Difference between revisions of "Explorer/RaspberryPi/Visualprocessing/Opencv"
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(13 intermediate revisions by the same user not shown) | |||
Line 52: | Line 52: | ||
>>> cv2.__version__ | >>> cv2.__version__ | ||
'4.3.0' | '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 | create ~/opencv_test/test.cpp | ||
Line 59: | Line 109: | ||
#define FPS 30 | #define FPS 30 | ||
#define SCALE 3/2 | #define SCALE 3/2 | ||
using namespace cv; | using namespace cv; | ||
using namespace std; | using namespace std; | ||
int main(int, char**) | 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` | 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*;\ | 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 - \ | 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 & | ~/opencv_test/test & | ||
gst-rtsp-server-1.14.4/examples/test-launch | 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: | client: | ||
Line 105: | Line 160: | ||
gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false | gst-launch-1.0 rtspsrc location=rtsp://RASPBERRYPI_IP:8554/test2 ! rtph264depay ! avdec_h264 ! xvimagesink sync=false | ||
[[Explorer/RaspberryPi/Visualprocessing/Opencv/Optimisation]] |
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