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added asynchronous video capture and video for both wide and far cameras
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Feb 29, 2020
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| import cv2 | ||
| import threading | ||
| from cameras.camera import USBCam | ||
|
|
||
| class VideoCaptureAsync: | ||
| def __init__(self,camera): | ||
| self.camera = camera | ||
| self.grabbed, self.frame = self.camera.read() | ||
| self.started = False | ||
| self.read_lock = threading.Lock() | ||
|
|
||
|
|
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| def startReading(self): | ||
| if self.started: | ||
| print('Started video capture async') | ||
| return None | ||
| self.started = True | ||
| self.thread = threading.Thread(target=self.update, args = ()) | ||
| self.thread.start() | ||
|
|
||
| def update(self): | ||
| while self.started: | ||
| grabbed, frame = self.camera.read() | ||
| with self.read_lock: | ||
| self.frame = frame | ||
| self.grabbed = grabbed | ||
|
|
||
| def read(self): | ||
| with self.read_lock: | ||
| frame = self.frame.copy() | ||
| grabbed = self.grabbed | ||
| return grabbed, frame | ||
|
|
||
| def stop(self): | ||
| self.started = False | ||
| self.thread.join() | ||
|
|
||
| def __exit__(self): | ||
| self.camera.stop() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| import uuid | ||
| from tornado.websocket import WebSocketHandler, WebSocketClosedError | ||
| import logging | ||
| import json | ||
| logger = logging.getLogger(__name__) | ||
|
|
||
| class FarCameraFeedWS(WebSocketHandler): | ||
| """ | ||
| watchers is a class level array, anyone connecting shares the same array | ||
| """ | ||
| watchers = set() | ||
| def open(self): | ||
| self.uid = str(uuid.uuid4()) | ||
| logger.info("CameraFeed websocket opened %s" % self.uid) | ||
| self.write_message('connected') | ||
| self.write_message(json.dumps({ | ||
| 'socketid':self.uid | ||
| })) | ||
|
|
||
| def check_origin(self, origin): | ||
| """ | ||
| Allow CORS requests | ||
| """ | ||
| return True | ||
|
|
||
| """ | ||
| broadcast to clients, assumes its target data | ||
| """ | ||
| def on_message(self, message): | ||
| # logger.info('pushing image') | ||
| if isinstance(message, str): | ||
| logger.info(message) | ||
| if message == 'open feed': | ||
| FarCameraFeedWS.watchers.add(self) | ||
| if message == 'close feed': | ||
| FarCameraFeedWS.watchers.remove(self) | ||
| else: | ||
| for waiter in FarCameraFeedWS.watchers: | ||
| waiter.write_message(message, binary=True) | ||
|
|
||
| def on_close(self): | ||
| logger.info("CameraFeed websocket closed %s" % self.uid) | ||
| if self in FarCameraFeedWS.watchers: | ||
| FarCameraFeedWS.watchers.remove(self) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| import uuid | ||
| from tornado.websocket import WebSocketHandler, WebSocketClosedError | ||
| import logging | ||
| import json | ||
| logger = logging.getLogger(__name__) | ||
|
|
||
| class WideCameraFeedWS(WebSocketHandler): | ||
| """ | ||
| """ | ||
| watchers = set() | ||
| def open(self): | ||
| self.uid = str(uuid.uuid4()) | ||
| logger.info("WideCameraFeed websocket opened %s" % self.uid) | ||
| self.write_message('connected') | ||
| self.write_message(json.dumps({ | ||
| 'socketid':self.uid | ||
| })) | ||
|
|
||
| def check_origin(self, origin): | ||
| """ | ||
| Allow CORS requests | ||
| """ | ||
| return True | ||
|
|
||
| """ | ||
| broadcast to clients, assumes its target data | ||
| """ | ||
| def on_message(self, message): | ||
| # logger.info('pushing image') | ||
| if isinstance(message, str): | ||
| logger.info(message) | ||
| if message == 'open feed': | ||
| WideCameraFeedWS.watchers.add(self) | ||
| if message == 'close feed': | ||
| WideCameraFeedWS.watchers.remove(self) | ||
| else: | ||
| for waiter in WideCameraFeedWS.watchers: | ||
| waiter.write_message(message, binary=True) | ||
|
|
||
| def on_close(self): | ||
| logger.info("CameraFeed websocket closed %s" % self.uid) | ||
| if self in WideCameraFeedWS.watchers: | ||
| WideCameraFeedWS.watchers.remove(self) |
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