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working send and revice using zmq at high speeds

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This commit is contained in:
ori
2019-06-24 13:23:39 -07:00
parent ea660ea639
commit 86326e6b42
3 changed files with 255 additions and 22 deletions
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43
backend/app/handlers/VisionHandler.py
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@@ -9,6 +9,8 @@ import time
from multiprocessing import Process
import threading
import zmq
import base64
class VisionHandler(metaclass=Singleton):
@@ -78,10 +80,10 @@ class VisionHandler(metaclass=Singleton):
port = 5550
for cam_name in SettingsManager().usb_cameras:
threading.Thread(target=self.thread_proc, args=(cs, cam_name, str(port))).start()
threading.Thread(target=self.thread_proc, args=(cs, cam_name, port)).start()
port += 1
def thread_proc(self, cs, cam_name, port="5557"):
def thread_proc(self, cs, cam_name, port=5557):
cv_sink = cs.getVideo(camera=SettingsManager.usb_cameras[cam_name])
width = SettingsManager().cams[cam_name]["video_mode"]["width"]
@@ -92,30 +94,26 @@ class VisionHandler(metaclass=Singleton):
cv_publish = cs.putVideo(name=cam_name, width=width, height=height)
context = zmq.Context()
socket = context.socket(zmq.REQ)
socket.bind("tcp://*:%s" % port)
socket = context.socket(zmq.PAIR)
socket.bind('tcp://*:%s' % str(port))
p = Process(target=self.camera_process, args=(cam_name, port))
p.start()
pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
while True:
# start = time.time()
if(pipeline != SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]):
pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
# start = time.time(
_, image = cv_sink.grabFrame(image)
socket.send_pyobj({'image': image,
'pipeline': pipeline})
# end = time.time()
image = socket.recv_pyobj()
cv_publish.putFrame(image)
socket.send_json(dict(
pipeline=pipeline
))
socket.send_pyobj(image)
p_image = socket.recv_pyobj()
cv_publish.putFrame(p_image)
# print(cam_name + " " + str(1 / (end - start)))
def camera_process(self, cam_name, port):
# def change_camera_values():
# camera.setBrightness(0)
# camera.setExposureManual(0)
@@ -141,12 +139,12 @@ class VisionHandler(metaclass=Singleton):
cam_area = width * height
context = zmq.Context()
socket = context.socket(zmq.REP)
socket.connect("tcp://localhost:%s" % port)
socket = context.socket(zmq.PAIR)
socket.connect('tcp://localhost:%s' % str(port))
while True:
obj = socket.recv_pyobj()
image = obj['image']
obj = socket.recv_json()
image = socket.recv_pyobj()
curr_pipeline = obj["pipeline"]
hsv_image = self._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
@@ -156,4 +154,7 @@ class VisionHandler(metaclass=Singleton):
filtered_contours = self.filter_contours(contours, cam_area, curr_pipeline["area"], curr_pipeline["ratio"],
curr_pipeline["extent"])
res = self.draw_image(input_image=image, is_binary=False, rectangles=filtered_contours)
# cv2.putText(res, str(fps), (10, 200), font, 4, (0, 0, 0), 2, cv2.LINE_AA)
socket.send_pyobj(res)