout()
buttonLayout.addStretch(1)
buttonLayout.addWidget(self.quitButton)
buttonLayout.addStretch(1)
mainLayout = QVBoxLayout()
mainLayout.addWidget(self.statusLabel)
mainLayout.addLayout(buttonLayout)
self.setLayout(mainLayout)
self.setWindowTitle('Frame Server')
self.tcpServer = QTcpServer(self)
self.tcpServer.listen()
self.client = None
ipAddress = ''
for address in QNetworkInterface.allAddresses():
if address != QHostAddress.LocalHost and address.toIPv4Address():
ipAddress = address.toString()
break
if len(ipAddress) == 0:
ipAddress = QHostAddress(QHostAddress.LocalHost).toString()
self.statusLabel.setText(
'Address:\t\t{}\nPort:\t\t\t{}'.format(ipAddress, self.tcpServer.serverPort()))
self.quitButton.clicked.connect(self.close)
self.tcpServer.newConnection.connect(self.clientConnected)
try:
#if ( cfg.usedongle ): log("Signal quality : " + str(modem.get_rssi()))
if ( cfg.wifi_reset_if_down ) :
os.system("sudo ./wifi_reset.sh")
# Wait till 45 seconds in case of PCE-FWS20 to avoid USB overload
if (cfg.use_wind_sensor and cfg.sensor_type == "PCE-FWS20"):
seconds = datetime.datetime.now().second
if ( seconds < 45 ):
time.sleep(45-seconds)
waitForHandUP() # do to replace with lock object
# WebCam 1
if ( cfg.webcamDevice1.upper() != "NONE" ):
webcam1 = webcam.webcam(1,cfg)
img1FileName = "./img/webcam1_" + datetime.datetime.now().strftime("%d%m%Y-%H%M%S.jpg")
waitForHandUP()
bwebcam1 = webcam1.capture(img1FileName)
if ( bwebcam1 ):
log( "Webcam 1 Captured : ok : " + img1FileName )
addTextandResizePhoto(img1FileName,cfg.webcamdevice1finalresolutionX,cfg.webcamdevice1finalresolutionY,cfg,v)
# WebCam 2
if ( cfg.webcamDevice2.upper() != "NONE" ):
webcam2 = webcam.webcam(2,cfg)
img2FileName = "./img/webcam2_" + datetime.datetime.now().strftime("%d%m%Y-%H%M%S.jpg")
waitForHandUP()
bwebcam2 = webcam2.capture(img2FileName)
if ( bwebcam2):
log( "Webcam 2 Capruterd : " + img2FileName )
addTextandResizePhoto(img2FileName,cfg.webcamdevice2finalresolutionX,cfg.webcamdevice2finalresolutionY,cfg,v)
def main():
script_desc = 'Interact with ball position control realtime via mouse events'
args = setup_arg_parser(script_desc)
vid_conf = args.camera
maze_conf = args.maze
vid_settings = read_yaml(vid_conf)
maze_settings = read_yaml(maze_conf)
window_name = vid_settings['window_name']
camera = webcam(vid_settings)
d = detector(vid_settings, maze_settings)
c = position_controller(vid_settings, maze_settings)
file = args.path
p = path(file, t=5, cycle=True)
l = logger()
time_begin = timer()
n = 10
# Main loop - object detection and labeling for each video frame
while True:
frame_time = timer() # time from when frame was taken
### Step 1: Get video frame
ret, frame = camera.read_frame()
if not ret:
print("Error: video frame not loaded.")
break
d.frame_count += 1
start = timer() # time at which frame was ready
### Step 2: crop and transform to get final maze image
frame, pts = d.crop_and_transform(frame)
# frame, pts = d.crop_no_transform(frame)
### Step 3: detect objects
d.detect_objects(frame)
#update PID control
c.process_update(d.ball_pos)
if d.ball_pos is not None:
# print(c.output)
draw_magnitude(frame, d.ball_pos, c.output,
vid_settings['magnitude_scalar'],
color_map['brightorange'])
end = timer() # time after all calculation were completed
### Step 4: Draw detected objects and message text to video frame
d.annotate_ball(frame)
# draw table tilt target output where ball is located
if d.ball_pos is not None:
draw_magnitude(frame, d.ball_pos, c.output,
vid_settings['magnitude_scalar'],
color_map['brightorange'])
# draw error line
if d.ball_pos and c.target is not None:
draw_line(frame, (c.target[0], c.target[1]),
(d.ball_pos[0], d.ball_pos[1]),
BGR_color=color_map['red'])
display_performance(frame, d.text_tr, d.text_spacing, start, end,
frame_time, vid_settings['text_size'])
if pts is not None:
draw_corners(frame, pts)
# update and show path
if d.ball_pos is not None:
p.process_update(d.ball_pos)
c.set_target(p.pts[p.idx])
p.draw_waypoints(frame, d.ball_pos)
### Step 5: Display video on screen
cv.imshow(window_name, frame)
### log for later graphing
if d.ball_pos and c.target is not None:
# l.log_new_data(d.ball_pos, c.target, np.round(end - time_begin, 2))
l.log_new_data(d.ball_pos, c.target, np.round(end - time_begin, 2),
d.noisy_ball_pos)
### Step 6: Check for key command
if cv.waitKey(1) == ord('q'):
break
if p.n >= n:
break
# clean up
camera.vid.release()
cv.destroyAllWindows()
# write logs
l.write_log()
# Print statistics to terminal
print(f'frames captured: {d.frame_count}')
print(f"Number of frames where ball was missed: {d.missed_frames_ball}")
print(
f"Ball detection rate: {np.around((1 - d.missed_frames_ball / d.frame_count), decimals=4) * 100}%"
)
import cv2
import webcam
import time
fourcc = cv2.VideoWriter_fourcc(*'DIVX')
#writer = cv2.VideoWriter('output.avi',fourcc, 20.0, (640, 480), True)
cam = webcam.webcam('http://192.168.0.109:8081')
frames = cam.getFrame()
num = 120
start = time.time()
for frame in frames:
num = num - 1
if num == 0:
end = time.time()
seconds = end - start
fps = 120 / seconds
print("Estimated frames per second : ", fps)
import streamlit as st
from webcam import webcam
st.title("Webcam capture component")
st.write("""
- Accesses the user's webcam and displays the video feed in the browser.
- Click the "Capture Frame" button to grab the current video frame and
return it to Streamlit.
""")
captured_image = webcam()
if captured_image is None:
st.write("Waiting for capture...")
else:
st.write("Got an image from the webcam:")
st.image(captured_image)
def main():
script_desc = 'Interact with ball velocity control realtime via controller joystick'
args = setup_arg_parser(script_desc)
vid_conf = args.camera
maze_conf = args.maze
vid_settings = read_yaml(vid_conf)
maze_settings = read_yaml(maze_conf)
window_name = vid_settings['window_name']
camera = webcam(vid_settings)
d = detector(vid_settings, maze_settings)
c = velocity_controller(vid_settings, maze_settings)
ps4 = ps4_controller()
# Main loop - object detection and labeling for each video frame
while True:
frame_time = timer() # time from when frame was taken
### Step 1: Get video frame
ret, frame = camera.read_frame()
if not ret:
print("Error: video frame not loaded.")
break
d.frame_count += 1
c.set_target_velocity(ps4.read_joystick())
start = timer() # time at which frame was ready
### Step 2: crop and transform to get final maze image
frame, pts = d.crop_and_transform(frame)
# frame, pts = d.crop_no_transform(frame)
### Step 3: detect objects
if frame is not None:
d.detect_objects(frame)
#update PID control
c.process_update(d.ball_pos, d.kf)
end = timer() # time after all calculation were completed
### Step 4: Draw detected objects and message text to video frame
d.annotate_ball(frame)
# draw table tilt magnitude where ball is located
if d.ball_pos is not None:
draw_magnitude(frame, d.ball_pos, c.output,
vid_settings['magnitude_scalar'],
color_map['brightorange'])
if d.ball_pos is not None:
draw_magnitude(frame, d.ball_pos, ps4.axis_data,
vid_settings['magnitude_scalar'],
color_map['green'])
# draw error line
# if d.ball_pos and c.target is not None:
# draw_line(frame, (c.target[0], c.target[1]), (d.ball_pos[0], d.ball_pos[1]), BGR_color=color_map['red'])
if frame is not None:
display_performance(frame, d.text_tr, d.text_spacing, start, end,
frame_time, vid_settings['text_size'])
# display mouse event to screen
# if c.target is not None:
# draw_circles(frame, [c.target], num=1, BGR_color=color_map['green'])
### Step 5: Display video on screen
if frame is not None:
cv.imshow(window_name, frame)
### Step 6: Check for key command
if cv.waitKey(1) == ord('q'):
break
# clean up
camera.vid.release()
cv.destroyAllWindows()
# Print statistics to terminal
print(f'frames captured: {d.frame_count}')
print(f"Number of frames where ball was missed: {d.missed_frames_ball}")
print(
f"Ball detection rate: {np.around((1 - d.missed_frames_ball / d.frame_count), decimals=4) * 100}%"
)
try:
#if ( cfg.usedongle ): log("Signal quality : " + str(modem.get_rssi()))
if ( cfg.wifi_reset_if_down ) :
os.system("sudo ./wifi_reset.sh")
# Wait till 45 seconds in case of PCE-FWS20 to avoid USB overload
if (cfg.use_wind_sensor and cfg.sensor_type == "PCE-FWS20"):
seconds = datetime.datetime.now().second
if ( seconds < 45 ):
time.sleep(45-seconds)
waitForHandUP() # do to replace with lock object
# WebCam 1
if ( cfg.webcamDevice1.upper() != "NONE" ):
webcam1 = webcam.webcam(1,cfg)
img1FileName = "./img/webcam1_" + datetime.datetime.now().strftime("%d%m%Y-%H%M%S.jpg")
waitForHandUP()
bwebcam1 = webcam1.capture(img1FileName)
if ( bwebcam1 ):
log( "Webcam 1 Captured : ok : " + img1FileName )
addTextandResizePhoto(img1FileName,cfg.webcamdevice1finalresolutionX,cfg.webcamdevice1finalresolutionY,cfg,v)
# WebCam 2
if ( cfg.webcamDevice2.upper() != "NONE" ):
webcam2 = webcam.webcam(2,cfg)
img2FileName = "./img/webcam2_" + datetime.datetime.now().strftime("%d%m%Y-%H%M%S.jpg")
waitForHandUP()
bwebcam2 = webcam2.capture(img2FileName)
if ( bwebcam2):
log( "Webcam 2 Captured : ok : " + img2FileName )
addTextandResizePhoto(img2FileName,cfg.webcamdevice2finalresolutionX,cfg.webcamdevice2finalresolutionY,cfg,v)
