Merged streaming service in main

Errors with fps and image processing.

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)
+	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)
+	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.
+	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:
@@ -145,8 +157,22 @@ 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()
@@ -154,20 +180,18 @@ if (cap.isOpened() == False):
 #cap.set(1, 30*6)
 
 while (cap.isOpened()):
+	try:
 		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:
-			break
-		if k == ord('p') or k == ord('P'):
-			cv2.waitKey(0)
-
+			#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
+	except KeyboardInterrupt:
 		cap.release()
 		cv2.destroyAllWindows()
+		break