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David Rotermund
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325
WebCam.py
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325
WebCam.py
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#%%
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#
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# WebCam.py
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# ========================================================
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# interface to cv2 for using a webcam or for reading from
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# a video file
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#
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# Version 1.0, before 30.03.2023:
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# written by David...
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#
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# Version 1.1, 30.03.2023:
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# thrown out test image
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# added test code
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# added code to "capture" from video file
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#
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# Version 1.2, 20.06.2023:
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# added code to capture wirelessly from "GoPro" camera
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# added test code for "GoPro"
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#
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# Version 1.3, 23.06.2023
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# test display in pyplot or cv2
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#
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# Version 1.4, 28.06.2023
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# solved Windows DirectShow problem
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#
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from PIL import Image
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import os
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import cv2
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import torch
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import torchvision as tv
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# for GoPro
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import time
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import socket
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try:
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print("Trying to import GoPro modules...")
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from goprocam import GoProCamera, constants
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gopro_exists = True
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except:
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print("...not found, continuing!")
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gopro_exists = False
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import platform
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class WebCam:
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# test_pattern: torch.Tensor
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# test_pattern_gray: torch.Tensor
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source: int
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framesize: tuple[int, int]
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fps: float
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cap_frame_width: int
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cap_frame_height: int
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cap_fps: float
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webcam_is_ready: bool
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cap_frames_available: int
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default_dtype = torch.float32
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def __init__(
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self,
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source: str | int = 1,
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framesize: tuple[int, int] = (720, 1280), # (1920, 1080), # (640, 480),
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fps: float = 30.0,
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):
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super().__init__()
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assert fps > 0
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self.source = source
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self.framesize = framesize
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self.cap = None
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self.fps = fps
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self.webcam_is_ready = False
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def open_cam(self) -> bool:
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if self.cap is not None:
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self.cap.release()
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self.cap = None
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self.webcam_is_ready = False
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# handle GoPro...
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if self.source == "GoProWireless":
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if not gopro_exists:
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print("No GoPro driver/support!")
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self.webcam_is_ready = False
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return False
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print("GoPro: Starting access")
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gpCam = GoProCamera.GoPro()
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self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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print("GoPro: Socket created!!!")
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self.t = time.time()
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gpCam.livestream("start")
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gpCam.video_settings(res="1080p", fps="30")
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gpCam.gpControlSet(
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constants.Stream.WINDOW_SIZE, constants.Stream.WindowSize.R720
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)
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self.cap = cv2.VideoCapture("udp://10.5.5.9:8554", cv2.CAP_FFMPEG)
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print("GoPro: Video capture started!!!")
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else:
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self.sock = None
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self.t = -1
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if platform.system().lower() == "windows":
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self.cap = cv2.VideoCapture(self.source, cv2.CAP_DSHOW)
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else:
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self.cap = cv2.VideoCapture(self.source)
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print("Normal capture started!!!")
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assert self.cap is not None
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if self.cap.isOpened() is not True:
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self.webcam_is_ready = False
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return False
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if type(self.source) != str:
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self.cap.set(cv2.CAP_PROP_FOURCC, cv2.VideoWriter_fourcc(*"MJPG"))
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self.cap.set(cv2.CAP_PROP_FPS, self.fps)
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self.cap.set(cv2.CAP_PROP_FRAME_WIDTH, self.framesize[0])
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self.cap.set(cv2.CAP_PROP_FRAME_HEIGHT, self.framesize[1])
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self.cap_frames_available = None
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else:
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# ...for files and GoPro...
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self.cap_frames_available = self.cap.get(cv2.CAP_PROP_FRAME_COUNT)
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self.cap_frame_width = int(self.cap.get(cv2.CAP_PROP_FRAME_WIDTH))
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self.cap_frame_height = int(self.cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
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self.cap_fps = float(self.cap.get(cv2.CAP_PROP_FPS))
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print(
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(
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f"Capturing or reading with: {self.cap_frame_width:.0f} x "
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f"{self.cap_frame_height:.0f} @ "
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f"{self.cap_fps:.1f}."
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)
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)
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self.webcam_is_ready = True
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return True
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def close_cam(self) -> None:
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if self.cap is not None:
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self.cap.release()
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def get_frame(self) -> torch.Tensor | None:
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if self.cap is None:
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return None
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else:
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if self.sock:
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dt_min = 0.015
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success, frame = self.cap.read()
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t_next = time.time()
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t_prev = t_next
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while t_next - t_prev < dt_min:
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t_prev = t_next
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success, frame = self.cap.read()
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t_next = time.time()
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if self.t >= 0:
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if time.time() - self.t > 2.5:
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print("GoPro-Stream must be kept awake!...")
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self.sock.sendto(
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"_GPHD_:0:0:2:0.000000\n".encode(), ("10.5.5.9", 8554)
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)
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self.t = time.time()
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else:
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success, frame = self.cap.read()
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if success is False:
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self.webcam_is_ready = False
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return None
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output = (
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torch.tensor(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
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.movedim(-1, 0)
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.type(dtype=self.default_dtype)
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/ 255.0
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)
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return output
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# for testing the code if module is executed from command line
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if __name__ == "__main__":
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import matplotlib.pyplot as plt
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import cv2
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TEST_FILEREAD = False
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TEST_WEBCAM = True
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TEST_GOPRO = False
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display = "cv2"
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n_capture = 200
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delay_capture = 0.001
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print("Testing the WebCam interface")
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if TEST_FILEREAD:
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file_name = "level1.mp4"
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# open
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print("Opening video file")
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w = WebCam(file_name)
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if not w.open_cam():
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raise OSError(f"Opening file with name {file_name} failed!")
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# print information
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print(
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f"Frame size {w.cap_frame_width} x {w.cap_frame_height} at {w.cap_fps} fps."
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)
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# capture three frames and show them
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for i in range(min([n_capture, w.cap_frames_available])): # TODO: available?
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frame = w.get_frame()
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if frame == None:
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raise OSError(f"Can not get frame from file with name {file_name}!")
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print(f"frame {i} has shape {frame.shape}")
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frame_numpy = (frame.movedim(0, -1) * 255).type(dtype=torch.uint8).numpy()
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if display == "pyplot":
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plt.imshow(frame_numpy)
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plt.show()
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if display == "cv2":
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cv2.imshow("File", frame_numpy[:, :, (2, 1, 0)])
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cv2.waitKey(1)
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time.sleep(delay_capture)
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# close
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print("Closing file")
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w.close_cam()
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if TEST_WEBCAM:
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camera_index = 0
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# open
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print("Opening camera")
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w = WebCam(camera_index)
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if not w.open_cam():
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raise OSError(f"Opening web cam with index {camera_index} failed!")
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# print information
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print(
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f"Frame size {w.cap_frame_width} x {w.cap_frame_height} at {w.cap_fps} fps."
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)
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# capture three frames and show them
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for i in range(n_capture):
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frame = w.get_frame()
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if frame == None:
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raise OSError(
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f"Can not get frame from camera with index {camera_index}!"
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)
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print(f"frame {i} has shape {frame.shape}")
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frame_numpy = (frame.movedim(0, -1) * 255).type(dtype=torch.uint8).numpy()
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if display == "pyplot":
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plt.imshow(frame_numpy)
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plt.show()
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if display == "cv2":
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cv2.imshow("WebCam", frame_numpy[:, :, (2, 1, 0)])
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cv2.waitKey(1)
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time.sleep(delay_capture)
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# close
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print("Closing camera")
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w.close_cam()
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if TEST_GOPRO:
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camera_name = "GoProWireless"
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# open
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print("Opening GoPro")
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w = WebCam(camera_name)
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if not w.open_cam():
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raise OSError(f"Opening GoPro with index {camera_index} failed!")
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# print information
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print(
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f"Frame size {w.cap_frame_width} x {w.cap_frame_height} at {w.cap_fps} fps."
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)
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w.cap.set(cv2.CAP_PROP_BUFFERSIZE, 0)
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# capture three frames and show them
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# print("Empty Buffer...")
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# for i in range(500):
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# print(i)
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# frame = w.get_frame()
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# print("Buffer Emptied...")
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for i in range(n_capture):
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frame = w.get_frame()
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if frame == None:
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raise OSError(
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f"Can not get frame from camera with index {camera_index}!"
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)
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print(f"frame {i} has shape {frame.shape}")
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frame_numpy = (frame.movedim(0, -1) * 255).type(dtype=torch.uint8).numpy()
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if display == "pyplot":
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plt.imshow(frame_numpy)
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plt.show()
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if display == "cv2":
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cv2.imshow("GoPro", frame_numpy[:, :, (2, 1, 0)])
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cv2.waitKey(1)
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time.sleep(delay_capture)
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# close
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print("Closing Cam/File/GoPro")
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w.close_cam()
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if display == "cv2":
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cv2.destroyAllWindows()
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# %%
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14
online_receiver.py
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14
online_receiver.py
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#%%
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from communication.communicate_receiver import receiver
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from processing_chain.OnlinePerception import OnlinePerception
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online_perception = OnlinePerception("cv2", use_gui=True)
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url: str = "tcp://*:5555" # number specifies communication channel
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receiver(url, online_perception, VERBOSE=False)
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# del online_perception
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# %%
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19
online_sender.py
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19
online_sender.py
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#%%
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from processing_chain.OnlineEncoding import OnlineEncoding
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from communication.communicate_sender import sender
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verbose = "cv2"
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source = "GoProWireless"
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online_encoding = OnlineEncoding(source=source, verbose=verbose)
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VERBOSE: bool = False
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url: str = "tcp://localhost:5555" # number specifies communication channel
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sender(url=url, sender_processing=online_encoding, max_processing=-1, VERBOSE=VERBOSE)
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del online_encoding
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# %%
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19
online_sender_gopro.py
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19
online_sender_gopro.py
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#%%
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from processing_chain.OnlineEncoding import OnlineEncoding
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from communication.communicate_sender import sender
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verbose = "cv2"
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source = "GoProWireless"
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online_encoding = OnlineEncoding(source=source, verbose=verbose)
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VERBOSE: bool = False
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url: str = "tcp://localhost:5555" # number specifies communication channel
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sender(url=url, sender_processing=online_encoding, max_processing=-1, VERBOSE=VERBOSE)
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del online_encoding
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# %%
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19
online_sender_webcam0.py
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19
online_sender_webcam0.py
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#%%
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from processing_chain.OnlineEncoding import OnlineEncoding
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from communication.communicate_sender import sender
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verbose = "cv2"
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source = 0
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online_encoding = OnlineEncoding(source=source, verbose=verbose)
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VERBOSE: bool = False
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url: str = "tcp://localhost:5555" # number specifies communication channel
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sender(url=url, sender_processing=online_encoding, max_processing=-1, VERBOSE=VERBOSE)
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del online_encoding
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# %%
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