Robobot webcam server: Difference between revisions

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== View camera ==
== View camera ==


A motion camera ser is installed called "motion", it can detect motion and save video-clip, if motion is detected.
=== Python cam server ===


Motion detection is the primary purpose, but being able to see what the camera sees.
The source is copied from https://medium.com/@studymattersinlife/building-a-simple-video-streaming-server-client-in-python-e88d3b9e7158


=== Configuration file ===
This server is part of the Robobot repository at ''svn/robobot/stream_server'' and should be started at boot-time.
(see ~/on_reboot.bash)


Edit the configuration file
Or try:


  $ sudo nano /etc/motion/motion.conf
  cd /home/local/svn/robobot/stream_server
  /usr/bin/python3 stream_server.py
# File to write logs messages into.  If not defined stderr and syslog is used.
log_file /home/local/.motion/motion.log
# Target directory for pictures, snapshots and movies
target_dir /home/local/Video/motion
  # Video device (e.g. /dev/video0) to be used for capturing.
videodevice /dev/video0
# The port number for the live stream.
stream_port 8081
# Restrict stream connections to the localhost (if on).
stream_localhost off


=== run motion ===
==== Python packages ====


To run the streamer, SSH to the robot and start motion
There is a need for some packages that may need to be installed:
* When running in a VENV environment


$ motion
Some system packages:
  [0:motion] [NTC] [ALL] conf_load: Processing thread 0 - config file /etc/motion/motion.conf
  sudo apt install libcap-dev
  [0:motion] [NTC] [ALL] motion_startup: Logging to file (/home/local/.motion/motion.log)
  sudo apt install libcamera-dev libatlas-base-dev


Stop by ctrl-C
And some Python packages
pip install setproctitle
pip install picamera2


NB! Remember to stop the streamer before trying to use the camera for other purposes.
If running Python in a virtual environment (Venv), additional settings are required.


=== View the stream ===
...


To view the result, use a browser to the address of the robot and port 8081, e.g. if the robot has IP '192.168.1.151':
I didn't get it to work.
E.g. see https://forums.raspberrypi.com/viewtopic.php?t=361758


  192.168.2.151:8081
Deactivate the VENV, then it worked.
  deactivate


You should now see a stream of default 640x480 at 10 FPS as default; more options are available in /etc/motion/motion.conf.
=== Watch result using a browser ===
 
Using the IP of the robot (in this case, robot Coco), the robot camera image can be viewed at this address:
 
http://10.197.218.233:7123
 
[[file:web-streamer-coco.jpg | 300px]]
 
=== Change configuration ===
 
Change the configuration in the streamer source code:
 
/home/local/svn/robobot/stream_server/stream_server.py
 
The resolution needs to be changed two places!
 
In the HTML script at the beginning of the file, and the camera configuration near the end.
 
Note that some configurations reduce the field of view.
 
==== HTML file ====
 
Select one of these lines (comment <nowiki><!--img ... --> or uncomment <img... /></nowiki>) as needed
 
Near the start of stream_server.py
 
...
<nowiki><body>
<h1>Picamera2 MJPEG Streaming from {}</h1>
<img src="stream.mjpg" width="820" height="616" />
<!--img src="stream.mjpg" width="1296" height="972" -->
<!--img src="stream.mjpg" width="320" height="240" -->
<!--img src="stream.mjpg" width="640" height="480" -->
</body></nowiki>
...
 
==== Camera configuration ====
 
Select the matching line to the settings above:
 
Near the end of stream_server.py
 
...
picam2 = Picamera2()
#picam2.configure(picam2.create_video_configuration(main={"size": (1296, 972)},controls={'FrameDurationLimits': (200000, 200000)}))
picam2.configure(picam2.create_video_configuration(main={"size": (820, 616)},controls={'FrameDurationLimits': (200000, 500000)}))
#picam2.configure(picam2.create_video_configuration(main={"size": (1296, 972)},controls={'FrameDurationLimits': (200000, 500000)}))
#picam2.configure(picam2.create_video_configuration(main={"size": (640, 480)},controls={'FrameDurationLimits': (200000, 500000)}))
#picam2.configure(picam2.create_video_configuration(main={"size": (320, 240)},controls={'FrameDurationLimits': (200000, 500000)}))
...
 
Reboot or restart to see the effect.
 
==== Restart streaming ====
 
Restart by first stopping the running version:
 
  pkill stream_server
 
Then restart
 
cd /home/local/svn/robobot/stream_server
python3 stream_server.py
Prints something like:
[0:41:06.196852273] [12840]  INFO Camera camera_manager.cpp:297 libcamera v0.0.5+83-bde9b04f
[0:41:06.226600078] [12841]  INFO RPI vc4.cpp:437 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media1 and ISP device /dev/media3
[0:41:06.226689448] [12841]  INFO RPI pipeline_base.cpp:1101 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'
[0:41:06.233368984] [12840]  INFO Camera camera.cpp:1033 configuring streams: (0) 320x240-XBGR8888 (1) 640x480-SGBRG10_CSI2P
[0:41:06.233900943] [12841]  INFO RPI vc4.cpp:565 Sensor: /base/soc/i2c0mux/i2c@1/ov5647@36 - Selected sensor format: 640x480-SGBRG10_1X10 - Selected unicam format: 640x480-pGAA

Latest revision as of 14:23, 29 October 2025

Back to Robobot

View camera

Python cam server

The source is copied from https://medium.com/@studymattersinlife/building-a-simple-video-streaming-server-client-in-python-e88d3b9e7158

This server is part of the Robobot repository at svn/robobot/stream_server and should be started at boot-time. (see ~/on_reboot.bash)

Or try: 

cd /home/local/svn/robobot/stream_server
/usr/bin/python3 stream_server.py

Python packages

There is a need for some packages that may need to be installed:

  • When running in a VENV environment

Some system packages: 

sudo apt install libcap-dev
sudo apt install libcamera-dev libatlas-base-dev

And some Python packages 

pip install setproctitle
pip install picamera2

If running Python in a virtual environment (Venv), additional settings are required.

...

I didn't get it to work. E.g. see https://forums.raspberrypi.com/viewtopic.php?t=361758

Deactivate the VENV, then it worked. 

deactivate

Watch result using a browser

Using the IP of the robot (in this case, robot Coco), the robot camera image can be viewed at this address:

http://10.197.218.233:7123

Change configuration

Change the configuration in the streamer source code: 

/home/local/svn/robobot/stream_server/stream_server.py

The resolution needs to be changed two places!

In the HTML script at the beginning of the file, and the camera configuration near the end.

Note that some configurations reduce the field of view.

HTML file

Select one of these lines (comment <!--img ... --> or uncomment <img... />) as needed

Near the start of stream_server.py 

...
<body>
 <h1>Picamera2 MJPEG Streaming from {}</h1>
 <img src="stream.mjpg" width="820" height="616" />
 <!--img src="stream.mjpg" width="1296" height="972" -->
 <!--img src="stream.mjpg" width="320" height="240" -->
 <!--img src="stream.mjpg" width="640" height="480" -->
 </body>
...

Camera configuration

Select the matching line to the settings above:

Near the end of stream_server.py 

...
picam2 = Picamera2()
#picam2.configure(picam2.create_video_configuration(main={"size": (1296, 972)},controls={'FrameDurationLimits': (200000, 200000)}))
picam2.configure(picam2.create_video_configuration(main={"size": (820, 616)},controls={'FrameDurationLimits': (200000, 500000)}))
#picam2.configure(picam2.create_video_configuration(main={"size": (1296, 972)},controls={'FrameDurationLimits': (200000, 500000)}))
#picam2.configure(picam2.create_video_configuration(main={"size": (640, 480)},controls={'FrameDurationLimits': (200000, 500000)}))
#picam2.configure(picam2.create_video_configuration(main={"size": (320, 240)},controls={'FrameDurationLimits': (200000, 500000)}))
...

Reboot or restart to see the effect.

Restart streaming

Restart by first stopping the running version: 

 pkill stream_server

Then restart 

cd /home/local/svn/robobot/stream_server
python3 stream_server.py

Prints something like: 

[0:41:06.196852273] [12840]  INFO Camera camera_manager.cpp:297 libcamera v0.0.5+83-bde9b04f
[0:41:06.226600078] [12841]  INFO RPI vc4.cpp:437 Registered camera /base/soc/i2c0mux/i2c@1/ov5647@36 to Unicam device /dev/media1 and ISP device /dev/media3
[0:41:06.226689448] [12841]  INFO RPI pipeline_base.cpp:1101 Using configuration file '/usr/share/libcamera/pipeline/rpi/vc4/rpi_apps.yaml'
[0:41:06.233368984] [12840]  INFO Camera camera.cpp:1033 configuring streams: (0) 320x240-XBGR8888 (1) 640x480-SGBRG10_CSI2P
[0:41:06.233900943] [12841]  INFO RPI vc4.cpp:565 Sensor: /base/soc/i2c0mux/i2c@1/ov5647@36 - Selected sensor format: 640x480-SGBRG10_1X10 - Selected unicam format: 640x480-pGAA
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