I am trying to stream /rgb, /left, /right each url serving mjpeg stream using http by script node. I am able to do /rgb, but /left and /right both comes out "no images" on browsers.
Here is code. Anyone knows how to fix it? Basically it follows the example for mjpeg/script node for rgb. Thanks a lot.
#include <chrono>
#include <iostream>
#include <thread>
// Includes common necessary includes for development using depthai library
#include "depthai/depthai.hpp"
int main() {
using namespace std;
// Start defining a pipeline
dai::Pipeline pipeline;
auto cam = pipeline.create<dai::node::ColorCamera>();
auto jpeg = pipeline.create<dai::node::VideoEncoder>();
jpeg->setDefaultProfilePreset(10, dai::VideoEncoderProperties::Profile::MJPEG);
cam->video.link(jpeg->input);
auto camR = pipeline.create<dai::node::MonoCamera>();
camR->setCamera("right");
auto jpegR = pipeline.create<dai::node::VideoEncoder>();
jpeg->setDefaultProfilePreset(10, dai::VideoEncoderProperties::Profile::MJPEG);
camR->out.link(jpegR->input);
auto camL = pipeline.create<dai::node::MonoCamera>();
camL->setCamera("left");
auto jpegL = pipeline.create<dai::node::VideoEncoder>();
jpeg->setDefaultProfilePreset(10, dai::VideoEncoderProperties::Profile::MJPEG);
camL->out.link(jpegL->input);
// Script node
auto script = pipeline.create<dai::node::Script>();
script->setProcessor(dai::ProcessorType::LEON_CSS);
jpeg->bitstream.link(script->inputs["jpeg"]);
jpegL->bitstream.link(script->inputs["jpegL"]);
jpegR->bitstream.link(script->inputs["jpegR"]);
script->setScript(R"(
import time
import socket
import fcntl
import struct
from socketserver import ThreadingMixIn
from http.server import BaseHTTPRequestHandler, HTTPServer
PORT = 8080
def get_ip_address(ifname):
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
return socket.inet_ntoa(fcntl.ioctl(
s.fileno(),
-1071617759, # SIOCGIFADDR
struct.pack('256s', ifname[:15].encode())
)[20:24])
class ThreadingSimpleServer(ThreadingMixIn, HTTPServer):
pass
class HTTPHandler(BaseHTTPRequestHandler):
def do_GET(self):
if self.path == '/':
self.send_response(200)
self.end_headers()
self.wfile.write(b'<h1>[DepthAI] Hello, world!</h1><p>Click <a href="img">here</a> for an image</p>')
elif self.path == '/rgb' or self.path=='/left' or self.path=='/right':
try:
steam=''
if self.path == '/rgb':
stream='jpeg'
elif self.path == '/left':
stream='jpegL'
elif self.path == '/right':
stream='jpegR'
self.send_response(200)
self.send_header('Content-type', 'multipart/x-mixed-replace; boundary=--jpgboundary')
self.end_headers()
fpsCounter = 0
timeCounter = time.time()
while True:
jpegImage = node.io[stream].get()
self.wfile.write("--jpgboundary".encode())
self.wfile.write(bytes([13, 10]))
self.send_header('Content-type', 'image/jpeg')
self.send_header('Content-length', str(len(jpegImage.getData())))
self.end_headers()
self.wfile.write(jpegImage.getData())
self.end_headers()
fpsCounter = fpsCounter + 1
if time.time() - timeCounter > 1:
node.warn(f'{stream} fps: {fpsCounter}')
fpsCounter = 0
timeCounter = time.time()
except Exception as ex:
node.warn(str(ex))
with ThreadingSimpleServer(("", PORT), HTTPHandler) as httpd:
node.warn(f"Serving at {get_ip_address('re0')}:{PORT}")
httpd.serve_forever()
)");
// Connect to device with pipeline
dai::Device device(pipeline);
while(!device.isClosed()) {
this_thread::sleep_for(chrono::milliseconds(1000));
}
return 0;}
rofile::MJPEG);