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sending current pipline using zmq

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ori
2019-06-17 12:37:41 -07:00
parent e4d2f9698f
commit ea660ea639
2 changed files with 15 additions and 12 deletions
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25
backend/app/handlers/VisionHandler.py
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@@ -1,15 +1,12 @@
import cscore
from networktables import NetworkTables
import networktables
import cv2
import numpy
from cscore import CameraServer
# from .app.classes.SettingsManager import SettingsManager
from app.classes.SettingsManager import SettingsManager
from ..classes.Singleton import Singleton
import time
from multiprocessing import Process
import multiprocessing
import threading
import zmq
@@ -97,22 +94,27 @@ class VisionHandler(metaclass=Singleton):
context = zmq.Context()
socket = context.socket(zmq.REQ)
socket.bind("tcp://*:%s" % 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()
# start = time.time()
if(pipeline != SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]):
pipeline = SettingsManager().cams[cam_name]["pipelines"]["pipeline0"]
_, image = cv_sink.grabFrame(image)
socket.send_pyobj(image)
socket.send_pyobj({'image': image,
'pipeline': pipeline})
# end = time.time()
image = socket.recv_pyobj()
cv_publish.putFrame(image)
end = time.time()
# print(cam_name + " " + str(1 / (end - start)))
def camera_process(self, cam_name, port):
curr_pipeline = list(SettingsManager.cams[cam_name]["pipelines"].values())[0]
# def change_camera_values():
# camera.setBrightness(0)
@@ -143,8 +145,9 @@ class VisionHandler(metaclass=Singleton):
socket.connect("tcp://localhost:%s" % port)
while True:
image = socket.recv_pyobj()
obj = socket.recv_pyobj()
image = obj['image']
curr_pipeline = obj["pipeline"]
hsv_image = self._hsv_threshold(curr_pipeline["hue"],
curr_pipeline["saturation"], curr_pipeline["value"],
image, curr_pipeline["erode"], curr_pipeline["dilate"])

2
backend/settings/cams/USB Camera-B4.09.24.1.json
View File

@@ -1 +1 @@
{"pipelines": {"pipeline0": {"exposure": 50, "brightness": 50, "orientation": "Normal", "resolution": 14, "hue": [0, 100], "saturation": [0, 100], "value": [0, 100], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 15, "width": 640, "height": 480, "pixel_format": "kYUYV"}}
{"pipelines": {"pipeline0": {"exposure": 25, "brightness": 19, "orientation": "Normal", "resolution": 11, "hue": [0, 10], "saturation": [58, 69], "value": [61, 87], "erode": false, "dilate": false, "area": [0, 100], "ratio": [0, 20], "extent": [0, 100], "is_binary": "Normal"}}, "path": "/dev/v4l/by-path/pci-0000:02:03.0-usb-0:1:1.0-video-index0", "video_mode": {"fps": 50, "width": 640, "height": 480, "pixel_format": "kYUYV"}}