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314 | class CameraServer:
"""
Camera web server.
Handle FastAPI server to stream camera video and SocketIO client to send detected samples to server.
"""
_exiting: bool = False # True if Uvicorn server was ask to shutdown
_last_frame: SharedMemory = None # Last generated frame to stream on web server
_original_uvicorn_exit_handler = UvicornServer.handle_exit
def __init__(self):
"""
Class constructor.
Create FastAPI application and SocketIO client.
"""
self.settings = Settings()
CameraServer._exiting = False
self.app = FastAPI(title="COGIP Robot Camera Streamer", debug=False)
self.register_endpoints()
UvicornServer.handle_exit = self.handle_exit
self.records_dir = Path.home() / "records"
self.records_dir.mkdir(exist_ok=True)
# Keep only 100 last records
for old_record in sorted(self.records_dir.glob("*.jpg"))[:-100]:
old_record.unlink()
# Load camera intrinsic parameters
self.camera_matrix: cv2.typing.MatLike | None = None
self.dist_coefs: cv2.typing.MatLike | None = None
if self.settings.camera_intrinsic_params:
params_filename = self.settings.camera_intrinsic_params
else:
params_filename = get_camera_intrinsic_params_filename(
self.settings.id,
CameraName[self.settings.camera_name],
VideoCodec[self.settings.camera_codec],
self.settings.camera_width,
self.settings.camera_height,
)
if not params_filename.exists():
logger.warning(f"Camera intrinsic parameters file not found: {params_filename}")
else:
self.camera_matrix, self.dist_coefs = load_camera_intrinsic_params(params_filename)
# Load camera extrinsic parameters
self.extrinsic_params: CameraExtrinsicParameters | None = None
if self.settings.camera_extrinsic_params:
params_filename = self.settings.camera_extrinsic_params
else:
params_filename = get_camera_extrinsic_params_filename(
self.settings.id,
CameraName[self.settings.camera_name],
VideoCodec[self.settings.camera_codec],
self.settings.camera_width,
self.settings.camera_height,
)
if not params_filename.exists():
logger.warning(f"Camera extrinsic parameters file not found: {params_filename}")
else:
self.extrinsic_params = load_camera_extrinsic_params(params_filename)
self.aruco_dict = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50)
self.parameters = cv2.aruco.DetectorParameters()
self.detector = cv2.aruco.ArucoDetector(self.aruco_dict, self.parameters)
@staticmethod
def handle_exit(*args, **kwargs):
"""Overload function for Uvicorn handle_exit"""
CameraServer._exiting = True
if CameraServer._last_frame:
try:
CameraServer._last_frame.close()
logger.info("Camera server: Detached shared memory for last frame.")
except FileNotFoundError:
pass
CameraServer._original_uvicorn_exit_handler(*args, **kwargs)
def camera_connect(self) -> bool:
if self._exiting:
return True
try:
CameraServer._last_frame = SharedMemory(name="last_frame")
except Exception:
CameraServer._last_frame = None
logger.warning("Camera server: Failed to attach to shared memory last_frame, retrying in 1s.")
return False
logger.info("Camera server: Attached to shared memory last_frame.")
return True
async def camera_streamer(self):
"""
Frame generator.
Yield frames produced by [camera_handler][cogip.tools.robotcam.camera.CameraHandler.camera_handler].
"""
while not self._exiting:
yield b"--frame\r\n"
yield b"Content-Type: image/bmp\r\n\r\n"
yield bytes(self._last_frame.buf)
yield b"\r\n"
def register_endpoints(self) -> None:
@self.app.on_event("startup")
async def startup_event():
"""
Function called at FastAPI server startup.
"""
# Poll in background to wait for camera server connection through shared memory.
Thread(
target=lambda: polling2.poll(
self.camera_connect,
step=1,
poll_forever=True,
)
).start()
@self.app.on_event("shutdown")
async def shutdown_event():
"""
Function called at FastAPI server shutdown.
"""
pass
@self.app.get("/")
def index():
"""
Camera stream.
"""
stream = self.camera_streamer() if CameraServer._last_frame else ""
return StreamingResponse(stream, media_type="multipart/x-mixed-replace;boundary=frame")
@self.app.get("/snapshot", status_code=200)
async def snapshot():
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
basename = f"robot{self.settings.id}-{timestamp}-snapshot"
jpg_as_np = np.frombuffer(self._last_frame.buf, dtype=np.uint8)
frame = cv2.imdecode(jpg_as_np, flags=1)
record_filename = self.records_dir / f"{basename}.jpg"
cv2.imwrite(str(record_filename), frame)
@self.app.get("/camera_calibration", status_code=200)
async def camera_calibration(x: float, y: float, angle: float) -> Vertex:
jpg_as_np = np.frombuffer(self._last_frame.buf, dtype=np.uint8)
frame = cv2.imdecode(jpg_as_np, flags=1)
dst = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Detect marker corners
marker_corners, marker_ids, _ = self.detector.detectMarkers(dst)
# Draw detected markers
cv2.aruco.drawDetectedMarkers(frame, marker_corners, marker_ids)
# Record image
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
basename = f"robot{self.settings.id}-{timestamp}-calibration"
record_filename = self.records_dir / f"{basename}.jpg"
cv2.imwrite(str(record_filename), frame)
if marker_ids is None:
raise HTTPException(status_code=404, detail="No marker found")
robot_pose = Pose(x=x, y=y, O=angle)
# Keep table markers only
table_markers = {
id[0]: corners for id, corners in zip(marker_ids, marker_corners) if id[0] in [20, 21, 22, 23]
}
if len(table_markers) == 0:
raise HTTPException(status_code=404, detail="No table marker found")
# Compute camera position on table
table_camera_tvec, table_camera_angle = get_camera_position_on_table(
table_markers,
self.camera_matrix,
self.dist_coefs,
)
# Compute camera position in robot if robot position is given
camera_position = get_camera_position_in_robot(
robot_pose,
table_camera_tvec,
table_camera_angle,
)
return camera_position
@self.app.get("/solar_panels", status_code=200)
async def solar_panels(x: float, y: float, angle: float) -> dict[int, float]:
jpg_as_np = np.frombuffer(self._last_frame.buf, dtype=np.uint8)
frame = cv2.imdecode(jpg_as_np, flags=1)
dst = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Detect marker corners
marker_corners, marker_ids, rejected = self.detector.detectMarkers(dst)
# Draw detected markers
cv2.aruco.drawDetectedMarkers(frame, marker_corners, marker_ids)
# Record image
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
basename = f"robot{self.settings.id}-{timestamp}-panels"
record_filename = self.records_dir / f"{basename}.jpg"
cv2.imwrite(str(record_filename), frame)
if marker_ids is None:
return {}
robot_pose = Pose(x=x, y=y, O=angle)
# Keep solar panel markers only
solar_panel_markers = [corners for id, corners in zip(marker_ids, marker_corners) if id[0] == 47]
if len(solar_panel_markers) == 0:
return {}
panels = get_solar_panel_positions(
solar_panel_markers,
self.camera_matrix,
self.dist_coefs,
self.extrinsic_params,
robot_pose,
)
return panels
@self.app.get("/robot_position", status_code=200)
async def robot_position() -> Pose:
jpg_as_np = np.frombuffer(self._last_frame.buf, dtype=np.uint8)
frame = cv2.imdecode(jpg_as_np, flags=1)
dst = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
# Detect marker corners
marker_corners, marker_ids, _ = self.detector.detectMarkers(dst)
# Draw detected markers
cv2.aruco.drawDetectedMarkers(frame, marker_corners, marker_ids)
# Record image
timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
basename = f"robot{self.settings.id}-{timestamp}-position"
record_filename = self.records_dir / f"{basename}.jpg"
cv2.imwrite(str(record_filename), frame)
if marker_ids is None:
raise HTTPException(status_code=404, detail="No marker found")
# Keep table markers only
table_markers = {
id[0]: corners for id, corners in zip(marker_ids, marker_corners) if id[0] in [20, 21, 22, 23]
}
if len(table_markers) == 0:
raise HTTPException(status_code=404, detail="No table marker found")
# Compute camera position on table
camera_tvec, camera_angle = get_camera_position_on_table(
table_markers,
self.camera_matrix,
self.dist_coefs,
)
# Compute robot position on table
delta_tvec = np.array([self.extrinsic_params.x, self.extrinsic_params.y])
camera_tvec_rotated = rotate_2d(camera_tvec[0:2], -camera_angle)
robot_tvec_rotated = camera_tvec_rotated + delta_tvec
robot_tvec = rotate_2d(robot_tvec_rotated, camera_angle)
camera_angle_degrees = np.rad2deg(camera_angle)
logger.info(
"Robot position: "
f"X={robot_tvec[0]:.0f} Y={robot_tvec[1]:.0f} Z={camera_tvec[2]:.0f} Angle={camera_angle_degrees:.0f}"
)
return Pose(x=robot_tvec[0], y=robot_tvec[1], z=camera_tvec[2], O=camera_angle_degrees)
|