class VideoCamera(object):
def __init__(
self,
src=0,
flip = False, usePiCamera = True,
fps = 20.0,
resolution = (640,480),
record = False, record_duration = None, record_timestamp = True,
record_name = None
):
if resolution is None:
resolution = (320, 240)
self.vs = VideoStream(src=src, usePiCamera = usePiCamera, resolution = resolution).start()
#if usePiCamera is False:
# # we need to change things here because it will ignore resolution if not using the piCam
# # https://github.com/PyImageSearch/imutils/issues/55
# # this is not currently working!!!!
# self.vs.stream.set(3, resolution[0])
# self.vs.stream.set(4, resolution[1])
self.flip = flip
# Record settings ###
# no recording set at init
self.rec_set = False
self.record = record
# trigger record
self.trigger_record = record
self.resolution = resolution
self.fps = fps
# we might be in trouble if we switch from color to grayscale
self.isColor = self.is_color()
self.record_start = None
self.record_name = record_name
if (record_duration is not None):
session_time = datetime.datetime.strptime(record_duration, '%H:%M:%S')
# Transform the time into number of seconds
seconds = (session_time.hour * 60 + session_time.minute) * 60 + session_time.second
self.record_duration = seconds
self.record_timestamp = record_timestamp
# this is so that all timestamped things have a consistent format
self.timestamp_format = '%Y-%m-%dT%H-%M-%S'
if (self.record == True):
# we will use timestamps to prevent overwriting
if self.record_name is None:
self.name = datetime.datetime.now().strftime(self.timestamp_format) + "_output"
else:
self.name = f"{datetime.datetime.now().strftime(self.timestamp_format)}_{str(self.record_name)}_output"
# start video_writer
self.video_writer = VideoWriter(filename=self.name, fps=self.fps, resolution = self.resolution)
time.sleep(2.0)
def __del__(self):
self.vs.stop()
self.vs.stream.release()
if (self.record):
self.video_writer.stop()
def is_color(self):
frame = self.vs.read()
if (len(frame.shape) == 3):
return True
else:
return False
def flip_if_needed(self, frame):
if self.flip:
return np.flip(frame, 0)
return frame
def read(self):
# this is the read function we want to do processing
frame = self.flip_if_needed(self.vs.read())
timestamp = datetime.datetime.now()
if (self.trigger_record):
# check whether the video size is ok or we need to chunk
self.check_video_filesize()
if (self.record_timestamp):
cv2.putText(frame, str(timestamp),
(10, 50),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(255,255,255),
1)
# let's only call it if the framerate is ok
if (self.check_framerate(timestamp)):
self.video_writer.put_to_q(frame, timestamp)
# self.record(frame)
return frame
# This function handles the posting of .jpg through ip stream
def get_frame(self, label_time, camera_stamp = None):
# This function ends up converting to jpg and timestamping
# intended for streaming
upload_frame = self.flip_if_needed(self.vs.read())
if (label_time):
cv2.putText(upload_frame, datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"),
(10, 50),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(255,255,255),
1)
if (camera_stamp is not None):
cv2.putText(upload_frame, str(camera_stamp),
(10, self.resolution[1] - 50),
cv2.FONT_HERSHEY_SIMPLEX,
1,
(255,255,255),
1)
ret, jpeg = cv2.imencode('.jpg', upload_frame)
return jpeg.tobytes()
# We can use this function if we had a classifier that was well suited
# It might need computation power to do this in real time
def get_object(self, classifier):
found_objects = False
frame = self.flip_if_needed(self.vs.read()).copy()
gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
objects = classifier.detectMultiScale(
gray,
scaleFactor=1.1,
minNeighbors=5,
minSize=(30, 30),
flags=cv2.CASCADE_SCALE_IMAGE
)
if len(objects) > 0:
found_objects = True
# Draw a rectangle around the objects
for (x, y, w, h) in objects:
cv2.rectangle(frame, (x, y), (x + w, y + h), (0, 255, 0), 2)
ret, jpeg = cv2.imencode('.jpg', frame)
return (jpeg.tobytes(), found_objects)
# The function below has problems with frame rate not being constant
# We account for frame rate by assuming constant frame rate but that fails in real life
def record(self, frame):
"""
Opencv VideoWriter
https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_gui/py_video_display/py_video_display.html
This time we create a VideoWriter object.
We should specify the output file name (eg: output.avi).
Then we should specify the FourCC code (details in next paragraph).
Then number of frames per second (fps) and frame size should be passed.
And last one is isColor flag. If it is True, encoder expect color frame,
otherwise it works with grayscale frame.
Example comes from here
https://stackoverflow.com/questions/30509573/writing-an-mp4-video-using-python-opencv
"""
if (self.rec_set == False):
self.fourcc = cv2.VideoWriter_fourcc(*'XVID')
self.recorder = cv2.VideoWriter(self.name, self.fourcc, self.fps, self.resolution, self.isColor)
self.rec_set = True
self.prev_frame = time.time()
self.record_start = self.prev_frame
else:
# account for fps
# otherwise, we would need to account for this via waitKey(int(1000/fps))
current_frame = time.time()
if (current_frame - self.prev_frame > 1/self.fps):
self.prev_frame = current_frame
if (self.prev_frame - self.record_start > self.record_duration):
print(self.prev_frame)
print(self.record_start)
print(self.record_duration)
# stop the recording (not the camera)
self.trigger_record = False
def check_framerate(self, timestamp):
if (self.rec_set == False):
self.rec_set = True
self.prev_frame = timestamp
self.record_start = self.prev_frame
return True
else:
# account for fps
# otherwise, we would need to account for this via waitKey(int(1000/fps))
delta_time = (timestamp - self.prev_frame).total_seconds()
if (delta_time > 1/self.fps):
self.prev_frame = timestamp
return True
current_duration = (self.prev_frame - self.record_start).total_seconds()
if (current_duration > self.record_duration):
print(self.prev_frame)
print(self.record_start)
print(self.record_duration)
# stop the recording (not the camera)
self.video_writer.stop()
# stop triggering record in the future
self.trigger_record = False
# if we got up to here and no conditions were met
return False
def check_video_filesize(self):
#TODO: Potential problem harcoded extension, it's also harcoded on videowriter
if os.path.exists(self.name + ".avi"):
current_size = os.stat(self.name + ".avi").st_size
# size will be in bytes, let's have a limit of 100 Mb
if (current_size > 100 * 1024 * 1024):
# stop the video writer
self.video_writer.stop()
print("Video truncated...initializing new clip")
if self.record_name is None:
self.name = datetime.datetime.now().strftime(self.timestamp_format) + "_output"
else:
self.name = f"{datetime.datetime.now().strftime(self.timestamp_format)}_{str(self.record_name)}_output"
# start the writer again
self.video_writer = VideoWriter(filename=self.name, fps=self.fps, resolution = self.resolution)
30, (realsensecam().W, realsensecam().H),
threaded=False)
breakpoints = args.b__breakpoints or []
while (True):
img = controller().next_frame()
if img is None:
print("Controller reports end of capture. Terminating.")
break
cv2.imshow('DynamicUIs', img)
k = cv2.waitKey(1)
if ord('q') == k:
break
else:
controller().on_key(k)
if args.video_output is not None:
videowriter.process_frame(realsensecam().bgr,
realsensecam().depth_processed)
if controller().frame in breakpoints:
print("Paused at breakpoint", controller().frame)
print("Press Space to advance by a single frame")
k = cv2.waitKey()
if k == ord(' '):
breakpoints.append(controller().frame + 1)
realsensecam().stop() # Stop camera
if args.video_output is not None:
videowriter.stop()
if logger is not None:
logger.dump(args.logfile)
