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try async pipe

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Sagi Frimer
2019-05-25 17:26:11 +03:00
parent 94f56a0f7c
commit ab46bee5a8
1 changed files with 18 additions and 14 deletions
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32
backend/app/handlers/VisionHandler.py
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@@ -11,6 +11,7 @@ from multiprocessing import Process, Pipe
import multiprocessing
import threading
class VisionHandler(metaclass=Singleton):
def __init__(self):
self.kernel = numpy.ones((5, 5), numpy.uint8)
@@ -79,36 +80,37 @@ class VisionHandler(metaclass=Singleton):
pipes = []
for cam_name in SettingsManager().usb_cameras:
threading.Thread(target=self.thred_proc, args=(cs,cam_name)).start()
threading.Thread(target=self.thred_proc, args=(cs, cam_name)).start()
def thred_proc(self,cs,cam_name):
def thred_proc(self, cs, cam_name):
async def pipe_send(pipe, data):
pipe.send(data)
async def pipe_recive(pipe):
return pipe.recv()
cv_sink = cs.getVideo(camera=SettingsManager.usb_cameras[cam_name])
image = numpy.zeros(shape=(SettingsManager().cams[cam_name]["video_mode"]["width"],
SettingsManager().cams[cam_name]["video_mode"]["height"], 3), dtype=numpy.uint8)
SettingsManager().cams[cam_name]["video_mode"]["height"], 3), dtype=numpy.uint8)
cv_publish = cs.putVideo(name=cam_name, width=SettingsManager().cams[cam_name]["video_mode"]["width"],
height=SettingsManager().cams[cam_name]["video_mode"]["height"])
parent,child = Pipe()
height=SettingsManager().cams[cam_name]["video_mode"]["height"])
parent, child = Pipe()
Process(target=self.camera_process, args=(SettingsManager.usb_cameras[cam_name], cam_name, child)).start()
while True:
start = time.time()
_, image = cv_sink.grabFrame(image)
parent.send(image)
# pipe_send(parent,image)
image = parent.recv()
if parent.poll():
image = parent.recv()
cv_publish.putFrame(image)
end = time.time()
print(cam_name + " " + str(1 / (end - start)))
print(cam_name + " " + str(1 / (end - start)))
def camera_process(self, camera, cam_name, child_pipe):
curr_pipline = list(SettingsManager.cams[cam_name]["pipelines"].values())[0]
curr_pipeline = list(SettingsManager.cams[cam_name]["pipelines"].values())[0]
# def change_camera_values():
# camera.setBrightness(0)
@@ -131,13 +133,15 @@ class VisionHandler(metaclass=Singleton):
# change_camera_values()
cam_area = SettingsManager().cams[cam_name]["video_mode"]["width"] * \
SettingsManager().cams[cam_name]["video_mode"]["height"]
while True:
image = child_pipe.recv()
hsv_image = self._hsv_threshold(curr_pipline["hue"],
curr_pipline["saturation"], curr_pipline["value"],
image, curr_pipline["erode"], curr_pipline["dilate"])
hsv_image = self._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
image, curr_pipeline["erode"], curr_pipeline["dilate"])
# if table.getBoolean("Driver_Mode", False):
contours = self.find_contours(hsv_image)
filtered_contours = self.filter_contours(contours, cam_area, curr_pipline["area"], curr_pipline["ratio"], curr_pipline["extent"])
filtered_contours = self.filter_contours(contours, cam_area, curr_pipeline["area"], curr_pipeline["ratio"],
curr_pipeline["extent"])
image = self.draw_image(input_image=image, is_binary=False, rectangles=filtered_contours)
child_pipe.send(image)