def main():
cs = CameraServer.getInstance()
cs.enableLogging()
outputStream = CvSource('camera', VideoMode.PixelFormat.kMJPEG, int(640),
int(480), int(15))
cs.addCamera(outputStream)
server = cs.addServer(name='camera', port=int(5801))
server.setSource(outputStream)
camera = UsbCamera(
"cam1",
'/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0'
)
# Capture from the first USB Camera on the system
cs.startAutomaticCapture(camera=camera)
camera.setResolution(640, 480)
# Get a CvSink. This will capture images from the camera
cvSink = cs.getVideo(camera=camera)
# Allocating new images is very expensive, always try to preallocate
img = np.zeros(shape=(480, 640, 3), dtype=np.uint8)
while True:
# Tell the CvSink to grab a frame from the camera and put it
# in the source image. If there is an error notify the output.
time, img = cvSink.grabFrame(img)
if time == 0:
# Send the output the error.
outputStream.notifyError(cvSink.getError())
# skip the rest of the current iteration
continue
#
# Insert your image processing logic here!
#
cv2.imshow("stream", img)
# (optional) send some image back to the dashboard
outputStream.putFrame(img)
if (ratio < min_ratio or ratio > max_ratio):
continue
output.append(contour)
return output
gLine = Example()
camera = UsbCamera("CammyBoi", 0)
camera.setExposureManual(10)
#camera.setConfigJson(json.dumps(json.load(open(configFile, "rt", encoding="utf-8"))))
vidSink = CvSink("Camera")
vidSink.setSource(camera)
vidSource = CvSource("Processed", VideoMode.PixelFormat.kMJPEG, 640, 480, 30)
networkStream = MjpegServer("Stream", 1181)
networkStream.setSource(vidSource)
img = np.zeros(shape=(480, 640, 3), dtype=np.uint8)
while(True):
ret, src = vidSink.grabFrame(img)
startTime = time.time()
gLine.process(src)
image = gLine.mask_output
print(time.time() - startTime)
#cv2.imshow('frame', img)
cameras = []
for cameraConfig in cameraConfigs:
cameras.append(startCamera(cameraConfig))
server = CameraServer.getInstance()
cameraZeroSink = server.getVideo()
print(cameraZeroSink.getSource())
image = np.zeros(shape=(160, 120, 3), dtype=np.uint8)
outPutStream = server.putVideo("mask", 160, 120)
mJpegServer = MjpegServer("cvServer", 1186)
cvSource = CvSource("CVSource", cscore.VideoMode.PixelFormat.kMJPEG, 160,
120, 30)
# loop forever
while True:
start = time.time()
status, image = cameraZeroSink.grabFrame(image, 30)
if status == 0:
outPutStream.notifyError(cameraZeroSink.getError())
print(cameraZeroSink.getError())
continue
#image2 = cv2.rectangle(image, (20, 60), (140, 120), (255, 255, 255), 5)
#outPutStream.putFrame(image)
#cvImage = cv2.imread(imageProcess, 1)
lower_blue = np.array([
30, 84, 70
mjpeg_server.setSource(driver_camera[0])
driver_camera = driver_cameras[1]
driver_camera[1].setEnabled(True)
mjpeg_server_2.setSource(driver_camera[0])
camera, cvsink, config = vision_camera
cvsink.setEnabled(True)
# This code creates a cvsink which will push a modified image to the
# MJPEG stream. Testing only.
if USE_MODIFIED_IMAGE:
name = 'cvsource: ' + vision_camera[2]['name']
width = vision_camera[2]['height']
height = vision_camera[2]['width']
fps = vision_camera[2]['fps']
cvsource = CvSource(name, VideoMode.PixelFormat.kMJPEG, width, height,
fps)
mjpeg_server.setSource(cvsource)
processor = TargetProcessing(config['width'],
config['height'],
draw_img=USE_MODIFIED_IMAGE,
view_thresh=False)
# processor = BallProcessing(config['width'], config['height'])
img = np.zeros(shape=(config['height'], config['width'], 3),
dtype=np.uint8)
smart_dashboard.putNumber('Vision/Threshhold/Upper/hue',
processor.upper_thresh[0])
smart_dashboard.putNumber('Vision/Threshhold/Upper/saturation',
processor.upper_thresh[1])
smart_dashboard.putNumber('Vision/Threshhold/Upper/value',
class Client(object):
centerLoc = ntproperty("/SmartDashboard/centerLoc", (0,0))
cl = Client()
if (__name__ == "__main__"):
team = 801
ntinst = NetworkTablesInstance.getDefault()
ntinst.startClientTeam(team)
usbCamera = UsbCamera("USB Camera 0", 0)
mjpegServer1 = MjpegServer("serve_USB Camera 0", 1181)
mjpegServer1.setSource(usbCamera)
cvSink = CvSink("opencv_USB Camera 0")
cvSink.setSource(usbCamera)
outputStream = CvSource("Blur", VideoMode.PixelFormat.kMJPEG, 320, 240, 15)
mjpegServer2 = MjpegServer("serve_Blur Camera 1", 1182)
mjpegServer2.setSource(outputStream)
frame = np.zeros((320,240,3), 'uint8')
iter = 0
while(True):
_, frame = cvSink.grabFrame(frame)
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_blue = np.array([110, 50, 50])
upper_blue = np.array([130, 255, 255])
mask = cv2.inRange(hsv, lower_blue, upper_blue)
res = cv2.bitwise_and(frame,frame, mask=mask)
res_gray = cv2.cvtColor(res, cv2.COLOR_BGR2GRAY)
res_blur = cv2.GaussianBlur(res_gray, (5,5), 0)
res_thresh = cv2.threshold(res_blur, 60, 255, cv2.THRESH_BINARY)[1]
if __name__ == "__main__":
if len(sys.argv) >= 2:
configFile = sys.argv[1]
# start cameras
print("Connecting to camera")
cs = CameraServer.getInstance()
cs.enableLogging()
Camera = UsbCamera('rPi Camera 0', 0)
Camera.setResolution(width, height)
#cs.addCamera(Camera)
cs.startAutomaticCapture(camera=Camera, return_server=True)
CvSink = cs.getVideo()
outputStream = CvSource('Processed Frames', VideoMode.PixelFormat.kBGR,
width, height, 28)
img = np.zeros(shape=(width, height, 3), dtype=np.uint8)
count = 0
global topX
global topY
global botX
global botY
global direction
global alreadyFound
while True:
topX = -2
topY = -2
botX = -2
botY = -2
direction = 0
alreadyFound = False
if sd.getNumber("stream_vision", 0) == 0:
STREAM_VISION = False
else:
STREAM_VISION = True
if DEBUG:
import pipeline_laptop as pipeline
else:
import pipeline
if STREAM_VISION:
from cscore import CameraServer, CvSource, VideoMode
inst = CameraServer.getInstance()
camera = CvSource("CvCam", VideoMode.PixelFormat.kBGR, 320, 160, 15)
server = inst.startAutomaticCapture(camera=camera, return_server=True)
os.system("v4l2-ctl -d /dev/video{} -c exposure_auto=1".format(CAMERA_PORT))
os.system("v4l2-ctl -d /dev/video{} -c exposure_absolute=0".format(CAMERA_PORT))
os.system("v4l2-ctl -d /dev/video{} -c brightness=30".format(CAMERA_PORT))
os.system("v4l2-ctl -d /dev/video{} -c contrast=10".format(CAMERA_PORT))
cap = cv.VideoCapture(CAMERA_PORT)
WIDTH = int(cap.get(3)/2)
HEIGHT = int(cap.get(4)/2)
MID_X = int(WIDTH / 2)
CROPPED_HEIGHT = 160
HFOV = 61
BlurType = Enum('BlurType',
'Box_Blur Gaussian_Blur Median_Filter Bilateral_Filter')
gLine = ContourTests()
# cap = cv2.VideoCapture(0)
kernel = cv2.getStructuringElement(cv2.MORPH_RECT, (4, 4))
# cs = CameraServer.getInstance()
# networkStream = cs.putVideo("Out", 160, 120)
camera = UsbCamera("CammyBoi", 0)
camera.setExposureManual(10)
#camera.setConfigJson(json.dumps(json.load(open(configFile, "rt", encoding="utf-8"))))
vidSink = CvSink("Camera")
vidSink.setSource(camera)
vidSource = CvSource("Processed", VideoMode.PixelFormat.kMJPEG, 640, 480, 30)
networkStream = MjpegServer("Stream", 1181)
networkStream.setSource(vidSource)
img = numpy.zeros(shape=(480, 640, 3), dtype=numpy.uint8)
while (True):
# Capture frame-by-frame
# ret, src = cap.read()
ret, src = vidSink.grabFrame(img)
startTime = time.time()
gLine.process(src)
image = src
contours = gLine.find_contours_output
c1, c2 = None, None