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# Simple example Robot Raconteur webcam client
# This program will capture a frame from both webcams and show it
# on the screen
from RobotRaconteur.Client import *
import time
import numpy
import cv2
import sys
# Function to take the data structure returned from the Webcam service
# and convert it to an OpenCV array
def webcam_image_to_mat(image):
frame2 = image.data.reshape([image.height, image.width, 3], order='C')
return frame2
# Main program
def main():
url = 'rr+tcp://localhost:22355/?service=multiwebcam'
if (len(sys.argv) >= 2):
url = sys.argv[1]
# Start up Robot Raconteur and connect, standard by this point
c_host = RRN.ConnectService(url)
# Use objref's to get the cameras. c_host is a "WebcamHost" type
# and is used to find the webcams
c1 = c_host.get_webcams(0)
c2 = c_host.get_webcams(1)
# Pull a frame from each camera, c1 and c2
frame1 = webcam_image_to_mat(c1.capture_frame())
try:
frame2 = webcam_image_to_mat(c2.capture_frame())
except:
print("Warning: could not read some second camera")
frame2 = None
# Show the images
cv2.imshow(c1.name, frame1)
if frame2 is not None:
cv2.imshow(c2.name, frame2)
# CV wait for key press on the image window and then destroy
cv2.waitKey()
cv2.destroyAllWindows()
if __name__ == '__main__':
main()
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