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48
lib/Api.html
View file

@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Api &mdash; CompLib 0.0.2 documentation</title>
@ -16,10 +16,13 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -100,6 +103,7 @@
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -140,6 +144,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -151,7 +157,7 @@
<li class="wy-breadcrumbs-aside">
<a href="../_sources/lib/Api.rst.txt" rel="nofollow"> View page source</a>
@ -299,14 +305,14 @@
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Api</span> <span class="kn">import</span> <span class="n">Seeding</span>
<span class="n">park</span> <span class="o">=</span> <span class="n">Seeding</span><span class="o">.</span><span class="n">get_park</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;I should move to parking position: </span><span class="si">{</span><span class="n">park</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;I should move to parking position: {park}&quot;</span><span class="p">)</span>
<span class="k">if</span> <span class="n">park</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;I can&#39;t move to this position yet :(&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;I can&#39;t move to this position yet :(&quot;</span><span class="p">)</span>
<span class="k">elif</span> <span class="n">park</span> <span class="o">==</span> <span class="mi">1</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Moving to position 1!&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Moving to position 1!&quot;</span><span class="p">)</span>
<span class="c1"># drive to parking position using Motors module...</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Now hopefully at position 1&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Now hopefully at position 1&quot;</span><span class="p">)</span>
<span class="c1"># drive back using Motors module...</span>
<span class="k">elif</span> <span class="n">park</span> <span class="o">==</span> <span class="mi">2</span><span class="p">:</span>
<span class="c1"># do something similar to park == 1..</span>
@ -315,9 +321,9 @@
<span class="n">success</span> <span class="o">=</span> <span class="n">Seeding</span><span class="o">.</span><span class="n">pay_park</span><span class="p">()</span>
<span class="k">if</span> <span class="n">success</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;We scored some points!&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;We scored some points!&quot;</span><span class="p">)</span>
<span class="k">else</span><span class="p">:</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;We failed :(&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;We failed :(&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
@ -326,10 +332,10 @@
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Api</span> <span class="kn">import</span> <span class="n">DoubleElim</span>
<span class="n">position</span> <span class="o">=</span> <span class="n">DoubleElim</span><span class="o">.</span><span class="n">get_position</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Position of my robot is: x=</span><span class="si">{</span><span class="n">position</span><span class="o">.</span><span class="n">x</span><span class="si">}</span><span class="s2">, y=</span><span class="si">{</span><span class="n">position</span><span class="o">.</span><span class="n">y</span><span class="si">}</span><span class="s2"> and rotation is: </span><span class="si">{</span><span class="n">position</span><span class="o">.</span><span class="n">degrees</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Position of my robot is: x={position.x}, y={position.y} and rotation is: {position.degrees}&quot;</span><span class="p">)</span>
<span class="n">goal</span> <span class="o">=</span> <span class="n">DoubleElim</span><span class="o">.</span><span class="n">get_goal</span><span class="p">()</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">&quot;Goal is at: x=</span><span class="si">{</span><span class="n">goal</span><span class="o">.</span><span class="n">x</span><span class="si">}</span><span class="s2">, y=</span><span class="si">{</span><span class="n">goal</span><span class="o">.</span><span class="n">y</span><span class="si">}</span><span class="s2">&quot;</span><span class="p">)</span>
<span class="k">print</span><span class="p">(</span><span class="n">f</span><span class="s2">&quot;Goal is at: x={goal.x}, y={goal.y}&quot;</span><span class="p">)</span>
</pre></div>
</div>
</div>
@ -341,37 +347,29 @@
</div>
<footer>
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="Battery.html" class="btn btn-neutral float-right" title="Battery" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="../other/usage.html" class="btn btn-neutral float-left" title="Usage" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
<a href="Battery.html" class="btn btn-neutral float-right" title="Battery" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
<a href="../other/usage.html" class="btn btn-neutral float-left" title="Usage" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
</div>
<hr/>
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&#169; Copyright 2021, robo4you.
</p>
</div>
Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
<a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
provided by <a href="https://readthedocs.org">Read the Docs</a>.
</footer>
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34
lib/Battery.html
View file

@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Battery &mdash; CompLib 0.0.2 documentation</title>
@ -16,10 +16,13 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -97,6 +100,7 @@
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -137,6 +141,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -148,7 +154,7 @@
<li class="wy-breadcrumbs-aside">
<a href="../_sources/lib/Battery.rst.txt" rel="nofollow"> View page source</a>
@ -193,7 +199,7 @@
<h3>Printing percentage<a class="headerlink" href="#printing-percentage" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span> <span class="nn">compLib.Battery</span> <span class="kn">import</span> <span class="n">Battery</span>
<span class="nb">print</span><span class="p">(</span><span class="n">Battery</span><span class="o">.</span><span class="n">percent</span><span class="p">())</span>
<span class="k">print</span><span class="p">(</span><span class="n">Battery</span><span class="o">.</span><span class="n">percent</span><span class="p">())</span>
</pre></div>
</div>
</div>
@ -205,37 +211,29 @@
</div>
<footer>
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="Buzzer.html" class="btn btn-neutral float-right" title="Buzzer" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="Api.html" class="btn btn-neutral float-left" title="Api" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
<a href="Buzzer.html" class="btn btn-neutral float-right" title="Buzzer" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
<a href="Api.html" class="btn btn-neutral float-left" title="Api" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
</div>
<hr/>
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&#169; Copyright 2021, robo4you.
</p>
</div>
Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
<a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
provided by <a href="https://readthedocs.org">Read the Docs</a>.
</footer>
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36
lib/Buzzer.html
View file

@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Buzzer &mdash; CompLib 0.0.2 documentation</title>
@ -16,10 +16,13 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -97,6 +100,7 @@
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -137,6 +141,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -148,7 +154,7 @@
<li class="wy-breadcrumbs-aside">
<a href="../_sources/lib/Buzzer.rst.txt" rel="nofollow"> View page source</a>
@ -191,9 +197,9 @@
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">time</span>
<span class="kn">from</span> <span class="nn">compLib.Buzzer</span> <span class="kn">import</span> <span class="n">Buzzer</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="kc">True</span><span class="p">)</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="bp">True</span><span class="p">)</span>
<span class="n">time</span><span class="o">.</span><span class="n">sleep</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="kc">False</span><span class="p">)</span>
<span class="n">Buzzer</span><span class="o">.</span><span class="n">set</span><span class="p">(</span><span class="bp">False</span><span class="p">)</span>
</pre></div>
</div>
</div>
@ -205,37 +211,29 @@
</div>
<footer>
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="IRSensor.html" class="btn btn-neutral float-right" title="Infrared Sensor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="Battery.html" class="btn btn-neutral float-left" title="Battery" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
<a href="IRSensor.html" class="btn btn-neutral float-right" title="Infrared Sensor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
<a href="Battery.html" class="btn btn-neutral float-left" title="Battery" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
</div>
<hr/>
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&#169; Copyright 2021, robo4you.
</p>
</div>
Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
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32
lib/IRSensor.html
View file

@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Infrared Sensor &mdash; CompLib 0.0.2 documentation</title>
@ -16,10 +16,13 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -90,6 +93,7 @@
<li class="toctree-l1 current"><a class="current reference internal" href="#">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -130,6 +134,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -141,7 +147,7 @@
<li class="wy-breadcrumbs-aside">
<a href="../_sources/lib/IRSensor.rst.txt" rel="nofollow"> View page source</a>
@ -240,37 +246,29 @@
</div>
<footer>
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="Motor.html" class="btn btn-neutral float-right" title="Motor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="Buzzer.html" class="btn btn-neutral float-left" title="Buzzer" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
<a href="Motor.html" class="btn btn-neutral float-right" title="Motor" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
<a href="Buzzer.html" class="btn btn-neutral float-left" title="Buzzer" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
</div>
<hr/>
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&#169; Copyright 2021, robo4you.
</p>
</div>
Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
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provided by <a href="https://readthedocs.org">Read the Docs</a>.
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32
lib/Motor.html
View file

@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Motor &mdash; CompLib 0.0.2 documentation</title>
@ -16,10 +16,13 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -50,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -97,6 +100,7 @@
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="Servo.html">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
@ -137,6 +141,8 @@
<div role="navigation" aria-label="breadcrumbs navigation">
<ul class="wy-breadcrumbs">
@ -148,7 +154,7 @@
<li class="wy-breadcrumbs-aside">
<a href="../_sources/lib/Motor.rst.txt" rel="nofollow"> View page source</a>
@ -212,37 +218,29 @@
</div>
<footer>
<div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
<a href="Servo.html" class="btn btn-neutral float-right" title="Servo" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right"></span></a>
<a href="IRSensor.html" class="btn btn-neutral float-left" title="Infrared Sensor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left"></span> Previous</a>
<a href="Servo.html" class="btn btn-neutral float-right" title="Servo" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
<a href="IRSensor.html" class="btn btn-neutral float-left" title="Infrared Sensor" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
</div>
<hr/>
<div role="contentinfo">
<p>
&copy; Copyright 2021, robo4you
&#169; Copyright 2021, robo4you.
</p>
</div>
Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a
Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
<a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a>
<a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
provided by <a href="https://readthedocs.org">Read the Docs</a>.
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31
lib/Servo.html
View file

@ -3,9 +3,9 @@
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
<meta charset="utf-8">
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1.0">
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>Servo &mdash; CompLib 0.0.2 documentation</title>
@ -16,10 +16,13 @@
<!--[if lt IE 9]>
<script src="../_static/js/html5shiv.min.js"></script>
<![endif]-->
@ -35,6 +38,7 @@
<link rel="index" title="Index" href="../genindex.html" />
<link rel="search" title="Search" href="../search.html" />
<link rel="next" title="Vision" href="Vision.html" />
<link rel="prev" title="Motor" href="Motor.html" />
</head>
@ -49,7 +53,7 @@
<a href="../index.html" class="icon icon-home" alt="Documentation Home"> CompLib
<a href="../index.html" class="icon icon-home"> CompLib
@ -89,6 +93,7 @@
<li class="toctree-l1"><a class="reference internal" href="IRSensor.html">Infrared Sensor</a></li>
<li class="toctree-l1"><a class="reference internal" href="Motor.html">Motor</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Servo</a></li>
<li class="toctree-l1"><a class="reference internal" href="Vision.html">Vision</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="#using-the-vision-module">Using the Vision Module</a></li>
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<div class="section" id="vision">
<span id="lib-vision"></span><h1>Vision<a class="headerlink" href="#vision" title="Permalink to this headline"></a></h1>
<p>This module provides an interface for grabbing an rtmp stream and using the images to do some processing in opencv.</p>
<p>How do I use this module?</p>
<ol class="arabic simple">
<li><p>Get frames from the raspberry pi camera</p></li>
<li><p>– here comes your own processing –</p></li>
<li><p>Publish the processed frames on an http server</p></li>
<li><p>You can view the http stream of your processed images in a web browser</p></li>
</ol>
<div class="section" id="opencv-stream">
<h2>Opencv Stream<a class="headerlink" href="#opencv-stream" title="Permalink to this headline"></a></h2>
<p>Because of the rtmp stream needing to buffer some frames and waiting for P-Frames, importing this module might take up
to 5 Seconds.</p>
<dl class="py class">
<dt id="compLib.Vision.__Streaming">
<em class="property">class </em><code class="sig-prename descclassname">compLib.Vision.</code><code class="sig-name descname">__Streaming</code><a class="headerlink" href="#compLib.Vision.__Streaming" title="Permalink to this definition"></a></dt>
<dd><p>Class that handles rtmp streaming for opencv.</p>
<p>DO NOT CREATE AN INSTANCE OF THIS CLASS YOURSELF!</p>
<p>This is automatically done when importing this module. Use Vision.Streaming which is
an instance of this class!</p>
<p>grab frames -&gt; do your own processing -&gt; publish frame -&gt; view on http server</p>
<dl class="py method">
<dt id="compLib.Vision.__Streaming.get_frame">
<code class="sig-name descname">get_frame</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.get_frame" title="Permalink to this definition"></a></dt>
<dd><p>Grab the newest frame from the rtmp stream.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>An opencv frame</p>
</dd>
</dl>
</dd></dl>
<dl class="py method">
<dt id="compLib.Vision.__Streaming.publish_frame">
<code class="sig-name descname">publish_frame</code><span class="sig-paren">(</span><em class="sig-param"><span class="n">image</span></em><span class="sig-paren">)</span><a class="headerlink" href="#compLib.Vision.__Streaming.publish_frame" title="Permalink to this definition"></a></dt>
<dd><p>Publish an opencv frame to the http webserver.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>image</strong> – Opencv frame that will be published</p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>None</p>
</dd>
</dl>
</dd></dl>
</dd></dl>
</div>
<div class="section" id="examples">
<h2>Examples<a class="headerlink" href="#examples" title="Permalink to this headline"></a></h2>
<div class="section" id="using-the-vision-module">
<h3>Using the Vision Module<a class="headerlink" href="#using-the-vision-module" title="Permalink to this headline"></a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">cv2</span>
<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
<span class="c1"># get newest opencv frame from camera</span>
<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
<span class="c1"># do some processing with the frame.....</span>
<span class="c1"># publish frame to streaming server</span>
<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
</pre></div>
</div>
<p>Connect the raspberry pi to your internet and view the stream at: “<a class="reference external" href="http://your_raspi_ip:9898/">http://your_raspi_ip:9898/</a>”. This should display
your raspberry pi camera. Note: the stream will lag a little bit BUT the processing of the image will be done in
realtime.</p>
<p>The output on the website should show whatever your raspberry pi cam records:</p>
<a class="reference internal image-reference" href="../_images/opencv_http_stream.png"><img alt="Processed frames from opencv" src="../_images/opencv_http_stream.png" style="width: 680px;" /></a>
</div>
<div class="section" id="chessboard-detection">
<h3>Chessboard Detection<a class="headerlink" href="#chessboard-detection" title="Permalink to this headline"></a></h3>
<p>In this example we process the captured stream of images and want to detect chessboards. Run this example and
point your raspberry pi camera to a chessboard and it should be detected.</p>
<p>For testing you can point it at this image:</p>
<a class="reference internal image-reference" href="../_images/chessboard.jpg"><img alt="Chessboard for opencv processing" src="../_images/chessboard.jpg" style="width: 680px;" /></a>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span> <span class="nn">cv2</span>
<span class="kn">from</span> <span class="nn">compLib</span> <span class="kn">import</span> <span class="n">Vision</span>
<span class="c1"># get newest opencv frame from camera</span>
<span class="n">frame</span> <span class="o">=</span> <span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">get_frame</span><span class="p">()</span>
<span class="n">criteria</span> <span class="o">=</span> <span class="p">(</span><span class="n">cv2</span><span class="o">.</span><span class="n">TERM_CRITERIA_EPS</span> <span class="o">+</span> <span class="n">cv2</span><span class="o">.</span><span class="n">TERM_CRITERIA_MAX_ITER</span><span class="p">,</span> <span class="mi">30</span><span class="p">,</span> <span class="mf">0.001</span><span class="p">)</span>
<span class="c1"># convert image to grayscale image</span>
<span class="n">gray</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">cvtColor</span><span class="p">(</span><span class="n">frame</span><span class="p">,</span> <span class="n">cv2</span><span class="o">.</span><span class="n">COLOR_BGR2GRAY</span><span class="p">)</span>
<span class="c1"># find the chessboard corners</span>
<span class="n">ret</span><span class="p">,</span> <span class="n">corners</span> <span class="o">=</span> <span class="n">cv2</span><span class="o">.</span><span class="n">findChessboardCorners</span><span class="p">(</span><span class="n">gray</span><span class="p">,</span> <span class="p">(</span><span class="mi">6</span><span class="p">,</span> <span class="mi">9</span><span class="p">),</span> <span class="bp">None</span><span class="p">)</span>
<span class="c1"># draw detected chessboard position onto the image</span>
<span class="n">cv2</span><span class="o">.</span><span class="n">drawChessboardCorners</span><span class="p">(</span><span class="n">frame</span><span class="p">,</span> <span class="p">(</span><span class="mi">6</span><span class="p">,</span> <span class="mi">9</span><span class="p">),</span> <span class="n">corners</span><span class="p">,</span> <span class="n">ret</span><span class="p">)</span>
<span class="c1"># publish frame to streaming server</span>
<span class="n">Vision</span><span class="o">.</span><span class="n">Streaming</span><span class="o">.</span><span class="n">publish_frame</span><span class="p">(</span><span class="n">frame</span><span class="p">)</span>
</pre></div>
</div>
<p>Connect the raspberry pi to your internet and view the stream at: “<a class="reference external" href="http://your_raspi_ip:9898/">http://your_raspi_ip:9898/</a>”.</p>
<p>The output image should look like this:</p>
<a class="reference internal image-reference" href="../_images/chessboard_detected.jpg"><img alt="Processed frames from opencv" src="../_images/chessboard_detected.jpg" style="width: 680px;" /></a>
<p>Here is a screenshot of the stream website while viewing the chessboard in this documentation.</p>
<a class="reference internal image-reference" href="../_images/opencv_processed.png"><img alt="Processed frames from opencv" src="../_images/opencv_processed.png" style="width: 680px;" /></a>
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