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123 lines
4.6 KiB
Python
123 lines
4.6 KiB
Python
#!/usr/bin/python
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import detect
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import timeit
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import cv2
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import socket
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import time
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from imutils.video import FPS
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calibration_width = 0.75
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image = "img7.jpg"
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images = ("img2.jpg", "img3.jpg", "img4.jpg", "img5.jpg", "img6.jpg", "img7.jpg", "img8.jpg")
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#images = ("img.jpg", "img2.jpg")
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video = True
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def go():
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for file in images:
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items,output = detect.detect(calibration_width, file, True, False)
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print(str(items))
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if "Penny" in items:
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items.remove("Penny")
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itema = items[0]
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valid = True
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for item in items:
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if item != itema:
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print("Too many items!")
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valid = False
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break
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if valid:
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print("Found " + itema)
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#selectedBin = sort.sort(itema)
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#control_motor.goToBin(selectedBin)
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def sendString(string):
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print("Found " + string)
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try:
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conn.sendall(string.encode('utf-8'))
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except socket.error:
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print("Error Occured.")
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if not video:
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elapsed_time = timeit.timeit(go, number=1)/1
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print(elapsed_time)
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else :
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#capture = cv2.VideoCapture('tcpclientsrc port=5001 host=192.168.1.129 ! gdpdepay ! rtph264depay ! avdec_h264 ! videoconvert ! videorate ! video/x-raw,framerate=5/1 ! appsink', cv2.CAP_GSTREAMER)
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capture = cv2.VideoCapture('udpsrc port=9000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! appsink sync=false', cv2.CAP_GSTREAMER)
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host = '' # Symbolic name meaning all available interfaces
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port = 9001 # Arbitrary non-privileged port
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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#s.setsockopt(s, socket.SOL_SOCKET, socket.SO_REUSEADDR)
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s.bind((host, port))
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print("waiting for connection")
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s.listen(1)
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conn, addr = s.accept()
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print('Connected to', addr)
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time.sleep(2)
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waitForPi = True
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while waitForPi is True:
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try:
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print("waiting for data")
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data = conn.recv(1024)
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if not data: break
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encoding = 'utf-8'
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print ("Client: "+str(data))
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waitForPi = False
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except socket.error:
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print("Error Occured.")
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break
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# server command for imx135 camera ./video2stdout | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=1 pt=96 ! gdppay ! tcpserversink host=192.168.43.152 port=5001
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# server command for udp: ./video2stdout | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.43.40 port=9000
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x = 0
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currentItem = ""
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samples = 0
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while True:
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ret = capture.grab()
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x+=1
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if not ret:
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print('empty frame')
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break
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#print('frame')
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if x > 1:
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ret,frame = capture.retrieve()
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frame = frame[130:1120, 275:1350]
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items,output = detect.detect(calibration_width, frame, True, True)
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cv2.imshow('Item Sorter', output)
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x = 0
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if "Penny" in items and len(items) > 1:
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items.remove("Penny")
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itema = items[0]
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valid = True
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for item in items:
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if item != itema:
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print("Too many items!")
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valid = False
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break
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if valid:
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if currentItem == itema:
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samples += 1
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else:
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currentItem = itema
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samples = 0
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if samples == 5:
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samples = 0
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capture.release()
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sendString(currentItem)
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waitForPi = True
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while waitForPi is True:
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try:
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data = conn.recv(1024)
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if not data: break
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print(str(data))
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if str(data) == "b'Continue'":
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waitForPi = False
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capture = cv2.VideoCapture('udpsrc port=9000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! appsink sync=false', cv2.CAP_GSTREAMER)
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except socket.error:
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print("Error Occured.")
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break
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if cv2.waitKey(1)&0xFF == ord('q'):
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s.close()
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break
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