From 61d003bc5e91313402a0bae04f522f4f2b958f54 Mon Sep 17 00:00:00 2001
From: rise0chen <rise0chen@163.com>
Date: Tue, 30 Jul 2024 17:10:42 +0800
Subject: [PATCH] perf: disable webp, because save it use too much time

---
 apriltag/bin/src/apriltag.py                   | 2 +-
 camera/bin/src/camera.py                       | 4 ++--
 camera/web/index.html                          | 4 ++--
 camera_calibrater/bin/src/camera_calibrater.py | 4 ++--
 4 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/apriltag/bin/src/apriltag.py b/apriltag/bin/src/apriltag.py
index adb2ca1..85f757f 100644
--- a/apriltag/bin/src/apriltag.py
+++ b/apriltag/bin/src/apriltag.py
@@ -53,7 +53,7 @@ def main():
     tag_size = float(tag_size)
 
     at_detector = apriltag.Detector(families=tag_family)
-    img = cv2.imread(os.path.join(images_dir, "img.webp"), cv2.IMREAD_GRAYSCALE)
+    img = cv2.imread(os.path.join(images_dir, "img.jpg"), cv2.IMREAD_GRAYSCALE)
     img = cv2.undistort(img, np.array(camera_matrix), np.array(dist_coeffs))
     #_, img = cv2.threshold(img, 128, 255, cv2.THRESH_BINARY)
     if img.size == 0:
diff --git a/camera/bin/src/camera.py b/camera/bin/src/camera.py
index dc90ea6..95c7b09 100644
--- a/camera/bin/src/camera.py
+++ b/camera/bin/src/camera.py
@@ -59,8 +59,8 @@ def main():
             frame = cv2.GaussianBlur(frame, (5, 5), 0)
             cv2.imwrite(os.path.join(images_dir, "img.tmp.jpg"), frame, [cv2.IMWRITE_JPEG_QUALITY, 50])
             shutil.move(os.path.join(images_dir, "img.tmp.jpg"), os.path.join(images_dir, "img.jpg"))
-            cv2.imwrite(os.path.join(images_dir, "img.tmp.webp"), frame, [cv2.IMWRITE_WEBP_QUALITY, 50])
-            shutil.move(os.path.join(images_dir, "img.tmp.webp"), os.path.join(images_dir, "img.webp"))
+            # cv2.imwrite(os.path.join(images_dir, "img.tmp.webp"), frame, [cv2.IMWRITE_WEBP_QUALITY, 50])
+            # shutil.move(os.path.join(images_dir, "img.tmp.webp"), os.path.join(images_dir, "img.webp"))
         if cmd == "reinit":
             cap.release()
             cap = init_camera()
diff --git a/camera/web/index.html b/camera/web/index.html
index f9496a2..89bb56a 100644
--- a/camera/web/index.html
+++ b/camera/web/index.html
@@ -21,7 +21,7 @@
 	<button onclick="save()">save</button>
 	<button onclick="get()">refresh</button>
 	<br>
-	<img src="../images/img.webp" id="pic">
+	<img src="../images/img.jpg" id="pic">
 </body>
 
 <script>
@@ -114,7 +114,7 @@
 			"value": "shoot"
 		};
 		ws.send(JSON.stringify(rpc_data));
-		document.getElementById("pic").src = "../images/img.webp?" + Date.now();
+		document.getElementById("pic").src = "../images/img.jpg?" + Date.now();
 	}
 	setInterval(() => {
 		shoot();
diff --git a/camera_calibrater/bin/src/camera_calibrater.py b/camera_calibrater/bin/src/camera_calibrater.py
index d6f70bc..33656f5 100644
--- a/camera_calibrater/bin/src/camera_calibrater.py
+++ b/camera_calibrater/bin/src/camera_calibrater.py
@@ -90,7 +90,7 @@ def main():
             continue
         if cmd == "preview":
             shoot_img()
-            img = cv2.imread(os.path.join(images_dir, "img.webp"))
+            img = cv2.imread(os.path.join(images_dir, "img.jpg"))
             if img.size == 0:
                 lebai.set_item("plugin_camera_calibrater_cmd_preview", "")
                 continue
@@ -106,7 +106,7 @@ def main():
             lebai_real = lebai_sdk.connect(get_ip(), False)
             i = get_i()+1
             lebai.set_item("plugin_camera_calibrater_i", str(i))
-            shutil.copy(os.path.join(images_dir, "img.webp"), os.path.join(images_dir, "camera_calibrater.{}.webp".format(i)))
+            shutil.copy(os.path.join(images_dir, "img.jpg"), os.path.join(images_dir, "camera_calibrater.{}.webp".format(i)))
             pose = (lebai_real.get_kin_data())["actual_flange_pose"]
             lebai.set_item("plugin_camera_calibrater_pose_{}".format(i), json.dumps(pose))
         if cmd == "clear":