Merge pull request #39 from SimLeek/raspi

Raspi

displayarray/__init__.py

@@ -4,7 +4,7 @@ Display any array, webcam, or video file.
 display is a function that displays these in their own windows.
 """
 
-__version__ = "0.7.4"
+__version__ = "0.7.5"
 
 from .window.subscriber_windows import display, breakpoint_display, read_updates
 from .frame.frame_publishing import publish_updates_zero_mq, publish_updates_ros

displayarray/frame/frame_publishing.py

@@ -7,10 +7,13 @@ import cv2
 import warnings
 import sys
 
+using_pyv4l2cam = False
 try:
     if sys.platform == "linux":
         from PyV4L2Cam.camera import Camera as pyv4lcamera
         from PyV4L2Cam.controls import ControlIDs as pyv4lcontrolids
+
+        using_pyv4l2cam = True
 except ImportError:
     warnings.warn("Could not import PyV4L2Cam on linux. Camera capture will be slow.")
     warnings.warn(
@@ -28,6 +31,25 @@ from typing import Union, Tuple, Optional, Dict, Any, List, Callable
 FrameCallable = Callable[[np.ndarray], Optional[np.ndarray]]
 
 
+def _v4l2_convert_mjpeg(mjpeg: bytes) -> Optional[np.ndarray]:
+    # Thanks: https://stackoverflow.com/a/21844162
+    a = mjpeg.find(b"\xff\xd8")
+    b = mjpeg.find(b"\xff\xd9")
+
+    if a == -1 or b == -1:
+        return None
+    else:
+        jpg = mjpeg[a : b + 2]
+        frame = cv2.imdecode(np.frombuffer(jpg, dtype=np.uint8), cv2.IMREAD_COLOR)
+        return frame
+
+
+def _v4l2_convert_rgb24(rgb24: bytes, width: int, height: int) -> Optional[np.ndarray]:
+    nparr = np.frombuffer(rgb24, np.uint8)
+    np_frame = nparr.reshape((height, width, 3))
+    return np_frame
+
+
 def pub_cam_loop_pyv4l2(
     cam_id: Union[int, str, np.ndarray],
     request_size: Tuple[int, int] = (-1, -1),
@@ -75,18 +97,20 @@ def pub_cam_loop_pyv4l2(
         now = time.time()
         frame_bytes = cam.get_frame()  # type: bytes
 
-        # Thanks: https://stackoverflow.com/a/21844162
-        a = frame_bytes.find(b"\xff\xd8")
-        b = frame_bytes.find(b"\xff\xd9")
+        if cam.pixel_format == "MJPEG":
+            nd_frame = _v4l2_convert_mjpeg(frame_bytes)
+        elif cam.pixel_format == "RGB24":
+            nd_frame = _v4l2_convert_rgb24(frame_bytes, cam.width, cam.height)
+        else:
+            raise NotImplementedError(f"{cam.pixel_format} format not supported.")
 
-        if a == -1 or b == -1:
+        if nd_frame is not None:
+            subscriber_dictionary.CV_CAMS_DICT[name].frame_pub.publish(nd_frame)
+        else:
             cam.close()
             subscriber_dictionary.CV_CAMS_DICT[name].status_pub.publish("failed")
             return False
-        else:
-            jpg = frame_bytes[a : b + 2]
-            frame = cv2.imdecode(np.fromstring(jpg, dtype=np.uint8), cv2.IMREAD_COLOR)
-            subscriber_dictionary.CV_CAMS_DICT[name].frame_pub.publish(frame)
+
         msg = sub.get()
     sub.release()
 
@@ -170,8 +194,13 @@ def pub_cam_thread(
 ) -> threading.Thread:
     """Run pub_cam_loop in a new thread. Starts on creation."""
 
-    if sys.platform == "linux" and (
-        isinstance(cam_id, int) or (isinstance(cam_id, str) and "/dev/video" in cam_id)
+    if (
+        sys.platform == "linux"
+        and using_pyv4l2cam
+        and (
+            isinstance(cam_id, int)
+            or (isinstance(cam_id, str) and "/dev/video" in cam_id)
+        )
     ):
         pub_cam_loop = pub_cam_loop_pyv4l2
     else:

examples/looping/no_display.py

@@ -8,7 +8,7 @@ def profile_reading(total_seconds=5):
     t_init = t01 = time.time()
     times = []
     started = False
-    for up in display(0, size=(9999, 9999)):
+    for up in display(0, size=(1, 1)):
         if up:
             t1 = time.time()
             if started:

pyproject.toml

@@ -1,6 +1,6 @@
 [tool.poetry]
 name = 'displayarray'
-version = '0.7.4'
+version = '0.7.5'
 description = 'Tool for displaying numpy arrays.'
 authors = ['SimLeek <simulator.leek@gmail.com>']
 license = 'MIT'
@@ -9,7 +9,7 @@ repository = "https://github.com/simleek/displayarray"
 
 [tool.poetry.dependencies]
 python = "^3.6"
-opencv_python = "3.4.5.20"
+opencv_python = "^4*"
 docopt = "0.6.2"
 numpy = "1.16.1"
 localpubsub = "0.0.4"