merge

.gitignore

@@ -0,0 +1,2 @@
+.idea
+*.pyc

cameras/generic.py

@@ -1,8 +1,9 @@
 """
-Calibration constants for a portrait mode webcam
+Calibration constants for a webcam
 """
 
-FRAME_HEIGHT = 1024
-FRAME_WIDTH = 768
+FRAME_WIDTH = 640
+FRAME_HEIGHT = 480
+FPS = 120
 
-FOCAL_LENGTH = 1100
+FOCAL_LENGTH = 1170

config.py

@@ -1,8 +1,18 @@
 import config
 
 config.networktables_server_ip = '127.0.0.1'
+
+# when using static ip for robot
+#config.networktables_server_ip = '10.26.1.11'
+
 config.video_source_number = 0
 config.networktables_table = 'SmartDashboard'
 
+config.gstreamer_bitrate = '3500000'
+config.gstreamer_client_ip = '10.26.1.5'
+config.gstreamer_client_port = '5805'
+config.gstreamer_pipeline = 'appsrc ! videoconvert ! omxh264enc bitrate=%s ! video/x-h264, stream-format=(string)byte-stream ! h264parse ! rtph264pay ! udpsink host=%s port=%s' % (config.gstreamer_bitrate, config.gstreamer_client_ip, config.gstreamer_client_port)
+
+# config.gstreamer_pipeline = 'appsrc ! videoconvert ! omxh265enc bitrate=%s ! video/x-h265, stream-format=(string)byte-stream ! h265parse ! rtph265pay ! udpsink host=%s port=%s' % (config.gstreamer_bitrate, config.gstreamer_client_ip, config.gstreamer_client_port)
 
-tornado_server_port="8080"
+tornado_server_port="8080"

controls.py

@@ -1,21 +1,22 @@
 from network import controller_listener
 
-CAMERA_MODE_RAW = 'R'
-CAMERA_MODE_BALL = 'B'
-CAMERA_MODE_LOADING_BAY = 'L'
-CAMERA_MODE_HEXAGON = 'H'
+CAMERA_MODE_RAW = 'RAW'
+CAMERA_MODE_CALIBRATE = 'CALIBRATE'
+CAMERA_MODE_BALL = 'BALL'
+CAMERA_MODE_HEXAGON = 'HEXAGON'
+CAMERA_MODE_LOADING_BAY = 'BAY'
 
 class Controls():
 
     def __init__(self):
         self.enable_camera = True
-        # self.enable_processing = False
-        self.camera_mode = CAMERA_MODE_LOADING_BAY
+        self.enable_processing = False
         self.enable_streaming = True
+        self.camera_mode = CAMERA_MODE_CALIBRATE
+
         self.enable_feed = True
         self.turn_camera_off = False
 
-
     def connect(self):
         controller_listener.connect(self)
 

example_imagezmq.py

@@ -0,0 +1,23 @@
+import cv2
+import config
+import time
+
+from imagezmq import imagezmq
+from processing import filters
+
+def main():
+
+    cap = cv2.VideoCapture(config.video_source_number)
+
+    sender = imagezmq.ImageSender(connect_to="tcp://{}:5555".format('192.168.1.25'))
+
+    while(True):
+
+        _, frame = cap.read()
+
+        frame = filters.resize(frame, 640, 480, interpolation=cv2.INTER_CUBIC)
+
+        sender.send_image('testImage', frame)
+
+if __name__ == '__main__':
+    main()

gst_utils.py

@@ -0,0 +1,74 @@
+"""
+collect all known GStreamer methods here
+"""
+
+import logging
+
+logger = logging.getLogger('gst')
+
+def get_udp_streamer_pipeline2(host, port, bitrate):
+
+    # config.gstreamer_pipeline = 'appsrc ! videoconvert ! omxh264enc bitrate=%s ! video/x-h264, stream-format=(string)byte-stream ! h264parse ! rtph264pay ! udpsink host=%s port=%s' % (config.gstreamer_bitrate, config.gstreamer_client_ip, config.gstreamer_client_port)
+
+    pipeline = ' ! '.join( [appsrc(),
+                            videoconvert(),
+                            omxh264enc(bitrate=bitrate),
+                            video_x264(byteStream=True),
+                            h264parse(),
+                            rtph264pay(),
+                            udpsink(host,port)])
+    logger.info(pipeline)
+    return pipeline
+
+def get_udp_sender(host, port):
+    'appsrc ! queue ! videoconvert ! video/x-raw ! x264enc tune=zerolatency ! h264parse ! rtph264pay ! udpsink host="192.168.1.10" port="5000" sync=false'
+    pipeline = ' ! '.join( [appsrc(),
+                             queue(),
+                             videoconvert(),
+                             video_x_raw(),
+                             x264enc(zerolatency=True),
+                             h264parse(),
+                             rtph264pay(),
+                             udpsink(host,port)])
+
+    print(pipeline)
+    return pipeline
+
+## PIPELINES
+def omxh264enc(bitrate=None):
+    if bitrate is not None:
+        return 'omxh264enc bitrate=%s' % bitrate
+    return 'omxh264enc'
+
+def appsrc():
+    return 'appsrc'
+
+def queue():
+    return 'queue'
+
+def videoconvert():
+    return 'videoconvert'
+
+def video_x_raw():
+    return 'video/x-raw'
+
+def video_x264(byteStream=False):
+    if byteStream: 
+        return 'video/x-h264 stream-format=(string)byte-stream'
+    return 'video/x-h264'
+
+def x264enc(zerolatency=True):
+    if zerolatency:
+        return 'x264enc tune=zerolatency'
+    return 'x264enc'
+
+def h264parse():
+    return 'h264parse'
+
+def rtph264pay():
+    return 'rtph264pay'
+
+def udpsink(host, port, sync=False):
+    if sync is False:
+        return 'udpsink host="%s" port="%s" sync=false' % (host,port)
+    return 'udpsink host="%s" port="%s"' % (host,port)

imagezmq/__init__.py

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+"""
+imagezmq: transport OpenCV images via ZMQ.
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+A pair of Python classes that transport OpenCV images from one
+computer to another. For example, OpenCV images gathered by
+a Raspberry Pi camera could be sent to another computer
+for displaying the images using cv2.imshow() or for further image processing.
+Copyright (c) 2017 by Jeff Bass.
+License: MIT, see LICENSE for more details.
+"""
+# populate fields for >>>help(imagezmq)
+from .__version__ import __title__, __description__, __url__, __version__
+from .__version__ import __author__, __author_email__, __license__
+from .__version__ import __copyright__

imagezmq/__version__.py

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+# populates fields for >>>help(imagezmq)
+__title__ = 'imagezmq'
+__description__ = 'Transporting OpenCV images via ZMQ'
+__url__ = 'https://github.com/jeffbass/imagezmq'
+__version__ = '0.3.0'
+__author__ = 'Jeff Bass'
+__author_email__ = '[email protected]'
+__license__ = 'MIT 1.0'
+__copyright__ = 'Copyright 2019 Jeff Bass'