Question

我正在尝试使用Flask来显示OpenCV图像流。我正在使用ROS和Zed立体相机。

问题是烧瓶服务器只显示损坏的图像图标。我猜这个问题是在gen（）方法中，因为cv2.imwrite（＆＃39; t.jpg＆＃39;，img）方法是错误的方法。我对OpenCV的经验很少。

Flask服务器接收的图像数据是InputArray。我需要一种方法来转换它并在Flask服务器中显示图像。

我正在使用Python 2.7和rospy（ROS）。

有什么建议吗？

更新：

访问ZED cam的ROS节点的代码：

    #!/usr/bin/env python

# ROS imports
import rospy
from sensor_msgs.msg import Image

# Utils
import numpy as np
import cv2
from cv_bridge import CvBridge, CvBridgeError
import stream


def callback(data):
    """
    param data: data from zed/rgb/image_rect_color topic
    """
    # convert from ROS sensor_msgs/Image to cv2
    bridge = CvBridge()
    try:
        cv_img = bridge.imgmsg_to_cv2(data, desired_encoding='passthrough')
        stream.img = cv_img
    except CvBridgeError as e:
        print(e)
    # show image stream
    # cv2.imshow('zed', cv_img)
    # cv2.waitKey(3)


def zed_sub():
    # initialize ROS node 'zed_sub'
    rospy.init_node('zed_sub')
    # subscribe to the ROS topic 'zed/rgb/image_rect_color'
    rospy.Subscriber('zed/rgb/image_rect_color', Image, callback)
    # keep python from exiting until this node is stopped
    try:
        rospy.spin()
    except KeyboardInterrupt:
        cv2.destroyAllWindows()


if __name__ == '__main__':
    zed_sub()

Flask服务器的代码：

#!/usr/bin/env python

from flask import Flask, render_template, Response
import cv2


app = Flask(__name__)
HOST = '192.168.1.3'    # on-board computer's IP address
PORT = 8080

img = None


@app.route('/')
def index():
    return render_template('index.html')


@app.route('/video_feed')
def video_feed():
    return Response(gen(), mimetype='multipart/x-mixed-replace; boundary=frame')


def gen():
    """Video streaming generator function."""
    global img
    while True:
        try:
            cv2.imwrite('t.jpg', img)
            yield(b'--frame\r\n'
                b'Content-Type: image/jpeg\r\n\r\n' + open('t.jpg', 'rb').read() + b'\r\n')
        except NameError as e:
            print(e)


if __name__ == '__main__':
    app.run(host=HOST, port=PORT, debug=True, threaded=True)

Answer 1

用于访问笔记本电脑网络摄像头以外的相机，您可以像这样使用RTSP链接 rtsp：//形式管理员：12345@192.168.1.1：554 / H264 / CH1 /主/ av_stream“

其中

>        username:admin
>         password:12345
>         your camera ip address and port
>         ch1 is first camera on that DVR

用这样的链接替换cv2.VideoCamera（0），你的相机就可以了，

<强> camera.py

import cv2

class VideoCamera(object):
    def __init__(self):
        # Using OpenCV to capture from device 0. If you have trouble capturing
        # from a webcam, comment the line below out and use a video file
        # instead.
        self.video = cv2.VideoCapture(0)
        # If you decide to use video.mp4, you must have this file in the folder
        # as the main.py.
        # self.video = cv2.VideoCapture('video.mp4')

    def __del__(self):
        self.video.release()

    def get_frame(self):
        success, image = self.video.read()
        # We are using Motion JPEG, but OpenCV defaults to capture raw images,
        # so we must encode it into JPEG in order to correctly display the
        # video stream.
        ret, jpeg = cv2.imencode('.jpg', image)
        return jpeg.tobytes()

<强> main.py

from flask import Flask, render_template, Response
from camera import VideoCamera

app = Flask(__name__)

@app.route('/')
def index():
    return render_template('index.html')

def gen(camera):
    while True:
        frame = camera.get_frame()
        yield (b'--frame\r\n'
               b'Content-Type: image/jpeg\r\n\r\n' + frame + b'\r\n\r\n')

@app.route('/video_feed')
def video_feed():
    return Response(gen(VideoCamera()),
                    mimetype='multipart/x-mixed-replace; boundary=frame')

if __name__ == '__main__':
    app.run(host='0.0.0.0', debug=True)

然后您可以关注此博客以增加您的FPS

https://www.pyimagesearch.com/2015/12/21/increasing-webcam-fps-with-python-and-opencv/

使用OpenCV图像的Flask视频流

1 个答案: