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houzd

Hhouzd · Aug 7, 2023

I need to output the h264 or h265 video stream from the camera using cv2 or PIL. this is necessary to transfer a video stream from one computer to another. the problem is that I do not know how to output frames using one of these codecs.
that's how I get to output with the MJPEG codec, but when I use h265\h 264, cv2.imdecode(frame, v2.IMREAD_COLOR) is None:

import cv2
import depthai as dai

pipeline = dai.Pipeline()

camRgb = pipeline.create(dai.node.ColorCamera)
xoutVideo = pipeline.create(dai.node.XLinkOut)

xoutVideo.setStreamName("video")

camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setVideoSize(1920, 1080)
camRgb.setFps(60)
videoEnc = pipeline.create(dai.node.VideoEncoder)
videoEnc.setDefaultProfilePreset(60, dai.VideoEncoderProperties.Profile.MJPEG)

camRgb.video.link(videoEnc.input)
videoEnc.bitstream.link(xoutVideo.input)

with dai.Device(pipeline) as device:

    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)

    while True:
        videoIn = video.get()

        frame = videoIn.getData()

        frame = cv2.imdecode(frame, cv2.IMREAD_COLOR)
        cv2.imshow("video", frame)

        if cv2.waitKey(1) == ord('q'):
            break

Hhouzd · Jul 14, 2023

how to use a laser in OAK-D PRO to determine the distance to an arbitrary point?

Hhouzd · Jul 7, 2023

Hello , I need to make a server on the computer to which the OAK-D PRO camera will be connected. From another computer I need to connect from the server and connect to the camera.I am trying to transfer a video from the server to the client, but it gives an error: server_socket.send to(message,client_addr) OSError: [Errno 90] The message is too long.

code for the client

# This is client code to receive video frames over UDP
import cv2, imutils, socket
import numpy as np
import time
import base64

BUFF_SIZE = 65536
client_socket = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
client_socket.setsockopt(socket.SOL_SOCKET,socket.SO_RCVBUF,BUFF_SIZE)
host_name = socket.gethostname()
#host_ip = '192.168.1.45'#  socket.gethostbyname(host_name)
host_ip = '127.0.0.1'#  socket.gethostbyname(host_name)
print(host_ip)
port = 9999
message = b'Hello'

client_socket.sendto(message,(host_ip,port))
fps,st,frames_to_count,cnt = (0,0,20,0)
while True:
    packet,_ = client_socket.recvfrom(BUFF_SIZE)
    data = base64.b64decode(packet,' /')
    #npdata = np.fromstring(data, dtype=np.uint8)
    npdata = np.frombuffer(data, dtype=np.uint8)
    frame = cv2.imdecode(npdata,1)
    #frame = cv2.putText(frame,'FPS: '+str(fps),(10,40),cv2.FONT_HERSHEY_SIMPLEX,0.7,(0,0,255),2)
    cv2.imshow("RECEIVING VIDEO",frame)
    key = cv2.waitKey(1) & 0xFF
    if key == ord('q'):
        client_socket.close()
        break
    if cnt == frames_to_count:
        try:
            fps = round(frames_to_count/(time.time()-st))
            st=time.time()
            cnt=0
        except:
            pass
    cnt+=1

code for the server:

# This is server code to send video frames over UDP
import cv2, imutils, socket
import numpy as np
import time
import base64
import depthai as dai
BUFF_SIZE = 65536
server_socket = socket.socket(socket.AF_INET,socket.SOCK_DGRAM)
server_socket.setsockopt(socket.SOL_SOCKET,socket.SO_RCVBUF,BUFF_SIZE)
host_name = socket.gethostname()
host_ip = '127.0.0.1'#  socket.gethostbyname(host_name)
print(host_ip)
port = 9999
socket_address = (host_ip,port)
server_socket.bind(socket_address)
print('Listening at:',socket_address)



# Create pipeline
pipeline = dai.Pipeline()

# Define source and output
camRgb = pipeline.create(dai.node.ColorCamera)
xoutVideo = pipeline.create(dai.node.XLinkOut)

xoutVideo.setStreamName("video")

# Properties
camRgb.setBoardSocket(dai.CameraBoardSocket.CAM_A)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
#camRgb.setVideoSize(1920, 1080)

xoutVideo.input.setBlocking(False)
xoutVideo.input.setQueueSize(1)

# Linking
camRgb.video.link(xoutVideo.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:

    video = device.getOutputQueue(name="video", maxSize=1, blocking=False)
    #vid = cv2.VideoCapture(0) #  replace 'rocket.mp4' with 0 for webcam
    fps,st,frames_to_count,cnt = (0,0,20,0)

    while True:
        msg,client_addr = server_socket.recvfrom(BUFF_SIZE)
        print('GOT connection from ',client_addr)
        WIDTH=400
        vid = video.get()
        frame = vid.getCvFrame()
        frame = imutils.resize(frame)
        cv2.imshow('TRANSMITTING VIDEO', frame)
        while True:
            encoded,buffer = cv2.imencode('.jpg',frame,[cv2.IMWRITE_JPEG_QUALITY,80])
            message = base64.b64encode(buffer)
            server_socket.sendto(message,client_addr)
            #frame = cv2.putText(frame,'FPS: '+str(fps),(10,40),cv2.FONT_HERSHEY_SIMPLEX,0.7,(0,0,255),2)

            key = cv2.waitKey(1) & 0xFF
            if key == ord('q'):
                server_socket.close()
                break
            if cnt == frames_to_count:
                try:
                    fps = round(frames_to_count/(time.time()-st))
                    st=time.time()
                    cnt=0
                except:
                    pass
            cnt+=1

Hhouzd

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