Robobot webcam server: Difference between revisions

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== View camera ==
== View camera ==
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=== Python cam server ===
=== Python cam server ===


Try this https://medium.com/@studymattersinlife/building-a-simple-video-streaming-server-client-in-python-e88d3b9e7158
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:


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


* NO! use Python web server instead
==== Python packages ====
* @todo update this page


A motion camera ser is installed called "motion", it can detect motion and save video-clip, if motion is detected.
There is a need for some packages that may need to be installed:
* When running in a VENV environment


Motion detection is the primary purpose, but being able to see what the camera sees.
Some system packages:
sudo apt install libcap-dev
sudo apt install libcamera-dev libatlas-base-dev


=== Configuration file ===
And some Python packages
pip install setproctitle
pip install picamera2


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


$ sudo nano /etc/motion/motion.conf
...
# 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 ===
I didn't get it to work.
E.g. see https://forums.raspberrypi.com/viewtopic.php?t=361758


To run the streamer, SSH to the robot and start motion
Deactivate the VENV, then it worked.
deactivate


$ motion
=== Watch result using a browser ===
[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
Using the IP of the robot (in this case, robot Coco), the robot camera image can be viewed at this address:


Note! Remember to stop the streamer before using the camera for other purposes.
http://10.197.218.233:7123
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.
[[file:web-streamer-coco.jpg | 300px]]
Run:
sudo modprobe v4l2loopback


When /dev/video0 is opened a /dev/video1 will be created (with the data determined by the first user).
=== Change configuration ===


- not tested much.
Change the configuration in the streamer source code:


=== View the stream ===
/home/local/svn/robobot/stream_server/stream_server.py


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':
The resolution needs to be changed two places!


10.197.218.248:8081
In the HTML script at the beginning of the file, and the camera configuration near the end.


You should now see a stream of default 640x480 at 5 FPS as default; more options are available in /etc/motion/motion.conf.
Note that some configurations reduce the field of view.


==2024==
==== HTML file ====


Test a new method from https://pimylifeup.com/raspberry-pi-webcam-server/
Select one of these lines (comment <nowiki><!--img ... --> or uncomment <img... /></nowiki>) as needed


Install:
Near the start of stream_server.py


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
...
<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 ====


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
Select the matching line to the settings above:


sudo dpkg -i $(lsb_release -cs)_motion_4.6.0-1_$(dpkg --print-architecture).deb
Near the end of stream_server.py


change the /etc/motion/motion.conf
...
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)}))
...


* not much luck; it seems not compatible with libcamera.
Reboot or restart to see the effect.


installed
==== Restart streaming ====
sudo apt install libqt5dxcb-plugin


to try
Restart by first stopping the running version:
rpicam-vid --qt-preview


But (also) not over ssh -X login
  pkill stream_server


A libcamera wrapper: https://github.com/kbarni/LCCV
Then restart
With opencv, install
 
  libcamera-dev
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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