From 494acd468eb42370546b84fcecdae6dfa89f37f4 Mon Sep 17 00:00:00 2001
From: SimLeek <josh.miklos@gmail.com>
Date: Thu, 18 Jan 2018 16:57:40 -0700
Subject: [PATCH] updated cv_pubsubs to handle multiple output windows.
 Combined all RGC filters into one file. Added whole image color averaging.

---
 cv_webcam_pub.py |  6 +++++-
 cv_window_sub.py | 27 +++++++++++++++++++--------
 2 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/cv_webcam_pub.py b/cv_webcam_pub.py
index 244b903..9a6cf33 100644
--- a/cv_webcam_pub.py
+++ b/cv_webcam_pub.py
@@ -18,6 +18,7 @@ def get_open_cv_cam_ids():  # type: () -> List[cv2.VideoCapture]
         cam_list.append(len(cam_list))
 
     return cam_list
+import time
 
 def pub_cv_cam_thread(camId,  # type: Union[int, str]
                       requestSize=(1280, 720)  # type: Tuple[int, int]
@@ -30,7 +31,10 @@ def pub_cv_cam_thread(camId,  # type: Union[int, str]
     if not cam.isOpened():
         pubsub.publish("cvcams." + str(camId) + ".status", "failed")
         return False
+    now = time.time()
     while (  msg != 'q'):
+        time.sleep(1./(60-(time.time()-now)))
+        now = time.time()
         (ret, frame) = cam.read()  # type: Tuple[bool, np.ndarray ]
         if ret is False or not isinstance(frame, np.ndarray):
             cam.release()
@@ -77,7 +81,7 @@ def cv_cam_pub_handler(camId, # type: Union[int, str]
             frame = frame[0]
             frameHandler(frame, camId)
         msgOwner = listenFixed(subOwner, block=False, empty='')
-    pubsub.publish("cvcams.0.cmd", 'q')
+    pubsub.publish("cvcams."+str(camId)+".cmd", 'q')
     t.join()
 
 def init_cv_cam_pub_handler(camId, # type: Union[int, str]
diff --git a/cv_window_sub.py b/cv_window_sub.py
index 97cc4eb..c7d9315 100644
--- a/cv_window_sub.py
+++ b/cv_window_sub.py
@@ -5,30 +5,41 @@ if False:
 
 cvWindows = []
 frameDict={}
-
+import time
 def cv_win_sub(*,
                names,  # type: List[str]
                inputVidGlobalNames,  # type: List[str]
                callbacks=(None,)
                ):
     global cvWindows
-    for name in names:
-        cvWindows.append(name)
-        cv2.namedWindow(name)
 
     global frameDict
+    firstRun=True
+    timeMod = None
     while True:
+        t = int(time.time()) * 1000
+        if firstRun:
+            timeMod = t % 1000
+            firstRun = False
         #global camImg
         for i in range(len(inputVidGlobalNames)):
             if inputVidGlobalNames[i] in frameDict and frameDict[inputVidGlobalNames[i]] is not None:
                 if callbacks[i%len(callbacks)] is not None:
-                    frame = callbacks[i%len(callbacks)](frameDict[inputVidGlobalNames[i]])
+                    frames = callbacks[i%len(callbacks)](frameDict[inputVidGlobalNames[i]])
                 else:
-                    frame = frameDict[inputVidGlobalNames[i]]
-                cv2.imshow(names[i%len(names)], frame)
+                    frames = frameDict[inputVidGlobalNames[i]]
+                for i in range(len(frames)):
+                    if t % 1000 == timeMod:
+                        if names[i%len(names)]+str(i) not in cvWindows:
+                            cvWindows.append(names[i%len(names)]+str(i))
+                            cv2.namedWindow(names[i%len(names)]+str(i))
+                    cv2.imshow(names[i%len(names)]+str(i), frames[i])
             if cv2.waitKey(1)& 0xFF==ord('q'):
-                for name in names:
+                for name in cvWindows:
                     cv2.destroyWindow(name)
+                for n in names:
+                    pubsub.publish("cvcamhandlers." + str(n) + ".cmd", "q")
+
                 return