class CameraServer(object):
"""
Streams camera images as fast as possible
"""
camera = None
def __init__(self):
if platform.system().lower() == 'darwin':
self.camera = Camera()
self.camera.init(cameraNumber=0, win=(640, 480))
elif platform.system().lower() == 'linux':
self.camera = Camera(cam='pi')
self.camera.init(win=(640, 480))
else:
print('Sorry, platform not supported')
exit()
self.balltracker = BallTracker()
self.face = FaceDetector()
def __del__(self):
if self.camera:
self.camera.close()
def start(self):
self.run()
def join(self):
pass
def run(self):
print('Publishing ball {}:{}'.format('0.0.0.0', '9000'))
pub_ball = zmq.Pub(('0.0.0.0', 9000))
print('Publishing image_color {}:{}'.format('0.0.0.0', '9010'))
pub_image = zmq.Pub(('0.0.0.0', 9010))
try:
while True:
ret, frame = self.camera.read()
msg = Msg.Image()
msg.img = frame
pub_image.pub('image_color', msg)
width, height = frame.shape[:2]
center, radius = self.balltracker.find(frame)
if center and radius > 10:
x, y = center
xx = x-width/2
yy = y-height/2
msg = Msg.Vector()
msg.set(xx, yy, 0)
pub_ball.pub('ball', msg)
faces = self.face.find(frame)
if len(faces) > 0:
print('found a face!', faces, type(faces))
# msg = Msg.Array()
# msg.array = [[1,2,3,4], [4,5,6,7]]
# msg.array = list(faces)
# msg.array = faces
# print('msg >>', msg, type(msg.array))
# pub_ball.pub('faces', msg)
# print(msg)
# sleep(0.01)
except KeyboardInterrupt:
print('Ctl-C ... exiting')
return
class CameraServer(object):
"""
Streams camera images as fast as possible
"""
camera = None
def __init__(self):
if platform.system().lower() == 'darwin':
self.camera = Camera()
self.camera.init(cameraNumber=0, win=(640, 480))
elif platform.system().lower() == 'linux':
self.camera = Camera(cam='pi')
self.camera.init(win=(640, 480))
else:
print('Sorry, platform not supported')
exit()
self.balltracker = BallTracker()
self.face = FaceDetector()
def __del__(self):
if self.camera:
self.camera.close()
def start(self):
self.run()
def join(self):
pass
def run(self):
print('Publishing ball {}:{}'.format('0.0.0.0', '9000'))
pub_ball = zmq.Pub(('0.0.0.0', 9000))
print('Publishing image_color {}:{}'.format('0.0.0.0', '9010'))
pub_image = zmq.Pub(('0.0.0.0', 9010))
try:
while True:
ret, frame = self.camera.read()
msg = Msg.Image()
msg.img = frame
pub_image.pub('image_color', msg)
width, height = frame.shape[:2]
center, radius = self.balltracker.find(frame)
if center and radius > 10:
x, y = center
xx = x - width / 2
yy = y - height / 2
msg = Msg.Vector()
msg.set(xx, yy, 0)
pub_ball.pub('ball', msg)
faces = self.face.find(frame)
if len(faces) > 0:
print('found a face!', faces, type(faces))
# msg = Msg.Array()
# msg.array = [[1,2,3,4], [4,5,6,7]]
# msg.array = list(faces)
# msg.array = faces
# print('msg >>', msg, type(msg.array))
# pub_ball.pub('faces', msg)
# print(msg)
# sleep(0.01)
except KeyboardInterrupt:
print('Ctl-C ... exiting')
return
