feat: list camera

lebai-robotics · Sep 12, 2024 · 153564a · 153564a
1 parent 8fbcb38
commit 153564a
Show file tree

Hide file tree

Showing 3 changed files with 37 additions and 1 deletion.
diff --git a/camera/bin/src/camera.py b/camera/bin/src/camera.py
@@ -4,6 +4,7 @@
 import shutil
 import cv2
 import time
+import json
 import lebai_sdk
 import utils.camera as camera
 
@@ -22,6 +23,24 @@ def get_cmd():
 
     return ""
 
+def search_camera():
+    width = (lebai.get_item("plugin_camera_width"))['value']
+    if not width:
+        width = "1280"
+    width = int(width)
+    height = (lebai.get_item("plugin_camera_height"))['value']
+    if not height:
+        height = "720"
+    height = int(height)
+
+    camera_list = []
+    for i in range(-1,10):
+        cap = camera.Camera(i, width, height)
+        if cap.isOpened():
+            camera_list.append(i)
+        cap.release()
+    lebai.set_item("plugin_camera_indexs", json.dumps(camera_list))
+
 def init_camera():
     index = (lebai.get_item("plugin_camera_index"))['value']
     if not index:
@@ -40,6 +59,7 @@ def init_camera():
     return cap
 
 def main():
+    search_camera()
     cap = init_camera()
     if not cap.isOpened():
         exit(1)

diff --git a/camera/bin/src/utils/camera.py b/camera/bin/src/utils/camera.py
@@ -60,6 +60,8 @@ def getImage(self):
         return img_color
 
     def release(self):
+        if not self.isOpened():
+            return
         if self.kind == "cv":
             self.camera.release()
         if self.kind == "rs":

diff --git a/camera/web/index.html b/camera/web/index.html
@@ -9,7 +9,7 @@
 <body>
 	<form>
 		index(深度摄像头填 -1)<br>
-		<input type="number" id="index">
+		<select id="index"></select>
 		<br>
 		width<br>
 		<input type="number" id="width">
@@ -58,6 +58,11 @@
 	}
 	function get() {
 		rpc_data.method = "get_item";
+		rpc_data.id = 20;
+		rpc_data.params[0] = {
+			"key": "plugin_camera_indexs",
+		};
+		ws.send(JSON.stringify(rpc_data));
 		rpc_data.id = 21;
 		rpc_data.params[0] = {
 			"key": "plugin_camera_index",
@@ -92,6 +97,15 @@
 				if (value === undefined) {
 					return;
 				}
+				if (id == 20) {
+					let options = [];
+					let indexs = JSON.parse(value);
+					for (const i in indexs) {
+						let selected = indexs[i] == document.getElementById("index").value ? "selected" : "";
+						options.push(`<option value="${indexs[i]}" ${selected}>${indexs[i]}</option>`);
+					}
+					document.getElementById("index").innerHTML = options;
+				}
 				if (id == 21) {
 					document.getElementById("index").value = value || "-1";
 				}