Added camera plugin over cv2
This commit is contained in:
Fabio Manganiello
parent
150d95d0dc
commit
17367f5b3e
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@ -206,6 +206,7 @@ autodoc_mock_imports = ['googlesamples.assistant.grpc.audio_helpers',
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'sounddevice',
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'soundfile',
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'numpy',
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'cv2',
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]
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sys.path.insert(0, os.path.abspath('../..'))
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@ -172,8 +172,13 @@ class HttpBackend(Backend):
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if ssl_cert else None
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if self.uwsgi_args:
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<<<<<<< HEAD
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self.uwsgi_args = [str(_) for _ in self.uwsgi_args] + \
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['--module', 'platypush.backend.http.uwsgi', '--enable-threads']
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=======
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self.uwsgi_args = ['--plugins', 'python3', '--enable-threads'] + \
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self.uwsgi_args + ['--module', 'platypush.backend.http.uwsgi']
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>>>>>>> Added camera plugin over cv2
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def send_message(self, msg):
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@ -0,0 +1,318 @@
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import os
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import re
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import shutil
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import threading
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import time
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import cv2
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from datetime import datetime
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from platypush.config import Config
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from platypush.plugins import Plugin, action
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class CameraPlugin(Plugin):
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"""
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Plugin to control generic cameras over OpenCV.
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Requires:
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* **opencv** (``pip install opencv-python``)
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"""
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_default_frames_dir = os.path.join(Config.get('workdir'), 'camera',
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'frames')
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_default_warmup_frames = 5
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_default_sleep_between_frames = 0
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_default_color_transform = 'COLOR_BGR2BGRA'
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_max_stored_frames = 100
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def __init__(self, device_id=0, frames_dir=_default_frames_dir,
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warmup_frames=_default_warmup_frames,
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sleep_between_frames=_default_sleep_between_frames,
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max_stored_frames=_max_stored_frames,
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color_transform=_default_color_transform, *args, **kwargs):
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"""
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:param device_id: Index of the default video device to be used for
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capturing (default: 0)
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:type device_id: int
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:param frames_dir: Directory where the camera frames will be stored
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(default: ``~/.local/share/platypush/camera/frames``)
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:type frames_dir: str
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:param warmup_frames: Cameras usually take a while to adapt their
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luminosity and focus to the environment when taking a picture.
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This parameter allows you to specify the number of "warmup" frames
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to capture upon picture command before actually capturing a frame
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(default: 5 but you may want to calibrate this parameter for your
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camera)
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:type warmup_frames: int
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:param sleep_between_frames: If set, the process will sleep for the
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specified amount of seconds between two frames when recording
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(default: 0)
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:type sleep_between_frames: float
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:param max_stored_frames: Maximum number of frames to store in
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``frames_dir`` when recording with no persistence (e.g. streaming
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over HTTP) (default: 100)
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:type max_stored_frames: int
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:param color_transform: Color transformation to apply to the captured
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frames. See https://docs.opencv.org/3.2.0/d7/d1b/group__imgproc__misc.html
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for a full list of supported color transformations.
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(default: "``COLOR_BGR2BGRA``")
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:type color_transform: str
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"""
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super().__init__(*args, **kwargs)
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self.default_device_id = device_id
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self.frames_dir = os.path.abspath(os.path.expanduser(frames_dir))
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self.warmup_frames = warmup_frames
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self.sleep_between_frames = sleep_between_frames
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self.max_stored_frames = max_stored_frames
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self.color_transform = color_transform
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self._is_recording = {} # device_id => Event map
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self._devices = {} # device_id => VideoCapture map
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self._recording_threads = {} # device_id => Thread map
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def _init_device(self, device_id):
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self._release_device(device_id)
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if device_id not in self._devices:
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self._devices[device_id] = cv2.VideoCapture(device_id)
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if device_id not in self._is_recording:
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self._is_recording[device_id] = threading.Event()
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return self._devices[device_id]
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def _release_device(self, device_id, wait_thread_termination=True):
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if device_id in self._is_recording:
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self._is_recording[device_id].clear()
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if wait_thread_termination and device_id in self._recording_threads:
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self.logger.info('A recording thread is running, waiting for termination')
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if self._recording_threads[device_id].is_alive():
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self._recording_threads[device_id].join()
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del self._recording_threads[device_id]
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if device_id in self._devices:
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self._devices[device_id].release()
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del self._devices[device_id]
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def _store_frame_to_file(self, frame, frames_dir, image_file):
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if image_file:
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filepath = image_file
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else:
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os.makedirs(frames_dir, exist_ok=True)
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filepath = os.path.join(
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frames_dir, datetime.now().strftime('%Y-%m-%d_%H-%M-%S-%f.jpg'))
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cv2.imwrite(filepath, frame)
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return filepath
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def _get_stored_frames_files(self, frames_dir):
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return sorted([
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os.path.join(frames_dir, f) for f in os.listdir(frames_dir)
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if os.path.isfile(os.path.join(frames_dir, f)) and f.endswith('.jpg')
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])
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def _get_avg_fps(self, frames_dir):
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files = self._get_stored_frames_files(frames_dir)
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regex = re.compile('(\d+)-(\d+)-(\d+)_(\d+)-(\d+)-(\d+)-(\d+).jpe?g$')
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frame_time_diff = 0.0
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n_frames = 0
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for i in range(1, len(files)):
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m1 = re.search(regex, files[i-1])
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m2 = re.search(regex, files[i])
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if not m1 or not m2:
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continue
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t1 = datetime.timestamp(datetime(*map(int, m1.groups())))
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t2 = datetime.timestamp(datetime(*map(int, m2.groups())))
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frame_time_diff += (t2-t1)
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n_frames += 1
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return n_frames/frame_time_diff if n_frames and frame_time_diff else 0
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def _remove_expired_frames(self, frames_dir, max_stored_frames):
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files = self._get_stored_frames_files(frames_dir)
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for f in files[max_stored_frames+1:len(files)]:
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os.unlink(f)
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def _make_video_file(self, frames_dir, video_file):
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files = self._get_stored_frames_files(frames_dir)
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if not files:
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self.logger.warning('No frames found in {}'.format(frames_dir))
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return
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frame = cv2.imread(files[0])
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height, width, layers = frame.shape
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fps = self._get_avg_fps(frames_dir)
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video = cv2.VideoWriter(video_file, 0, fps, (width, height))
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for f in files:
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video.write(cv2.imread(f))
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video.release()
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shutil.rmtree(frames_dir, ignore_errors=True)
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def _recording_thread(self, duration, video_file, image_file, device_id,
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frames_dir, n_frames, sleep_between_frames,
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max_stored_frames, color_transform):
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device = self._devices[device_id]
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color_transform = getattr(cv2, self.color_transform)
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def thread():
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self._is_recording[device_id].wait()
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self.logger.info('Starting recording from video device {}'.
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format(device_id))
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recording_started_time = time.time()
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captured_frames = 0
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while self._is_recording[device_id].is_set():
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if duration and time.time() - recording_started_time >= duration \
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or n_frames and captured_frames >= n_frames:
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break
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ret, frame = device.read()
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if not ret:
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self.logger.warning('Error while retrieving video frame')
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continue
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frame = cv2.cvtColor(frame, color_transform)
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self._store_frame_to_file(frame=frame, frames_dir=frames_dir,
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image_file=image_file)
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captured_frames += 1
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if max_stored_frames and not video_file:
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self._remove_expired_frames(
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frames_dir=frames_dir,
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max_stored_frames=max_stored_frames)
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if sleep_between_frames:
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time.sleep(sleep_between_frames)
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self._release_device(device_id, wait_thread_termination=False)
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self.logger.info('Recording terminated')
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if video_file:
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self.logger.info('Writing frames to video file {}'.
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format(video_file))
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self._make_video_file(frames_dir=frames_dir,
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video_file=video_file)
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self.logger.info('Video file {}: rendering completed'.
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format(video_file))
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return thread
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@action
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def start_recording(self, duration=None, video_file=None, device_id=None,
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frames_dir=None, sleep_between_frames=None,
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max_stored_frames=None, color_transform=None):
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"""
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Start recording
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:param duration: Record duration in seconds (default: None, record until
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``stop_recording``)
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:type duration: float
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:param video_file: If set, the stream will be recorded to the specified
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video file (default: None)
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:type video_file: str
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:param device_id, frames_dir, sleep_between_frames, max_stored_frames: Set
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these parameters if you want to override the default configured ones.
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"""
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device_id = device_id if device_id is not None else self.default_device_id
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frames_dir = os.path.abspath(os.path.expanduser(frames_dir)) \
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if frames_dir is not None else self.frames_dir
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sleep_between_frames = sleep_between_frames if sleep_between_frames \
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is not None else self.sleep_between_frames
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max_stored_frames = max_stored_frames if max_stored_frames \
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is not None else self.max_stored_frames
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color_transform = color_transform if color_transform \
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is not None else self.color_transform
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self._init_device(device_id)
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frames_dir = os.path.join(frames_dir, str(device_id))
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if video_file:
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video_file = os.path.abspath(os.path.expanduser(video_file))
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frames_dir = os.path.join(frames_dir, 'recording_{}'.format(
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datetime.now().strftime('%Y-%m-%d_%H-%M-%S-%f')))
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self._recording_threads[device_id] = threading.Thread(
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target=self._recording_thread(duration=duration,
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video_file=video_file,
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image_file=None, device_id=device_id,
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frames_dir=frames_dir, n_frames=None,
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sleep_between_frames=sleep_between_frames,
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max_stored_frames=max_stored_frames,
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color_transform=color_transform))
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self._recording_threads[device_id].start()
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self._is_recording[device_id].set()
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return { 'path': video_file if video_file else frames_dir }
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@action
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def stop_recording(self, device_id=None):
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"""
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Stop recording
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"""
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device_id = device_id if device_id is not None else self.default_device_id
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self._release_device(device_id)
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@action
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def take_picture(self, image_file, device_id=None, warmup_frames=None,
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color_transform=None):
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"""
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Take a picture.
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:param image_file: Path where the output image will be stored.
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:type image_file: str
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:param device_id, warmup_frames, color_transform: Overrides the configured default parameters
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"""
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image_file = os.path.abspath(os.path.expanduser(image_file))
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device_id = device_id if device_id is not None else self.default_device_id
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warmup_frames = warmup_frames if warmup_frames is not None else \
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self.warmup_frames
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color_transform = color_transform if color_transform \
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is not None else self.color_transform
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self._init_device(device_id)
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self._recording_threads[device_id] = threading.Thread(
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target=self._recording_thread(duration=None, video_file=None,
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image_file=image_file,
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device_id=device_id, frames_dir=None,
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n_frames=warmup_frames,
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sleep_between_frames=None,
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max_stored_frames=None,
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color_transform=color_transform))
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self._recording_threads[device_id].start()
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self._is_recording[device_id].set()
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return { 'path': image_file }
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# vim:sw=4:ts=4:et:
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