STM32 GPS悬停飞控 （四十一） 另一种图传

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本文链接： https://blog.csdn.net/shukebeta008/article/details/101945016

数传搞得差不多了，接下来搞图传。之前试过了rtmp推送，延迟比较大，而且共享服务器带宽不行，自己搭建rtmp服务器又有些麻烦。打算自己用python搞一个。

本人以前做树莓派坦克也有图传，是根据下文改的：

https://blog.csdn.net/huhumama0/article/details/9164873

但是今天发现用不了，原因是客户端现在是16.04，apt装的opencv不带cv2.cv了，以前是14.04可以。

后来又找了下面的文章。

 https://www.cnblogs.com/jellify/archive/2017/12/14/8032277.html

发现这个程序还是有问题，我又改了改，主要是pack unpack长度不对。

import socket
import cv2
import threading
import struct
import numpy

class Camera_Connect_Object:
    def __init__(self,D_addr_port=["",8880]):
        self.resolution=[640,480]
        self.addr_port=D_addr_port
        self.src=888+20
        self.interval=0
        self.img_fps=20

    def Set_socket(self):
        self.client=socket.socket(socket.AF_INET,socket.SOCK_STREAM)
        self.client.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR,1)

    def Socket_Connect(self):
        self.Set_socket()
        self.client.connect(self.addr_port)
        print("IP is %s:%d" % (self.addr_port[0],self.addr_port[1]))

    def RT_Image(self):
        self.name=self.addr_port[0]+" Camera"
        print self.resolution[0],self.resolution[1]

        self.client.send(struct.pack("fff", float(self.src),float(self.resolution[0]),float(self.resolution[1])))
        while(1):
            info = struct.unpack("f", self.client.recv(4))
            print int(info[0])
            buf_size=int(info[0])
            if buf_size:
                try:
                    self.buf=b""
                    temp_buf=self.buf
                    while(buf_size):
                        temp_buf=self.client.recv(buf_size)
                        buf_size-=len(temp_buf)
                        self.buf+=temp_buf
                    data = numpy.fromstring(self.buf, dtype='uint8')
                    self.image = cv2.imdecode(data, 1) 
                    cv2.imshow(self.name, self.image)  
                except:
                    pass;
                finally:
                    if(cv2.waitKey(10)==27):
                        self.client.close()
                        cv2.destroyAllWindows()
                        break

    def Get_Data(self,interval):
        showThread=threading.Thread(target=self.RT_Image)
        showThread.start()

if __name__ == '__main__':
    camera=Camera_Connect_Object()
    camera.addr_port[0]=input("Please input IP:")
    camera.addr_port=tuple(camera.addr_port)
    camera.Socket_Connect()
    camera.Get_Data(camera.interval)

import socket
import threading
import struct
import time
import cv2
import numpy

class Camera_Accept_Object:
    def __init__(self,S_addr_port=("",8880)):
        self.addr_port=S_addr_port
        self.Set_Socket(self.addr_port)

    def Set_Socket(self,S_addr_port):
        self.server=socket.socket(socket.AF_INET,socket.SOCK_STREAM)
        self.server.setsockopt(socket.SOL_SOCKET,socket.SO_REUSEADDR,1)
        self.server.bind(S_addr_port)
        self.server.listen(5)
        #print("the process work in the port:%d" % S_addr_port[1])


def check_option(object,client):
    info = struct.unpack("fff",client.recv(12))
    print int(info[0]),int(info[1]),int(info[2])
    if info[0]>888:
        object.img_fps=int(info[0])-888
        object.resolution = (int(info[1]),int(info[2]))
        return 1
    else:
        return 0

def RT_Image(object,client,D_addr):
    if(check_option(object,client)==0):
        return
    camera=cv2.VideoCapture(0)
    img_param=[int(cv2.IMWRITE_JPEG_QUALITY),object.img_fps]
    while(1):
        #time.sleep(0.1)
        _,object.img=camera.read()

        object.img=cv2.resize(object.img,object.resolution)  
        _,img_encode=cv2.imencode('.jpg',object.img,img_param) 
        img_code=numpy.array(img_encode)
        object.img_data=img_code.tostring()
        try:
            print len(object.img_data)
            client.send(struct.pack("f",len(object.img_data)))
            client.send(object.img_data)
        except:
            camera.release()
            return

if __name__ == '__main__':
    camera=Camera_Accept_Object()
    while(1):
        client,D_addr=camera.server.accept()
        clientThread=threading.Thread(None,target=RT_Image,args=(camera,client,D_addr,))
        clientThread.start()