From 4d7ac23ff89f104494217ac48be2f9d72639520e Mon Sep 17 00:00:00 2001 From: Georgios Gerontakis Date: Sun, 19 Jan 2020 20:16:36 +0200 Subject: [PATCH] Merged streaming service in main Errors with fps and image processing. --- camera module/main.py | 68 ++++++++++++------ .../Client/.vs/Client/v16/.suo | Bin 61440 -> 74240 bytes .../.vs/Client/v16/Server/sqlite3/storage.ide | Bin 3952640 -> 3952640 bytes .../Client.csprojAssemblyReference.cache | Bin 8547 -> 52697 bytes .../DesignTimeResolveAssemblyReferences.cache | Bin 6473 -> 6473 bytes 5 files changed, 46 insertions(+), 22 deletions(-) diff --git a/camera module/main.py b/camera module/main.py index 3576fbf..89ad7b9 100644 --- a/camera module/main.py +++ b/camera module/main.py @@ -1,6 +1,9 @@ import cv2 +import base64 +import zmq # Constant variables definition. +MAJOR_VERSION = cv2.getVersionMajor() DESIRED_HEIGHT = 480 # The input image will be resized to this height, preserving its aspect ratio. BLUE_THRESHOLD = 150 # If the blue channel is bigger than this, it is considered background and removed. BINARY_THRESHOLD = 30 # If the pixel is not brighter than this, it is removed before detection. @@ -42,7 +45,10 @@ def removeColors(img): blue[i,j,:] = 0 gray = cv2.cvtColor(blue, cv2.COLOR_BGR2GRAY) - _, contours, hierarchy = cv2.findContours(gray, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + if MAJOR_VERSION == 3: + _, contours, hierarchy = cv2.findContours(gray, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) + else: + contours, hierarchy = cv2.findContours(gray, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) if len(contours) > 0: maxContour = max(contours, key = cv2.contourArea) x,y,w,h = cv2.boundingRect(maxContour) @@ -55,12 +61,15 @@ def findMatchingContour(img, objX, objY): dilated = img.copy() #dilated = cv2.dilate(img, (5,5), iterations=1) canny = cv2.Canny(dilated, CANNY_LOW_THRES, CANNY_HIGH_THRES) - _, contours, hierarchy = cv2.findContours(canny, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) + if MAJOR_VERSION == 3: + _, contours, hierarchy = cv2.findContours(canny, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) + else: + contours, hierarchy = cv2.findContours(canny, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) #print('len:' + str(len(contours))) contours.sort(key = cv2.contourArea, reverse = True) - cv2.imshow('hey', canny) + #cv2.imshow('hey', canny) for i in range(len(contours)): contour = contours[i] x,y,w,h = cv2.boundingRect(contour) @@ -93,7 +102,10 @@ def processImage(img): dilated = cv2.dilate(imgThres, (DILATION_KERNEL_SIZE,DILATION_KERNEL_SIZE), iterations=DILATION_ITERATIONS) # Find the largest image contour. - _, contours, hierarchy = cv2.findContours(dilated, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE) + if MAJOR_VERSION == 3: + _, contours, hierarchy = cv2.findContours(dilated, cv2.RETR_LIST, cv2.CHAIN_APPROX_SIMPLE) + else: + contours, hierarchy = cv2.findContours(gray, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE) if len(contours) > 0: maxContour = max(contours, key = cv2.contourArea) else: @@ -145,29 +157,41 @@ def determinateDir(cenX, cenY, objX, objY): ##################################################################################### +context = zmq.Context() + +socket = context.socket(zmq.REP) +socket.bind("tcp://*:4444") +while True: + client_ip = socket.recv() + break + +footage_socket = context.socket(zmq.PUB) +footage_socket.connect('tcp://' + client_ip.decode() + ':5555') + +#camera = cv2.VideoCapture(0) # init the camera + -cap = cv2.VideoCapture('/home/stelios/Desktop/drone_flight_test (cut).mp4') + +cap = cv2.VideoCapture('C:/Users/Giorgos Ger/Desktop/drone_test.mp4') if (cap.isOpened() == False): print('Error opening stream.') quit() #cap.set(1, 30*6) -while(cap.isOpened()): - ret, frame = cap.read() - if (ret == True): - img, xDir, yDir = processImage(frame) - cv2.imshow('Frame', img) - - print('Got ' + str(xDir) + ' ' + str(yDir)) - - k = cv2.waitKey(25) & 0xFF - if k == 27: +while (cap.isOpened()): + try: + ret, frame = cap.read() + if (ret == True): + img, xDir, yDir = processImage(frame) + #cv2.imshow('Frame', img) + encoded, buffer = cv2.imencode('.jpg', img) + jpg_as_text = base64.b64encode(buffer) + footage_socket.send(jpg_as_text) + cv2.waitKey(33) + else: break - if k == ord('p') or k == ord('P'): - cv2.waitKey(0) - - else: - break -cap.release() -cv2.destroyAllWindows() \ No newline at end of file + except KeyboardInterrupt: + cap.release() + cv2.destroyAllWindows() + break \ No newline at end of file diff --git a/tracking and telemetry/Client/.vs/Client/v16/.suo b/tracking and telemetry/Client/.vs/Client/v16/.suo index 142bbe1533a9d9f842df52af44f0910f44e3198f..16a00fa64ce5fe6207926891c9daad92c071c2ec 100644 GIT binary patch literal 74240 zcmeHQ37i~NnXdr?34|a5kwdT{fE?3pXQrp;Ai>P^%p^c!2Bs6PW`~~cnxQj2-D4jl zLnbPsAcq&Yf{F@=;wmb5t_Kj=71>n@y5P+rx*n)pi^uAk?Ehb{-gH%URd;nyj_FCg z{(W6luU@_TeeZkU_r32uy6w=XZ@>5GUnmxLrn0ZHea8Z2e}n%%xF=}t6^e2YZuq=? 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