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# Simple example Robot Raconteur webcam client
# This program will show a live streamed image from
# the webcams. Because Python is a slow language
# the framerate is low...
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
current_frame = None
def main():
url = 'rr+tcp://localhost:22355?service=webcam'
if (len(sys.argv) >= 2):
url = sys.argv[1]
# Startup, connect, and pull out the camera from the objref
c = RRN.ConnectService(url)
# Connect the pipe FrameStream to get the PipeEndpoint p
p = c.frame_stream.Connect(-1)
# Set the callback for when a new pipe packet is received to the
# new_frame function
p.PacketReceivedEvent += new_frame
# try:
c.start_streaming()
# except: pass
cv2.namedWindow("Image")
while True:
# Just loop resetting the frame
# This is not ideal but good enough for demonstration
if (not current_frame is None):
cv2.imshow("Image", current_frame)
if cv2.waitKey(50) != -1:
break
cv2.destroyAllWindows()
p.Close()
c.stop_streaming()
# This function is called when a new pipe packet arrives
def new_frame(pipe_ep):
global current_frame
# Loop to get the newest frame
while (pipe_ep.Available > 0):
# Receive the packet
image = pipe_ep.ReceivePacket()
# Convert the packet to an image and set the global variable
current_frame = webcam_image_to_mat(image)
if __name__ == '__main__':
main()
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