import cv2
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import time
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import threading
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import numpy as np
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import os, sys
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# add python path of src to sys.path
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src_path = os.path.join(__file__, *(['..'] * 2))
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src_path = os.path.abspath(src_path)
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sys.path.insert(0, src_path)
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from protos import aerial_pb2 as pb
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class cameraController(object):
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def __init__(self,IMAGE_WIDTH,IMAGE_HEIGHT,CAMERA_COUNT,device_id,queue_dict):
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self.image_width = IMAGE_WIDTH
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self.image_height = IMAGE_HEIGHT
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self.camera_count = CAMERA_COUNT
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self.device_id = device_id
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self.queue_dict = queue_dict
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self.device_state_queue = self.queue_dict["device_state"]
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self.image_data_queue = self.queue_dict["image_data"]
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self._capture_thread = None
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def open_cameras(self):
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"""
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Test the ports and returns a tuple with the available ports and the ones that are working.
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"""
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self.cameras = []
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self.working_ports = []
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for dev_port in range(self.CAMERA_COUNT):
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camera = cv2.VideoCapture(dev_port, cv2.CAP_DSHOW)
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camera.set(cv2.CAP_PROP_FRAME_WIDTH, self.IMAGE_WIDTH)
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camera.set(cv2.CAP_PROP_FRAME_HEIGHT, self.IMAGE_HEIGHT)
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camera.set(cv2.CAP_PROP_FPS, 1)
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if camera.isOpened():
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is_reading, img = camera.read()
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w = camera.get(3)
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h = camera.get(4)
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if is_reading:
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self.working_ports.append(dev_port)
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self.cameras.append(camera)
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msg = f"{time.asctime()} {self.device_id} camera port {dev_port} is working and reads images ({h} x {w})"
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else:
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msg = f"{time.asctime()} {self.device_id} camera port {dev_port} is not working"
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# add msg to queue
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self.device_state_queue.put(msg)
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print(msg)
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def _start_captureThread(self):
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"""start capture thread"""
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if self._capture_thread is None:
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self._capture_thread = \
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CaptureThread(self.cameras,self.image_data_queue,interval=10)
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self._capture_thread.setDaemon(True)
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self._capture_thread.start()
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def _stop_captureThread(self):
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"""stop capture thread"""
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if self._capture_thread is not None:
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self._capture_thread.stop()
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self._capture_thread = None
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class CaptureThread(threading.Thread):
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"""
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camera capture thread
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"""
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def __init__(self, cameras, msg_queue, interval, image_quality = 95):
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"""init the thread"""
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threading.Thread.__init__(self)
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self.cameras = cameras
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self.msg_queue = msg_queue
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self.interval = interval
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self.image_quality = image_quality
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self.is_stop = False
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def stop(self):
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"""stop the thread"""
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self.is_stop = True
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def run(self):
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print("CaptureThread started")
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self.next_time = time.time() + self.interval
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while not self.is_stop:
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this_time = time.time()
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if this_time > self.next_time:
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data1 = pb.ImagesMessage()
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for i in range(len(self.cameras)):
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_, frame = self.cameras[i].read()
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encode_param = [int(cv2.IMWRITE_JPEG_QUALITY), self.image_quality]
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_, encimg = cv2.imencode('.jpg', frame, encode_param)
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if frame is not None:
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np_array = np.asarray(encimg) # frame 转换为numpy数组
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byte_array = np_array.tobytes() # numpy数组转换为byte数组
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if i == 0:
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data1.image1 = byte_array
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elif i == 1:
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data1.image2 = byte_array
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elif i == 2:
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data1.image3 = byte_array
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elif i == 3:
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data1.image4 = byte_array
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data1_str = data1.SerializeToString()
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# create protobuf message
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req = pb.RequestCommand()
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req.sys_command = pb.SysCommand.FIVE_G_COMMAND
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req.sub_command = pb.SubCommand.FIVE_G_SEND_IMAGE_SUB_COMMAND
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req.data1.length = len(data1_str)
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req.data1.data = data1_str
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# add message to queue
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self.msg_queue.put(req)
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self.next_time += self.interval
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time.sleep(0.1)
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for camera in self.cameras:
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camera.release()
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print("CaptureThread stopped")
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