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test on odroid

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ori
2019-08-15 10:43:01 -07:00
parent c8500cbcf7
commit f5f8a7376b
1 changed files with 28 additions and 29 deletions
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57
backend/app/handlers/CameraHander.py
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@@ -1,5 +1,5 @@
import math
import cv2
import numpy
from cscore import CameraServer
from app.classes.SettingsManager import SettingsManager
@@ -21,6 +21,11 @@ class CameraHandler:
self.vision_handler = VisionHandler()
self.port = port
self.cam_name = cam_name
self.image = None
self.p_image = None
self.table = None
self.nt_data = {'valid': False}
self.time_stamp = 0
def run(self):
threading.Thread(target=self.thread_proc).start()
@@ -28,10 +33,7 @@ class CameraHandler:
def thread_proc(self):
cam_name = self.cam_name
port = self.port
global p_image
global nt_data
global table
nt_data = {'valid': False}
asyncio.set_event_loop(asyncio.new_event_loop())
self.settings_manager.cams_curr_pipeline[cam_name] = "pipeline0"
pipeline = self.settings_manager.cams[cam_name]["pipelines"][self.settings_manager.cams_curr_pipeline[cam_name]]
@@ -58,11 +60,11 @@ class CameraHandler:
'exposure': 15
})
table = NetworkTables.getTable("/Chameleon-Vision/" + cam_name)
table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[cam_name])
table.addEntryListenerEx(pipeline_listener, key="Pipeline",
self.table = NetworkTables.getTable("/Chameleon-Vision/" + cam_name)
self.table.putString('Pipeline', self.settings_manager.cams_curr_pipeline[cam_name])
self.table.addEntryListenerEx(pipeline_listener, key="Pipeline",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
table.addEntryListenerEx(mode_listener, key="Driver_Mode",
self.table.addEntryListenerEx(mode_listener, key="Driver_Mode",
flags=networktables.NetworkTablesInstance.NotifyFlags.UPDATE)
# gettings video from curent camera
cv_sink = self.cs.getVideo(camera=self.settings_manager.usb_cameras[cam_name])
@@ -87,27 +89,24 @@ class CameraHandler:
change_camera_values(pipeline)
def _image_thread():
global image
global p_image
global time_stamp
image = numpy.zeros(shape=(width, height, 3), dtype=numpy.uint8)
p_image = image
self.image = numpy.zeros(shape=(width, height, 3), dtype=numpy.uint8)
self.p_image = self.image
while True:
time_stamp, image = cv_sink.grabFrame(image)
self.time_stamp, self.image = cv_sink.grabFrame(self.image)
def _publish_thread():
# asyncio.set_event_loop(asyncio.new_event_loop())
while True:
try:
cv_publish.putFrame(p_image)
table.putBoolean('valid', nt_data['valid'])
cv_publish.putFrame(self.p_image)
self.table.putBoolean('valid', self.nt_data['valid'])
# check if point is valid
if nt_data['valid']:
if self.nt_data['valid']:
# send the point using network tables
table.putNumber('pitch', nt_data['pitch'])
table.putNumber('yaw', nt_data['yaw'])
table.putNumber('fps', nt_data['fps'])
table.putNumber('time_stamp', time_stamp)
self.table.putNumber('pitch', self.nt_data['pitch'])
self.table.putNumber('yaw', self.nt_data['yaw'])
self.table.putNumber('fps', self.nt_data['fps'])
self.table.putNumber('time_stamp', self.time_stamp)
# if the selected camera in ui is this cam send the point to the ui
except:
pass
@@ -122,17 +121,17 @@ class CameraHandler:
pipeline=pipeline
), zmq.SNDMORE)
socket.send_pyobj(image)
p_image = socket.recv_pyobj()
nt_data = socket.recv_json()
socket.send_pyobj(self.image)
self.p_image = socket.recv_pyobj()
self.nt_data = socket.recv_json()
if self.settings_manager.general_settings['curr_camera'] == cam_name:
try:
send_all_async({
'raw_point': nt_data['raw_point'],
'raw_point': self.nt_data['raw_point'],
'point': {
'pitch': nt_data['pitch'],
'yaw': nt_data['yaw'],
'fps': nt_data['fps']
'pitch': self.nt_data['pitch'],
'yaw': self.nt_data['yaw'],
'fps': self.nt_data['fps']
}
})
except: