import sys
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import cv2 # NOQA: E402
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import os
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import numpy as np
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import threading
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import time
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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 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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