def take_pictures(self):
"""
Init Client socket and connect to the raspberry ip
Send instruction to raspberry pi
Check the return message from the raspberry pi, which means images transmitting is done
Conduct human detection and display the results on the image views
Toggle buttons and navigatable status
cam0: left
cam1: right
"""
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('T' + self.local_ip)
check_call([
'scp', '-q', 'pi@' + self.raspberry_ip + ':~/cam0.jpeg',
'pi@' + self.raspberry_ip + ':~/cam1.jpeg', './images/'
])
self.name1 = './images/left_' + str(self.image_number) + '.jpeg'
self.name2 = './images/right_' + str(self.image_number) + '.jpeg'
os.rename('./images/cam0.jpeg', self.name1)
os.rename('./images/cam1.jpeg', self.name2)
self.image_number += 1
# Calibration
self.point_cloud.load_image(self.name1, self.name2)
image_list = self.point_cloud.rectify_image()
self.rectangle_coor_list = People_Detect.detect_image_list(
image_list[:1], [self.name1])
self._views_showImage(self.view_cam1, self.name1)
self._views_showImage(self.view_cam0, self.name2)
self.btn_navigate.setEnabled(True)
self.navigatable = True
def stop_preview(self):
"""
Send instruction to the raspberry pi to stop preview
Terminate the mplayer process and close the socket connection at the server side
Toggle buttons
"""
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('P')
self.mplayer_t.stop()
self.server_video.close()
self.btn_start.setEnabled(True)
self.btn_stop.setEnabled(False)
def start_preview(self):
"""
Set a server socket
Init a Client socket and connect to the raspberry ip
Send instruction to raspberry pi, and get ready to receive the video file
Start another thread which runs mplayer locally
Keep reading video data and pipe them to mplayer
Toggle buttons
"""
self.server_video = Server(self.port_video)
self.client_intr = Client(self.raspberry_ip, self.port_intr)
self.client_intr.hand_shake('S' + self.local_ip)
self.server_video.receive_file()
self.mplayer_t = Threading_Mplayer(self.server_video)
self.mplayer_t.start()
self.btn_start.setEnabled(False)
self.btn_stop.setEnabled(True)
self.btn_takePics.setEnabled(True)
