hubo-view-client.py

#!/usr/bin/env python
# /* -*-  indent-tabs-mode:t; tab-width: 8; c-basic-offset: 8  -*- */
# /*
# Copyright (c) 2013, Daniel M. Lofaro <dan (at) danLofaro (dot) com>
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the author nor the names of its contributors may
#       be used to endorse or promote products derived from this software
#       without specific prior written permission.
# 
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
# LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
# OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
# */

import hubo_ach
import ach
import sys
import time
from ctypes import *
import socket
import cv2.cv as cv
import cv2
import numpy as np

HUBO_CHAN_VIEW   = 'hubo-view-vid'


# CV setup 
cv.NamedWindow("w2", cv.CV_WINDOW_AUTOSIZE)
#capture = cv.CaptureFromCAM(0)
#capture = cv2.VideoCapture(0)

# added
##sock.connect((MCAST_GRP, MCAST_PORT))
newx = 180
newy = 120

nx = 640
ny = 480

v = ach.Channel(HUBO_CHAN_VIEW)
v.flush()
i=0
print '======================================'
print '============= Hubo-View =============='
print '========== Daniel M. Lofaro =========='
print '========= dan@danLofaro.com =========='
print '======================================'
while True:
    # Get Frame
#    f, img = capture.read()
    img = np.zeros((newx,newy,3), np.uint8)
    gray_image = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
    vid = cv2.resize(gray_image,(newx,newy))

    [status, framesize] = v.get(vid, wait=True, last=False)
    if status == ach.ACH_OK or status == ach.ACH_MISSED_FRAME:
        vid2 = cv2.resize(vid,(nx,ny))
        cv2.imshow("w2", vid2)
        cv2.waitKey(10)
    else:
        raise ach.AchException( v.result_string(status) )
    i=i+1
    print i
    time.sleep(0.1)