Robobot webcam server: Difference between revisions

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Back to [[Robobot_B | Robobot]]


== 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 log messages into.  If not defined, stderr and syslog are 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 'stream_localhost on').
stream_localhost off
# Image width in pixels.
width 640
# Image height in pixels.
height 480
# Maximum number of frames to be captured per second.
framerate 5


=== run motion ===
=== Watch result using a browser ===


To run the streamer, SSH to the robot and start motion
Using the IP of the robot (in this case, robot Coco), the robot camera image can be viewed at this address:


$ motion
http://10.197.218.233:7123
[0:motion] [NTC] [ALL] conf_load: Processing thread 0 - config file /etc/motion/motion.conf
[0:motion] [NTC] [ALL] motion_startup: Logging to file (/home/local/.motion/motion.log)


Stop by ctrl-C
[[file:web-streamer-coco.jpg | 300px]]


Note! Remember to stop the streamer before using the camera for other purposes.
=== Change configuration ===
There is an alternative if you want both:


Start a loopback feature to create a copy with the same information when the camera is opened.
Change the configuration in the streamer source code:
Run:
sudo modprobe v4l2loopback


When /dev/video0 is opened a /dev/video1 will be created (with the data determined by the first user).
/home/local/svn/robobot/stream_server/stream_server.py


- not tested much.
The resolution needs to be changed two places!


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


To view the result, use a browser to the address of the robot and port 8081, e.g. if the robot has IP '10.197.218.248':
Note that some configurations reduce the field of view.


10.197.218.248:8081
==== HTML file ====


You should now see a stream of default 640x480 at 5 FPS as default; more options are available in /etc/motion/motion.conf.
Select one of these lines (comment <nowiki><!--img ... --> or uncomment <img... /></nowiki>) as needed


==2024==
Near the start of stream_server.py


Test a new method from https://pimylifeup.com/raspberry-pi-webcam-server/
...
<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>
...


Install:
==== Camera configuration ====


sudo apt install autoconf automake build-essential pkgconf libtool git libzip-dev libjpeg-dev gettext libmicrohttpd-dev libavformat-dev libavcodec-dev libavutil-dev libswscale-dev libavdevice-dev default-libmysqlclient-dev libpq-dev libsqlite3-dev libwebp-dev libcamera-v4l2
Select the matching line to the settings above:


Near the end of stream_server.py


sudo wget https://github.com/Motion-Project/motion/releases/download/release-4.6.0/$(lsb_release -cs)_motion_4.6.0-1_$(dpkg --print-architecture).deb
...
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)}))
...


sudo dpkg -i $(lsb_release -cs)_motion_4.6.0-1_$(dpkg --print-architecture).deb
Reboot or restart to see the effect.


change the /etc/motion/motion.conf
==== 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 12:01, 2 February 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

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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