Difference between revisions of "Explorer/RaspberryPi/Visualprocessing/Opencv"
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create ~/opencv_test/ptest.py | create ~/opencv_test/ptest.py | ||
chmod ugo+xwr ~/opencv_test/ptest.py | |||
#!/usr/bin/python3 | #!/usr/bin/python3 | ||
import numpy as np | import numpy as np |
Latest revision as of 23:24, 27 June 2020
- Installation
PIZero installation > 10 hours
PI3 installation > 4 hours
sudo apt-get install -y cmake sudo apt-get install -y python-numpy python3-numpy libpython-dev libpython3-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libtiff-dev zlib1g-dev libjpeg-dev libpng-dev libavcodec-dev libavformat-dev libswscale-dev libv4l-dev libxvidcore-dev libx264-dev sudo apt-get install -y libatlas-base-dev gfortran
for raspberry pi3 sudo apt-get install -y libgtk2.0-dev
git clone https://github.com/opencv/opencv.git git clone https://github.com/opencv/opencv_contrib.git cd ~/opencv git checkout 4.3.0 cd ~/opencv_contrib git checkout 4.3.0
mkdir ~/opencv/build cd ~/opencv/build cmake -D CMAKE_BUILD_TYPE=RELEASE \ -D CMAKE_INSTALL_PREFIX=/usr/local \ -D INSTALL_PYTHON_EXAMPLES=OFF \ -D OPENCV_EXTRA_MODULES_PATH=~/opencv_contrib/modules \ -D OPENCV_GENERATE_PKGCONFIG=YES \ -D BUILD_TESTS=OFF \ -D BUILD_PERF_TESTS=OFF \ -D BUILD_EXAMPLES=OFF ..
=> GStreamer: YES (1.14.4)
/etc/dphys-swapfile CONF_SWAPSIZE=2048 sudo /etc/init.d/dphys-swapfile stop sudo /etc/init.d/dphys-swapfile start
make & for raspberrypi3: make -j4&
sudo make install sudo ldconfig -v
- Check installation
python3 Python 3.7.3 (default, Dec 20 2019, 18:57:59) [GCC 8.3.0] on linux Type "help", "copyright", "credits" or "license" for more information. >>> import cv2 >>> cv2.__version__ '4.3.0'
create ~/opencv_test/ptest.py chmod ugo+xwr ~/opencv_test/ptest.py
#!/usr/bin/python3 import numpy as np import threading import cv2 import time acquisition_cpt = 0 processing_cpt = 0 frame = None def data_acquisition(cap,out,condition): global acquisition_cpt,frame print("data_acquisition thread") while True: grabbed,frame = cap.read() if grabbed: with condition: acquisition_cpt = acquisition_cpt + 1 #print("acquisition_cpt ",acquisition_cpt) condition.notify() def data_processing(cap,out,condition): global processing_cpt print("data_processing thread") while True: with condition: condition.wait() img = frame.copy() processing_cpt = processing_cpt + 1 #print("processing_cpt ",processing_cpt) out.write(img) if __name__ == '__main__': cap = cv2.VideoCapture('udpsrc port=5200 ! h264parse ! omxh264dec ! videoconvert ! video/x-raw, format=(string)BGR ! appsink', cv2.CAP_GSTREAMER); out = cv2.VideoWriter('appsrc ! videoconvert ! omxh264enc ! video/x-h264,profile=high ! udpsink host=127.0.0.1 port=5210',cv2.CAP_GSTREAMER,0, 30, (640,480), True) time.sleep(0.1) if not cap.isOpened() or not out.isOpened(): print("not opened") quit() threads = [] condition = threading.Condition() for func in [data_acquisition, data_processing]: threads.append(threading.Thread(target=func, args=(cap,out,condition))) threads[-1].start() for thread in threads: thread.join() cap.release()
create ~/opencv_test/test.cpp
#include <opencv2/opencv.hpp> #define WIDTH 640 #define HEIGHT 480 #define FPS 30 #define SCALE 3/2 using namespace cv; using namespace std; int main(int, char**) { Mat data; string streamInGstStr="udpsrc port=5200 ! h264parse ! omxh264dec ! videoconvert ! video/x-raw, format=(string)BGR ! appsink"; string streamOutGstStr="appsrc ! videoconvert ! omxh264enc ! video/x-h264,profile=high ! udpsink host=127.0.0.1 port=5210"; VideoCapture streamIn(streamInGstStr,CAP_GSTREAMER); VideoWriter streamOut(streamOutGstStr,0,FPS/1,Size(WIDTH,HEIGHT),true); if (streamIn.isOpened() && streamOut.isOpened()) { while (true) { streamIn.read(data); if (!data.empty()) { streamOut.write(data); } } } return 0; }
g++ -g ~/opencv_test/test.cpp -o ~/opencv_test/test `pkg-config --cflags --libs opencv4`
Run following script with ~/opencv_test/test and ~/opencv_test/ptest.py
#!/bin/bash sudo killall raspivid gst-launch test-launch test ptest.py \ rm /tmp/camera*;\ raspivid -t 0 -w 640 -h 480 -fps 30/1 -b 3000000 -g 5 -vf -hf -cd H264 -n -fl -ih -o - \ | gst-launch-1.0 fdsrc \ ! h264parse \ ! video/x-h264,stream-format=byte-stream \ ! tee name=streams \ ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \ ! udpsink host=127.0.0.1 port=5100 streams. \ ! queue max-size-buffers=0 max-size-time=0 max-size-bytes=0 \ ! udpsink host=127.0.0.1 port=5200 & sleep 1 #~/opencv_test/ptest.py & ~/opencv_test/test & sleep 1 gst-rtsp-server-1.14.4/examples/test-launch \ "udpsrc port=5100 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1" \ "udpsrc port=5210 do-timestamp=true ! video/x-h264,stream-format=byte-stream,alignment=au ! rtph264pay name=pay0 pt=96 config-interval=1"
client:
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test ! rtph264depay ! avdec_h264 ! xvimagesink sync=false
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false