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我想結合一個活的攝像頭飼料作爲窗口背景，同時控制相機的pan_tilt方向與鼠標指針懸停在圖像上。
我有兩個獨立工作的程序，第一個是pan_tilt控件，它使用一個叫做servo_control.py的pololu maestro8伺服控制器。第二個是webcam窗口和名爲test_servo_webcam3.py的pan_tilt的XY事件控件。蟒蛇伺服平移傾斜攝像頭圖像作爲背景
servo_control.py
#!/usr/bin/env python
import serial
import time
class Servo:
def __init__(self):
self.ser = serial.Serial('/dev/ttyACM0')
self.ser.baudrate = 115200
self.ser.write(chr(0xAA))
self.ser.flush()
self.centre_servo()
def centre_servo(self):
# tvalue is for every 1/4 us so 4000=1000us
# centre servos
self.ser.write(chr(0x84) + chr(0x00) + chr(0x70) + chr(0x2E))
# 0x2E70 = 0b010.1110.111.0000 = 6000 -> 1500us = zero power
self.ser.flush()
self.ser.write(chr(0x84) + chr(0x01) + chr(0x70) + chr(0x2E))
# 0x2E70 = 0b010.1110.111.0000 = 6000 -> 1500us = zero power
self.ser.flush()
def servo_track_XY(self, channel, XYvalue):
Xvalue = (XYvalue * 2) + 1000
if Xvalue < 1000:
Xvalue = 1000
if Xvalue > 2000:
Xvalue = 2000
#print "X, Y", Xvalue, Yvalue
Xvalue = round((Xvalue * 4), -1)
MSB = int(Xvalue/128)
LSB = int(Xvalue - (MSB * 128))
xchannel = int(channel)
self.ser.flush()
self.ser.write(chr(0x84) + chr(xchannel) + chr(LSB) + chr(MSB))
self.ser.flush()
if __name__ == "__main__":
prog = Servo()
time.sleep(1)
for num in range(0, 500):
prog.servo_track_XY(0, num)
prog.servo_track_XY(1, num)
print num
time.sleep(0.02)
time.sleep(1)
prog.centre_servo()
test_servo_webcam3.py
#!/usr/bin/python
import sys, os
import pygtk, gtk, gobject
pygtk.require('2.0')
import pygst
pygst.require("0.10")
import gst
import servo_control
class Application():
def __init__(self):
#...setup_window
window = gtk.Window(gtk.WINDOW_TOPLEVEL)
window.set_title("Webcam-Viewer")
window.set_default_size(500, 500)
window.connect("destroy", gtk.main_quit, "WM destroy")
vbox = gtk.VBox()
window.add(vbox)
self.movie_window = gtk.DrawingArea()
self.movie_window.connect("motion_notify_event", self.motion_notify_event)
self.movie_window.set_events(gtk.gdk.EXPOSURE_MASK
| gtk.gdk.LEAVE_NOTIFY_MASK
| gtk.gdk.BUTTON_PRESS_MASK
| gtk.gdk.POINTER_MOTION_MASK
| gtk.gdk.POINTER_MOTION_HINT_MASK)
vbox.add(self.movie_window)
hbox = gtk.HBox()
vbox.pack_start(hbox, False)
#hbox.set_border_width(10)
hbox.pack_start(gtk.Label())
hbox.add(gtk.Label())
#...button - centre
self.button1 = gtk.Button("Centre")
vbox.pack_start(self.button1, False)
#...button - start
self.button2 = gtk.Button("Start")
vbox.pack_start(self.button2, False)
#...button - quit
self.button3 = gtk.Button("Quit")
vbox.pack_start(self.button3, False)
#...connect_signals
self.movie_window.connect("motion_notify_event", self.motion_notify_event)
self.button1.connect("clicked", self.centre_servo)
self.button2.connect("clicked", self.start_stop)
self.button3.connect("clicked", self.exit)
window.show_all()
# Set up the gstreamer pipeline
self.player = gst.parse_launch ("v4l2src ! autovideosink")
bus = self.player.get_bus()
bus.add_signal_watch()
bus.enable_sync_message_emission()
bus.connect("message", self.on_message)
bus.connect("sync-message::element", self.on_sync_message)
#...initialise
self.pan_tilt = servo_control.Servo()
gtk.gdk.threads_init()
gtk.main()
def start_stop(self, w, data=None):
if self.button2.get_label() == "Start":
self.button2.set_label("Stop")
self.player.set_state(gst.STATE_PLAYING)
else:
self.player.set_state(gst.STATE_NULL)
self.button2.set_label("Start")
def exit(self, widget, data=None):
self.player.set_state(gst.STATE_NULL)
gtk.main_quit()
def on_message(self, bus, message):
t = message.type
if t == gst.MESSAGE_EOS:
self.player.set_state(gst.STATE_NULL)
self.button2.set_label("Start")
elif t == gst.MESSAGE_ERROR:
err, debug = message.parse_error()
print "Error: %s" % err, debug
self.player.set_state(gst.STATE_NULL)
self.button2.set_label("Start")
def on_sync_message(self, bus, message):
if message.structure is None:
return
message_name = message.structure.get_name()
if message_name == "prepare-xwindow-id":
# Assign the viewport
imagesink = message.src
imagesink.set_property("force-aspect-ratio", True)
imagesink.set_xwindow_id(self.movie_window.window.xid)
def motion_notify_event(self, widget, event):
self.pan_tilt.servo_track_XY(0, event.x)
self.pan_tilt.servo_track_XY(1, event.y)
#print event.x, event.y
def centre_servo(self, widget, data=None):
self.pan_tilt.centre_servo()
if __name__ == "__main__":
Application()
test_servo_webcam3.py作爲被寫入將通過鼠標移動導入servo_control.py和控制攝像機的搖攝和傾斜在窗口。按start應顯示網絡攝像頭圖像，但網絡攝像頭圖像不顯示。
爲攝像頭圖像出現伺服控制必須像這樣註釋掉。
#self.pan_tilt = servo_control.Servo()
我不明白爲什麼通過訪問servo_control文件沒有出現網絡攝像頭圖像。
你應該嘗試這種減少到[MCVE。 – SiHa