def main():
cs = CameraServer.getInstance()
cs.enableLogging()
MServer = MjpegServer(name='server', port=8000)
# Capture from the first USB Camera on the system
camera = cs.startAutomaticCapture(dev=0, return_server=True)
camera.setResolution(320, 240)
# Get a CvSink. This will capture images from the camera
cvSink = cs.getVideo()
# (optional) Setup a CvSource. This will send images back to the Dashboard
outputStream = cs.putVideo("Name", 320, 240)
# Allocating new images is very expensive, always try to preallocate
img = np.zeros(shape=(240, 320, 3), dtype=np.uint8)
cs.addServer(name='server', port=8000, server=MServer)
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!
#
# (optional) send some image back to the dashboard
server
outputStream.putFrame(img)
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)
vidSource.putFrame(image)
print("Connecting to camera 0")
cs = CameraServer.getInstance()
cs.enableLogging()
Camera = UsbCamera('Cam 0', 0)
#exp = 2
#Camera.setExposureManual(exp)
Camera.setResolution(160,120)
cs.addCamera(Camera)
#SmartDashBoardValues.putNumber('ExpAuto', 0)
print("connected")
Camera1 = UsbCamera('Cam 1', 1)
Camera1.setResolution(640, 480)
Camera1.setFPS(25)
mjpegServer = MjpegServer("serve_Cam 1", 1182)
mjpegServer.setResolution(480, 360)
mjpegServer.setSource(Camera1)
CvSink = cs.getVideo()
outputStream = cs.putVideo("Processed Frames", 160,120)
#buffers to store img data
img = np.zeros(shape=(160,120,3), dtype=np.uint8)
#ExpStatus = SmartDashBoardValues.getNumber('ExpAuto', 0)
# loop forever
loopCount = 0
#while True:
# output = ""
# ExpAuto = SmartDashBoardValues.getNumber('ExpAuto', 0)
#
# start NetworkTables
ntinst = NetworkTablesInstance.getDefault()
if server:
print("Setting up NetworkTables server")
ntinst.startServer()
else:
print("Setting up NetworkTables client for team {}".format(team))
ntinst.startClientTeam(team)
#### Initiate ####
pipeline = GripPipeline()
# start up cameras
cameras = []
for cameraConfig in cameraConfigs:
cameras.append(startCamera(cameraConfig))
dualServer = MjpegServer("Dual Server", "", 1184)
dualServer.setSource(cameras[0])
# start up the cv2 stream
img = np.zeros(shape=(360, 240, 3), dtype=np.uint8)
cvSink = CameraServer.getInstance().getVideo()
cvStream = MjpegServer("Grip Stream", "", 6969)
gripVideo = CameraServer.getInstance().putVideo("GRIP stream", 360, 240)
cvStream.setSource(gripVideo)
# set up networktables
sd = nt.getTable("SmartDashboard")
ow = nt.getTable("ObiWan")
sd.addEntryListener(valueChanged)
ow.addEntryListener(valueChanged)
sd.putBoolean("testLines", False)
sd.putBoolean("testContours", False)
sd.putNumber("lowPoint", 0)
# start cameras
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)
[config['name'] for _, _, config in driver_cameras])
print('Vision camera: ' + vision_camera_name)
print('Driver cameras: ' + driver_camera_list)
if USE_SMART_DASHBOARD:
smart_dashboard.putString('Vision/vision_camera', vision_camera_name)
smart_dashboard.putString('Vision/driver_cameras', driver_camera_list)
# This is only for debugging, as once I print out a bunch of values
# it's hard to see that the initial setup went correctly.
if PAUSE:
print('Waiting...')
time.sleep(5)
print('Running!')
# Start mjpeg_server
mjpeg_server = MjpegServer('Vision Server', 1181)
mjpeg_server_2 = MjpegServer('Vision Server', 1182)
# Start camera loop
driver_camera = driver_cameras[0]
driver_camera[1].setEnabled(True)
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.
from networktables import NetworkTablesInstance
from networktables.util import ntproperty
from pyimagesearch.shapedetector import ShapeDetector
import convenience
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)
driver_camera_list = ', '.join(
[config['name'] for _, _, config in driver_cameras])
print('Vision camera: ' + vision_camera_name)
print('Driver cameras: ' + driver_camera_list)
# smart_dashboard.putString('Vision/vision_camera', vision_camera_name)
# smart_dashboard.putString('Vision/driver_cameras', driver_camera_list)
# This is only for debugging, as once I print out a bunch of values
# it's hard to see that the initial setup went correctly.
print('Waiting...')
time.sleep(5)
print('Running!')
# Start mjpeg_server
port = 1181
mjpeg_server = MjpegServer('Vision Server', port)
# If you ever need to standardize resolutions between cameras, you
# can use the following. It's bad though, because then it
# uncompresses and resises all images, so it decreases FPS.
# mjpeg_server.setResolution(640, 480)
# mjpeg_server.setCompression(70)
# Start camera loop
driver_camera = driver_cameras[0]
driver_camera[1].setEnabled(True)
# mjpeg_server.setSource(driver_camera[0])
camera, cvsink, config = vision_camera
cvsink.setEnabled(True)
mjpeg_server.setSource(camera)
fps = 60
width, height = 480, 270
Camera.setResolution(width, height)
Camera.setFPS(fps)
# Camera.getProperty("exposure_auto").set(1)
Camera.getProperty("brightness").set(5)
Camera.getProperty("gain").set(0)
Camera.getProperty("contrast").set(5)
if camera_number == 1:
Camera.getProperty("saturation").set(7)
elif camera_number == 2:
Camera.getProperty("saturation").set(69)
Camera.getProperty("exposure_absolute").set(6)
mjpegServer = MjpegServer("serve_Cam 1", 1182)
mjpegServer.setResolution(width, height)
mjpegServer.setSource(Camera)
CvSink = cs.getVideo()
outputStream = cs.putVideo("Processed Frames", width, height)
#buffers to store img data
img = np.zeros(shape=(width,height,3), dtype=np.uint8)
# loop forever
loopCount = 0
while True:
GotFrame, img = CvSink.grabFrame(img)
if GotFrame == 0:
outputStream.notifyError(CvSink.getError())